CN107825453A - A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types - Google Patents
A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types Download PDFInfo
- Publication number
- CN107825453A CN107825453A CN201711220608.5A CN201711220608A CN107825453A CN 107825453 A CN107825453 A CN 107825453A CN 201711220608 A CN201711220608 A CN 201711220608A CN 107825453 A CN107825453 A CN 107825453A
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- CN
- China
- Prior art keywords
- servomotor
- arm body
- level
- pneumatic
- level arm
- 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.)
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types, the bottom of the body is welded with base, the mounting seat of the servomotor C and the inwall of body are bolted to connection, rotating disk is welded with the mounting disc, the upper surface of the rotating disk is welded and fixed with the lower surface of one-level arm body and is connected, mounting disc is fixed with the rotating shaft of the servo motor B, the upper end of the two level arm body and servomotor A mounting seat are bolted to connection, the inside of the gripper is provided with pneumatic cylinder, the pneumatic cylinder is internally provided with piston, joint is provided with the other end of the atmospheric pressure pole, the one-level corpus unguis is flexibly connected with two level corpus unguis by bearing pin.The inside of whole device of the present invention is provided with six motors so that device has the very high free degree, is suitable for the work of substantially any track or angle, can freely program, and completes the production process of full-automation, greatly improves production efficiency.
Description
Technical field
The present invention relates to a kind of manipulator, is specially a kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument, manipulator are the industrial robots occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, as China passed through in the last few years
The fast development of Ji and science and technology, the free degree of original manipulator are smaller than six so that the use of device has certain limitation
Property, reduce the efficiency that device produces.
Therefore, it is necessary to design a kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types to solve problems.
The content of the invention
It is an object of the invention to provide a kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides following technical scheme：A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types,
Including servomotor A, shell, three-level arm body, level Four arm body, gripper, two level arm body, outer casing, one-level arm body, rotating disk, device
Body, base, mounting disc, servo motor B, servomotor C, mounting seat, air inlet, gas outlet, joint, bearing pin, cylinder, piston,
Atmospheric pressure pole, one-level corpus unguis and two level corpus unguis, the bottom of the body is welded with base, and the cross section of base and body is
Circle, the mounting seat of the servomotor C and the inwall of body are bolted to connection, and solid in servomotor C rotating shaft
Surely there is mounting disc, rotating disk is welded with the mounting disc, the upper surface of the rotating disk is welded with the lower surface of one-level arm body
It is fixedly connected, and the upper end of one-level arm body and the mounting seat of servo motor B are bolted to connection, the servo motor B
Mounting disc is fixed with rotating shaft, and the mounting disc in servo motor B rotating shaft passes through with the mounting disc being welded and fixed on two level arm body
Bolt is fixedly connected, and the upper end of the two level arm body and servomotor A mounting seat are bolted to connection, and servomotor
The lateral surface of fixed mounting disc and shell is bolted to connection in A rotating shafts, and the inside of the shell is provided with servo electricity
Machine D, and servomotor D rotating shaft is welded and fixed with one end of three-level arm body and is connected, the inside peace of the three-level arm body other end
Equipped with servomotor E, and servomotor E rotating shaft is welded and fixed with the level Four arm body of gripper one end and is connected, the gripper
Inside pneumatic cylinder is installed, and the upper end of pneumatic cylinder is provided with air inlet and gas outlet, and the pneumatic cylinder is internally provided with
Piston, and the one side of piston is fixedly connected with one end of atmospheric pressure pole, joint is provided with the other end of the atmospheric pressure pole, and connect
Head is flexibly connected with two one-level corpus unguis by bearing pin, and the one-level corpus unguis is flexibly connected with two level corpus unguis by bearing pin.
Further, the three-level arm body is arranged on the right-hand member of shell, and gripper is arranged on the right-hand member of three-level arm body.
Further, the servomotor A, servo motor B, servomotor C, servomotor D and servomotor E model
Identical, model is 60CB020C-02000.
