CN107322624A - A kind of sucking disc type mechanical hand - Google Patents
A kind of sucking disc type mechanical hand Download PDFInfo
- Publication number
- CN107322624A CN107322624A CN201710736501.XA CN201710736501A CN107322624A CN 107322624 A CN107322624 A CN 107322624A CN 201710736501 A CN201710736501 A CN 201710736501A CN 107322624 A CN107322624 A CN 107322624A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- frame
- removal
- sucking disc
- disc type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of sucking disc type mechanical hand, including frame, the frame side is provided with first connecting rod, second connecting rod and third connecting rod, first connecting rod connects second connecting rod by first rotating shaft, second connecting rod connects third connecting rod by the second rotating shaft and is movably connected in frame, third connecting rod connects grip block, limited block is arranged in stopper slot, stopper slot, which is extended radially through, to be arranged in frame, frame upper end is provided with electric expansion bar and removal of impurities chamber, removal of impurities chamber is provided with air inlet pipe, blast pipe and sliding screen, the riveting of removal of impurities chamber upper end is provided with air pump, frame lower end is fixedly installed sucker.The present invention is simple in construction, easy to operate, is easy to capture cloth, and is evacuated the negative pressure produced to removal of impurities intracavitary by air pump, and cloth is attracted by sucker, coordinates the lower stability for being capable of cloth gripping.
Description
Technical field
The present invention relates to a kind of manipulator, specifically a kind of sucking disc type mechanical hand.
Background technology
With the nowadays quick raising of people's living standard and nowadays internet is done shopping the popularization of industry, clothes processing row
Industry is in sustainable growth state.For the demand huge to clothes, nowadays clothes processing industry gradually forms industrial automation
Cooked mode, full-automatic processing mode can liberate labour, while reducing human error, improve yield rate and add
Work efficiency rate.
In automation process, the crawl of cloth clothes is required for being completed by manipulator, existing machinery
Hand is when capturing cloth, because the coefficient of friction of cloth is smaller, therefore easily slides, and thus influences whether entering for automation processing
OK.
The content of the invention
It is an object of the invention to provide a kind of sucking disc type mechanical hand, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical scheme：
A kind of sucking disc type mechanical hand, including frame, the frame be two pieces of steel plate combinations into pedestal, frame side is provided with first
Connecting rod, second connecting rod and third connecting rod, first connecting rod connect second connecting rod by first rotating shaft, and second connecting rod passes through the second rotating shaft
Connection and is movably connected in frame third connecting rod, third connecting rod connection grip block, and frame is symmetrical set first connecting rod, the
Two connecting rods, third connecting rod and grip block, the two ends for two first connecting rods that frame is symmetrical set are passed through by a limited block
Articulated manner rotates connection, and limited block is arranged in stopper slot, and stopper slot, which is extended radially through, to be arranged in frame, frame upper end riveting
Electric expansion bar is provided with, frame upper end is located at riveting on the right side of electric expansion bar and is provided with removal of impurities chamber, removal of impurities chamber both sides inwall pair
Title, which is vertically embedded into, is provided with bar shaped sliding groove, and air inlet pipe is connected with the downside of removal of impurities chamber left wall, and the connection of removal of impurities chamber upper end is set
There is blast pipe, removal of impurities lumenal levels are movably set with sliding screen, and the riveting of removal of impurities chamber upper end is provided with air pump, and frame lower end is fixed
It is provided with sucker.
It is used as further scheme of the invention：The grip block of both sides is oppositely arranged and passes through the side of being hinged with third connecting rod end
Formula rotates connection.
It is used as further scheme of the invention：First connecting rod, second connecting rod and third connecting rod pass through first rotating shaft and second
Rotating shaft is movably connected.
It is used as further scheme of the invention：Second connecting rod and third connecting rod pass through integrated molding.