Further, the air inlet and gas outlet are arranged at the upper end of pneumatic cylinder, and air inlet is arranged on gas outlet
Left side.
Further, the rotating shaft of the servomotor A is fixedly connected by welding with mounting disc.
Further, the bottom of the two level arm body is provided with outer casing.
Compared with prior art, the beneficial effects of the invention are as follows：The inside of whole device is provided with six motors so that dress
Putting has the very high free degree, is suitable for the work of substantially any track or angle, can freely program, and completes full-automation
Production process, production efficiency is greatly improved, reduce the error rate of device production, there is stronger feature, operate simultaneously
It is very easy, the flexibly and fast replacing between different workpieces can be achieved, negative unhealthy is completed instead of many manpowers that are not suitable for
Complex work, reduce the labor intensity of staff, liberated productivity.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation that servo motor B of the present invention is connected with two level arm body；
Fig. 3 is the structural representation inside body of the present invention；
Fig. 4 is the overall structure diagram of manipulator of the present invention.
In reference：1st, motor A is taken；2nd, shell；3rd, three-level arm body；4th, level Four arm body；5th, gripper；6th, two level arm
Body；7th, outer casing；8th, one-level arm body；9th, rotating disk；10th, body；11st, base；12nd, mounting disc；13rd, servo motor B；14th, servo
Motor C；15th, mounting seat；16th, air inlet；17th, gas outlet；18th, joint；19th, bearing pin；20th, cylinder；21st, piston；22nd, air pressure
Bar；23rd, one-level corpus unguis；24th, two level corpus unguis.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-4 are referred to, the present invention provides a kind of technical scheme：A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types, bag
Include servomotor A1, shell 2, three-level arm body 3, level Four arm body 4, gripper 5, two level arm body 6, outer casing 7, one-level arm body 8, turn
Disk 9, body 10, base 11, mounting disc 12, servo motor B 13, servomotor C14, mounting seat 15, air inlet 16, gas outlet
17th, joint 18, bearing pin 19, cylinder 20, piston 21, atmospheric pressure pole 22, one-level corpus unguis 23 and two level corpus unguis 24, the bottom weldering of body 10
Connect and be fixed with base 11, and the cross section of base 11 and body 10 is circular, servomotor C14 mounting seat 15 and body 10
Inwall is bolted to connection, and mounting disc 12 is fixed with servomotor C14 rotating shaft, is welded with mounting disc 12
Rotating disk 9, the upper surface of rotating disk 9 is welded and fixed with the lower surface of one-level arm body 8 to be connected, and the upper end of one-level arm body 8 and servo electricity
Machine B13 mounting seat 15 is bolted to connection, and mounting disc 12, and servomotor are fixed with the rotating shaft of servo motor B 13
Mounting disc 12 in B13 rotating shafts is bolted to connection with the mounting disc 12 being welded and fixed on two level arm body 6, two level arm body 6
Upper end and servomotor A1 mounting seat 15 be bolted to connection, and mounting disc 12 fixed in servomotor A1 rotating shafts
It is bolted to connection with the lateral surface of shell 2, the inside of shell 2 is provided with servomotor D, and servomotor D rotating shaft
It is welded and fixed and is connected with one end of three-level arm body 3, the inside of the other end of three-level arm body 3 is provided with servomotor E, and servomotor
E rotating shaft is welded and fixed with the level Four arm body 4 of the one end of gripper 5 and is connected, and the inside of gripper 5 is provided with pneumatic cylinder 20, and gas
The upper end of cylinder pressure 20 is provided with air inlet 16 and gas outlet 17, and pneumatic cylinder 20 is internally provided with piston 21, and the one of piston 21
Side is fixedly connected with one end of atmospheric pressure pole 22, and joint 18, and joint 18 and two one are provided with the other end of atmospheric pressure pole 22
Level corpus unguis 23 is flexibly connected by bearing pin 19, and one-level corpus unguis 23 is flexibly connected with two level corpus unguis 24 by bearing pin 19.
Further, three-level arm body 3 is arranged on the right-hand member of shell 2, and gripper 5 is arranged on the right-hand member of three-level arm body 3.
Further, servomotor A1, servo motor B 13, servomotor C14, servomotor D and servomotor E type
Number identical, model is 60CB020C-02000, realizes that six axles move by these motors.
Further, air inlet 16 and gas outlet 17 are arranged at the upper end of pneumatic cylinder 20, and air inlet 16 is arranged on out
The left side of gas port 17, facilitate the inlet and outlet of gas.
Further, servomotor A1 rotating shaft is fixedly connected by welding with mounting disc 12.
Further, the bottom of two level arm body 6 is provided with outer casing 7, has certain protective effect.
Operation principle：It is first dress device power supply during work, for device input control program, at work, in body
The servo motor B 13 in portion rotates, and fixed rotating disk 9 rotates on the rotational band turn axle of servo motor B 13 so that the upper end of rotating disk 9
Device can be rotated in the horizontal plane, because servomotor C14 is integrally fixed on one-level arm body 8, be turned in servomotor C14
May be such that two level arm body 6 is rotated in perpendicular when dynamic, the inside of shell 2 is provided with servomotor D, therefore,
Servomotor D rotation can drive the rotation of three-level arm body 3, and the servomotor E installed inside the one end of three-level arm body 4 is rotated can band
The rotation of dynamic level Four arm body 4, at work, air pressure enters the inside of pneumatic cylinder 20 by air inlet 16 to gripper 5, and air pressure promotes
Piston 21 moves so that atmospheric pressure pole 22 travels forward, and at this moment one-level corpus unguis 23 promotes two level corpus unguis 24 to work so that two two levels
Corpus unguis 24 is close, completes the promptly and mobile of product.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types, including servomotor A（1）, shell（2）, three-level arm body（3）, four
Level arm body（4）, gripper（5）, two level arm body（6）, outer casing（7）, one-level arm body（8）, rotating disk（9）, body（10）, base
（11）, mounting disc（12）, servo motor B（13）, servomotor C（14）, mounting seat（15）, air inlet（16）, gas outlet（17）、
Joint（18）, bearing pin（19）, cylinder（20）, piston（21）, atmospheric pressure pole（22）, one-level corpus unguis（23）With two level corpus unguis（24）, its
It is characterised by：The body（10）Bottom be welded with base（11）, and base（11）And body（10）Cross section be
Circle, the servomotor C（14）Mounting seat（15）With body（10）Inwall be bolted to connection, and servomotor
C（14）Rotating shaft on be fixed with mounting disc（12）, the mounting disc（12）On be welded with rotating disk（9）, the rotating disk（9）'s
Upper surface and one-level arm body（8）Lower surface be welded and fixed connection, and one-level arm body（8）Upper end and servo motor B（13）'s
Mounting seat（15）It is bolted to connection, the servo motor B（13）Rotating shaft on be fixed with mounting disc（12）, and servo electricity
Machine B（13）Mounting disc in rotating shaft（12）With two level arm body（6）On the mounting disc that is welded and fixed（12）It is bolted to connection,
The two level arm body（6）Upper end and servomotor A（1）Mounting seat（15）It is bolted to connection, and servomotor A
（1）Fixed mounting disc in rotating shaft（12）With shell（2）Lateral surface be bolted to connection, the shell（2）Inside
Servomotor D, and servomotor D rotating shaft and three-level arm body are installed（3）One end be welded and fixed connection, the three-level arm body
（3）The inside of the other end is provided with servomotor E, and servomotor E rotating shaft and gripper（5）The level Four arm body of one end（4）
It is welded and fixed connection, the gripper（5）Inside pneumatic cylinder is installed（20）, and pneumatic cylinder（20）Upper end be provided with air inlet
Mouthful（16）And gas outlet（17）, the pneumatic cylinder（20）Be internally provided with piston（21）, and piston（21）One side and gas
Depression bar（22）One end be fixedly connected, the atmospheric pressure pole（22）The other end on be provided with joint（18）, and joint（18）With two
Individual one-level corpus unguis（23）Pass through bearing pin（19）It is flexibly connected, the one-level corpus unguis（23）With two level corpus unguis（24）Pass through bearing pin（19）
It is flexibly connected.