It is used as further scheme of the invention：Electric expansion bar by motor, reduction gearing, screw rod, nut, guide pin bushing,
Push rod, slide, spring, shell and turbine, fine motion controlling switch etc. are constituted, and the output end activity of electric expansion bar is in frame
It is welded and fixed in the middle part of end and with limited block upper end, the control circuit of electric expansion bar is connected with permanent circuit.
It is used as further scheme of the invention：Sliding screen and removal of impurities cavity wall, which are slided, to be agreed with, and sliding screen both sides are symmetrical
It is welded with the projection being slidably matched with bar shaped sliding groove.
It is used as further scheme of the invention：The inlet end of air pump is connected with blast pipe, the control circuit of air pump and solid
Determine circuit to be connected.
It is used as further scheme of the invention：Sucker, which is used, is provided with through hole and and air inlet pipe in the middle part of silica gel material, sucker
Lower end is connected.
Compared with prior art, the beneficial effects of the invention are as follows：Start electric expansion bar when using and drive limited block in limit
Slide downward in the groove of position, the angle between first connecting rod and limited block becomes big so as to which first connecting rod two ends are stretched to both sides, and first
Connecting rod drives second connecting rod and third connecting rod to be relatively rotated by the second rotating shaft, so that the grip block of third connecting rod end can be produced
The effect of raw relative clamping, the frictional force between cloth can be improved by improved mat, be easy to clamp cloth；It is same with this
When, booster air pump, air-flow enters air pump from blast pipe and discharged by being passed upward through in the middle part of sucker after air inlet pipe and removal of impurities chamber,
Strong attraction can be so produced to clothing cloth, so that cloth is so improved to clothing cloth by sucker suction
Effect is captured, in use, the dust in clothing cloth and in air all can enter removal of impurities chamber by air inlet pipe, in activity filter
Removal of impurities intracavitary is trapped under the filtering of net, with increasing for dust impurity, sliding screen can by way of sliding and rising come
Ensure air-flow by efficiency, can so continue to be filtered and produced adsorption effect.
Brief description of the drawings
Fig. 1 is a kind of structural representation of sucking disc type mechanical hand.
Fig. 2 is a kind of structural representation of removal of impurities chamber in sucking disc type mechanical hand.
In figure：1- frames, 2- first connecting rods, 21- second connecting rods, 22- third connecting rods, 3- first rotating shafts, second turn of 31-
Axle, 4- grip blocks, 41- improved mats, 5- stopper slots, 6- limited blocks, 7- electric expansion bars, 8- removal of impurities chambers, 81- air inlet pipe, 82-
Blast pipe, 83- sliding screens, 9- air pumps, 10- suckers.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer in Fig. 1~2, the embodiment of the present invention, a kind of sucking disc type mechanical hand, including frame 1, the frame 1 is two
Block steel plate combination into pedestal, the side of frame 1 be provided with first connecting rod 2, second connecting rod 21 and third connecting rod 22, first connecting rod 2 lead to
The connection second connecting rod 21 of first rotating shaft 3 is crossed, second connecting rod 21 connects third connecting rod 22 by the second rotating shaft 31 and is movably connected on
In frame 1, the connection grip block 4 of third connecting rod 22, frame 1 is symmetrical set first connecting rod 2, second connecting rod 21, third connecting rod
22 and grip block 4, the two ends for two first connecting rods 2 that frame 1 is symmetrical set pass through articulated manner by a limited block 6 and turned
Dynamic connection, limited block 6 is arranged in stopper slot 5, and stopper slot 5, which is extended radially through, to be arranged in frame 1, and the grip block 4 of both sides is relative
Set and rotated with the end of third connecting rod 22 by articulated manner and connected, first connecting rod 2, second connecting rod 21 and third connecting rod 22 are logical
Cross the rotating shaft 31 of first rotating shaft 3 and second to be movably connected, second connecting rod 21 and third connecting rod 22 pass through integrated molding, machine
The riveting of the upper end of frame 1 is provided with electric expansion bar 7, electric expansion bar 7 by motor, reduction gearing, screw rod, nut, guide pin bushing, push away
Bar, slide, spring, shell and turbine, fine motion controlling switch etc. are constituted, and the output end activity of electric expansion bar 7 is in frame 1
It is welded and fixed in the middle part of end and with the upper end of limited block 6, the control circuit of electric expansion bar 7 is connected with permanent circuit, the upper end of frame 1