A kind of 2. pneumatic stiff arms power-assisted mechanical gripper of six shaft type according to claim 1, it is characterised in that：The three-level arm
Body（3）It is arranged on shell（2）Right-hand member, and gripper（5）It is arranged on three-level arm body（3）Right-hand member.
A kind of 3. pneumatic stiff arms power-assisted mechanical gripper of six shaft type according to claim 1, it is characterised in that：The servo electricity
Machine A（1）, servo motor B（13）, servomotor C（14）, servomotor D it is identical with servomotor E model, model is
60CB020C-02000 。
A kind of 4. pneumatic stiff arms power-assisted mechanical gripper of six shaft type according to claim 1, it is characterised in that：The air inlet
（16）And gas outlet（17）It is arranged at pneumatic cylinder（20）Upper end, and air inlet（16）It is arranged on gas outlet（17）Left side.
A kind of 5. pneumatic stiff arms power-assisted mechanical gripper of six shaft type according to claim 1, it is characterised in that：The servo electricity
Machine A（1）Rotating shaft and mounting disc（12）It is fixedly connected by welding.
A kind of 6. pneumatic stiff arms power-assisted mechanical gripper of six shaft type according to claim 1, it is characterised in that：The two level arm
Body（6）Bottom be provided with outer casing（7）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711220608.5A CN107825453A (en) | 2017-11-29 | 2017-11-29 | A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711220608.5A CN107825453A (en) | 2017-11-29 | 2017-11-29 | A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825453A true CN107825453A (en) | 2018-03-23 |
Family
ID=61646337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711220608.5A Pending CN107825453A (en) | 2017-11-29 | 2017-11-29 | A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107825453A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002304A (en) * | 2014-05-08 | 2014-08-27 | 昆明理工大学 | Novel pneumatic manipulator |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN204800636U (en) * | 2015-02-03 | 2015-11-25 | 东莞技研新阳电子有限公司 | Novel 6 -degree of freedom manipulator |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN205343128U (en) * | 2015-12-21 | 2016-06-29 | 河北天昊睿工机械设备有限公司 | Six industrial robot |
| CN205394577U (en) * | 2016-03-01 | 2016-07-27 | 塔林自动化科技（天津）有限公司 | Pneumatic manipulator hand claw |
| CN206578815U (en) * | 2017-02-15 | 2017-10-24 | 昆山威创自动化科技有限公司 | Six-joint robot |
| CN107378989A (en) * | 2017-09-14 | 2017-11-24 | 黄石盛鼎自动化科技有限公司 | A kind of Pneumatic manipulator |
-
2017
- 2017-11-29 CN CN201711220608.5A patent/CN107825453A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002304A (en) * | 2014-05-08 | 2014-08-27 | 昆明理工大学 | Novel pneumatic manipulator |
| CN204800636U (en) * | 2015-02-03 | 2015-11-25 | 东莞技研新阳电子有限公司 | Novel 6 -degree of freedom manipulator |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN205343128U (en) * | 2015-12-21 | 2016-06-29 | 河北天昊睿工机械设备有限公司 | Six industrial robot |
| CN205394577U (en) * | 2016-03-01 | 2016-07-27 | 塔林自动化科技（天津）有限公司 | Pneumatic manipulator hand claw |
| CN206578815U (en) * | 2017-02-15 | 2017-10-24 | 昆山威创自动化科技有限公司 | Six-joint robot |
| CN107378989A (en) * | 2017-09-14 | 2017-11-24 | 黄石盛鼎自动化科技有限公司 | A kind of Pneumatic manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180323 |