The riveting of the right side of electric expansion bar 7 is provided with removal of impurities chamber 8, the both sides inwall Symmetrical vertical insertion of removal of impurities chamber 8 is provided with bar shaped cunning
Air inlet pipe 81 is connected with the downside of dynamic groove, the left wall of removal of impurities chamber 8, the upper end of removal of impurities chamber 8 is connected with blast pipe 82, removal of impurities chamber 8
Interior horizontal anomalous movement is provided with sliding screen 83, and sliding screen 83 and the inwall of removal of impurities chamber 8, which are slided, to be agreed with, and the both sides of sliding screen 83 are symmetrical
The projection being slidably matched with bar shaped sliding groove is welded with, the riveting of the upper end of removal of impurities chamber 8 is provided with air pump 9, the inlet end of air pump 9 and row
Tracheae 82 is connected, and the control circuit of air pump 9 is connected with permanent circuit, and the lower end of frame 1 is fixedly installed sucker 10, sucker 10
Using silica gel material, the middle part of sucker 10 is connected provided with through hole and with the lower end of air inlet pipe 81.
The present invention operation principle be：Starting electric expansion bar 7 when using drives limited block 6 in stopper slot 5 to downslide
Dynamic, the angle between first connecting rod 2 and limited block 6 becomes big so as to which the two ends of first connecting rod 2 are stretched to both sides, and first connecting rod 2 drives
Second connecting rod 21 and third connecting rod 22 are relatively rotated by the second rotating shaft 31, so that the grip block 4 of the end of third connecting rod 22 can
The effect of relative clamping is produced, the frictional force between cloth can be improved by improved mat 41, is easy to clamp cloth；With this
Meanwhile, booster air pump 9, air-flow is passed upward through after air inlet pipe 81 and removal of impurities chamber 8 by the middle part of sucker 10, enters gas from blast pipe 82
Pump 9 is simultaneously discharged, and strong attraction can be so produced to clothing cloth, so that cloth is adsorbed by sucker 10, is so improved
To the crawl effect of clothing cloth, in use, the dust in clothing cloth and in air can all be entered by air inlet pipe 81
Removal of impurities chamber 8, is trapped under the filtering of sliding screen 83 in removal of impurities chamber 8, with increasing for dust impurity, and sliding screen 83 can
Slide rise by way of come ensure air-flow by efficiency, can so continue to be filtered and produced adsorption effect.
The standardized element that the present invention is used can commercially, and shaped piece is according to specification and accompanying drawing note
Load can carry out customized, specific connected mode use bolt, rivet, welding of maturation etc. in the prior art of each part
Conventional meanses, machinery, part and equipment are using in the prior art, and conventional model adds circuit connection and uses prior art
Middle conventional connected mode, will not be described in detail herein.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (8)
1. a kind of sucking disc type mechanical hand, including frame（1）, it is characterised in that the frame（1）For two pieces of steel plate combinations into base
Frame, frame（1）Side is provided with first connecting rod（2）, second connecting rod（21）And third connecting rod（22）, first connecting rod（2）Pass through first
Rotating shaft（3）Connect second connecting rod（21）, second connecting rod（21）Pass through the second rotating shaft（31）Connect third connecting rod（22）And activity is even
It is connected to frame（1）On, third connecting rod（22）Connect grip block（4）, frame（1）It is symmetrical set first connecting rod（2）, second connect
Bar（21）, third connecting rod（22）And grip block（4）, frame（1）Two first connecting rods being symmetrical set（2）Two ends pass through
One limited block（6）Rotated and connected by articulated manner, limited block（6）It is arranged on stopper slot（5）It is interior, stopper slot（5）Extend radially through
It is arranged on frame（1）On, frame（1）Upper end riveting is provided with electric expansion bar（7）, frame（1）Upper end is located at electric expansion bar
（7）Right side riveting is provided with removal of impurities chamber（8）, removal of impurities chamber（8）Both sides inwall Symmetrical vertical insertion is provided with bar shaped sliding groove, removal of impurities
Chamber（8）Air inlet pipe is connected with the downside of left wall（81）, removal of impurities chamber（8）Upper end is connected with blast pipe（82）, removal of impurities chamber（8）
Interior horizontal anomalous movement is provided with sliding screen（83）, removal of impurities chamber（8）Upper end riveting is provided with air pump（9）, frame（1）Lower end is fixed and set
It is equipped with sucker（10）.
2. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that the grip block of both sides（4）It is oppositely arranged
And and third connecting rod（22）End is rotated by articulated manner and connected.
3. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that first connecting rod（2）, second connecting rod（21）
And third connecting rod（22）Pass through first rotating shaft（3）With the second rotating shaft（31）It is movably connected.
4. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that second connecting rod（21）And third connecting rod
（22）Pass through integrated molding.
5. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that electric expansion bar（7）By motor,
Reduction gearing, screw rod, nut, guide pin bushing, push rod, slide, spring, shell and turbine, fine motion controlling switch etc. are constituted, electric expansion
Bar（7）Output end activity run through frame（1）Upper center and and limited block（6）Upper end is welded and fixed, electric expansion bar（7）'s
Control circuit is connected with permanent circuit.
6. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that sliding screen（83）With removal of impurities chamber（8）
Inwall, which is slided, to be agreed with, sliding screen（83）Both sides are symmetrically welded with the projection being slidably matched with bar shaped sliding groove.
7. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that air pump（9）Inlet end and blast pipe
（82）It is connected, air pump（9）Control circuit be connected with permanent circuit.
8. a kind of sucking disc type mechanical hand according to claim 1, it is characterised in that sucker（10）Using silica gel material, inhale
Disk（10）Middle part is provided with through hole and and air inlet pipe（81）Lower end is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710736501.XA CN107322624A (en) | 2017-08-24 | 2017-08-24 | A kind of sucking disc type mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710736501.XA CN107322624A (en) | 2017-08-24 | 2017-08-24 | A kind of sucking disc type mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107322624A true CN107322624A (en) | 2017-11-07 |
Family
ID=60228204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710736501.XA Pending CN107322624A (en) | 2017-08-24 | 2017-08-24 | A kind of sucking disc type mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107322624A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972056A (en) * | 2017-12-08 | 2018-05-01 | 广西瑞克工业机器人有限公司 | A kind of industrial operation mechanical arm |
| CN108249152A (en) * | 2018-01-30 | 2018-07-06 | 海宁美力针织有限公司 | A kind of textile manufacturing raw material rotating device |
| CN108639751A (en) * | 2018-07-10 | 2018-10-12 | 深圳福美信自动化工程有限公司 | A kind of separation method of adsorbent equipment and extra adsorption production |
| CN108723741A (en) * | 2018-08-15 | 2018-11-02 | 成都毓恬冠佳汽车零部件有限公司 | Device for fastening nut tool hand and nut installation system |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN108908381A (en) * | 2018-07-20 | 2018-11-30 | 芜湖恒跃智能装备有限公司 | A kind of clamp fixture grabbing brake disc |
| CN109037128A (en) * | 2018-07-06 | 2018-12-18 | 天长市百盛半导体科技有限公司 | A kind of high stability solar battery crystalline silicon transfer device |
| CN110092126A (en) * | 2019-05-23 | 2019-08-06 | 深圳爱她他智能餐饮技术有限公司 | A kind of cleavable material access system of continuous bulk and its access method |
| CN110393871A (en) * | 2019-08-16 | 2019-11-01 | 绍兴柯桥凯歌电子有限公司 | A kind of automatic fire extinguisher suitable for heavy construction high level |
| CN110497427A (en) * | 2019-08-28 | 2019-11-26 | 庹艳 | A kind of clamping portion structure of industrial robot |
| CN111874608A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change material taking manipulator |
| WO2021098007A1 (en) * | 2019-11-20 | 2021-05-27 | 浙江汉朔电子科技有限公司 | Manipulator |
| CN113200293A (en) * | 2021-05-24 | 2021-08-03 | 醴陵市和兴瓷业有限公司 | Ceramic embryo body intelligent production line and control system based on new ceramic material |
| CN113400331A (en) * | 2021-05-17 | 2021-09-17 | 山东伟豪思智能仓储装备有限公司 | Automatic snatch mechanism |
| CN113427460A (en) * | 2021-05-21 | 2021-09-24 | 国网河北省电力有限公司晋州市供电分公司 | Clamping tool for power supply |
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| CN102514014A (en) * | 2011-11-28 | 2012-06-27 | 吉林大学 | Multipoint mechanical hand for myriametre well drill |
| CN203753500U (en) * | 2014-02-19 | 2014-08-06 | 薛伊婷 | Bag fetching clamp of bag-feeding packager |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972056A (en) * | 2017-12-08 | 2018-05-01 | 广西瑞克工业机器人有限公司 | A kind of industrial operation mechanical arm |
| CN108249152A (en) * | 2018-01-30 | 2018-07-06 | 海宁美力针织有限公司 | A kind of textile manufacturing raw material rotating device |
| CN109037128A (en) * | 2018-07-06 | 2018-12-18 | 天长市百盛半导体科技有限公司 | A kind of high stability solar battery crystalline silicon transfer device |
| CN109037128B (en) * | 2018-07-06 | 2024-03-22 | 天长市百盛半导体科技有限公司 | High-stability crystalline silicon transfer device for solar cell |
| CN108639751A (en) * | 2018-07-10 | 2018-10-12 | 深圳福美信自动化工程有限公司 | A kind of separation method of adsorbent equipment and extra adsorption production |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN108908381A (en) * | 2018-07-20 | 2018-11-30 | 芜湖恒跃智能装备有限公司 | A kind of clamp fixture grabbing brake disc |
| CN108723741A (en) * | 2018-08-15 | 2018-11-02 | 成都毓恬冠佳汽车零部件有限公司 | Device for fastening nut tool hand and nut installation system |
| CN110092126B (en) * | 2019-05-23 | 2023-11-24 | 深圳爱她他智能餐饮技术有限公司 | Continuous block-shaped cuttable material storing and taking system and storing and taking method thereof |
| CN110092126A (en) * | 2019-05-23 | 2019-08-06 | 深圳爱她他智能餐饮技术有限公司 | A kind of cleavable material access system of continuous bulk and its access method |
| CN110393871A (en) * | 2019-08-16 | 2019-11-01 | 绍兴柯桥凯歌电子有限公司 | A kind of automatic fire extinguisher suitable for heavy construction high level |
| CN110497427A (en) * | 2019-08-28 | 2019-11-26 | 庹艳 | A kind of clamping portion structure of industrial robot |
| WO2021098007A1 (en) * | 2019-11-20 | 2021-05-27 | 浙江汉朔电子科技有限公司 | Manipulator |
| CN111874608A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change material taking manipulator |
| CN113400331A (en) * | 2021-05-17 | 2021-09-17 | 山东伟豪思智能仓储装备有限公司 | Automatic snatch mechanism |
| CN113427460A (en) * | 2021-05-21 | 2021-09-24 | 国网河北省电力有限公司晋州市供电分公司 | Clamping tool for power supply |
| CN113200293A (en) * | 2021-05-24 | 2021-08-03 | 醴陵市和兴瓷业有限公司 | Ceramic embryo body intelligent production line and control system based on new ceramic material |
| CN113200293B (en) * | 2021-05-24 | 2021-12-21 | 醴陵市和兴瓷业有限公司 | Ceramic embryo body intelligent production line and control system based on new ceramic material |
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