CN108058166A - A kind of clamping mechanical hand - Google Patents
A kind of clamping mechanical hand Download PDFInfo
- Publication number
- CN108058166A CN108058166A CN201710976530.3A CN201710976530A CN108058166A CN 108058166 A CN108058166 A CN 108058166A CN 201710976530 A CN201710976530 A CN 201710976530A CN 108058166 A CN108058166 A CN 108058166A
- Authority
- CN
- China
- Prior art keywords
- human hand
- guide rod
- thrust axis
- pedestal
- mechanical
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of clamping mechanical hands, including robot pedestal, revolving body and mechanical human hand, it is characterized in that, the robot base interior installed thrust axis, the thrust axis is provided at both ends with harmonic oscillator, the thrust axis lower end sets and is connected with stepper motor, the revolving body is connected with mechanical human hand by hydraulic cylinder, the machinery human hand and hydraulic cylinder are connected with vertically-guided bar, the machinery human hand sets arm pedestal, and the arm pedestal is provided with guide rod, and the arm pedestal sets hydraulic pressure body, so design cost is low, and precision is high.
Description
Technical field
Manipulator equipment technology field of the present invention more particularly to a kind of clamping mechanical hand.
Background technology
Manipulator is a kind of machine for imitating human upper limb locomotion, it can convey work post or holding tool according to pre-provisioning request
The automation device operated to realizing industrial production automation, promotes industrial further developed to focus on
It acts on.Thus with powerful vitality, attract widespread attention and welcome.
Currently on the market for the manipulator of clamping, stretched using motor pushing push rod, it is so past so as to clamp workpiece
Toward there are Railway Projects：The control point part that manipulator will use multiple precision high, it is all desirable that domestic technique is immature at present
Imported equipments and parts cost of manufacture is high, and manipulator abrasion is very serious, and usage time needs replacing workpiece not long.
The content of the invention
The purpose of the present invention is to solve shortcoming in the prior art, and a kind of clamping mechanical hand proposed.
To achieve these goals, present invention employs following technical solutions：A kind of tight manipulator of pincer attack, including robot
Pedestal, revolving body and mechanical human hand, which is characterized in that the robot base interior installed thrust axis, the thrust axis both ends
Harmonic oscillator is provided with, the thrust axis lower end, which is set, is connected with stepper motor, and the revolving body and mechanical human hand pass through liquid
Cylinder pressure connects, and the machinery human hand and hydraulic cylinder are connected with vertically-guided bar, and the machinery human hand sets arm pedestal, the hand
Arm pedestal is provided with guide rod, and the arm pedestal sets hydraulic pressure body.
Preferably, the harmonic oscillator surface is provided with flexbile gear.
Preferably, the guide rod front and back end is respectively arranged with guide rod front stall and guide rod back seat.
Preferably, the vertically-guided bar both ends are connected with turntable.
In the present invention, first, by stepper motor thrust axis is promoted to move up and down, vertically-guided bar and turntable fix movement
Upright position precision is so improved in direction, is then stretched promotions by hydraulic pressure body, so that grip objects, guide rod can cause
The precision of hydraulic pressure body increases, and such design cost is low, and precision is high.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the side structure schematic diagram of the present invention；
Marginal data：
1- robots pedestal, 2- revolving bodies, 3- machineries human hand, 4- thrust axis, 5- harmonic oscillators, 6- stepper motors, 7- hydraulic pressure
Cylinder, 8- vertically-guideds bar, 9- arms pedestal, 10- guide rods, 11- hydraulic pressure bodies, 12- flexbile gears, 13- guide rods front stall, 14- are oriented to
Bar back seat, 15- turntables.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution 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, instead of all the embodiments.
With reference to Fig. 1-2, a kind of clamping mechanical hand, including robot pedestal 1, revolving body 2 and mechanical human hand 3, feature exists
In the 1 inside installed thrust axis 4 of robot pedestal, the thrust axis 4 is provided at both ends with harmonic oscillator 5, the thrust axis
4 lower ends, which are set, is connected with stepper motor 6, and the revolving body 2 and mechanical human hand 3 are connected by hydraulic cylinder 7, the machinery human hand 3
Vertically-guided bar 8 is connected with hydraulic cylinder 7, the machinery human hand sets arm pedestal 9, and the arm pedestal 9 is provided with front and rear
Guide rod 10, the arm pedestal 9 set hydraulic pressure body 11.
Preferably, 5 surface of harmonic oscillator is provided with flexbile gear 12.
Preferably, 10 front and back end of guide rod is respectively arranged with guide rod front stall 13 and guide rod back seat 14.
Preferably, 8 both ends of vertically-guided bar are connected with turntable 15.
In the present invention, first, by stepper motor 6 thrust axis 4 is promoted to move up and down, vertically-guided bar 8 and turntable 15 are solid
Determine moving direction, so improve upright position precision, then promoted by the way that hydraulic pressure body 11 is flexible, so as to grip objects, guide rod
It can cause the precision of hydraulic pressure body to increase, such design cost is low, and precision is high.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of clamping mechanical hand, including robot pedestal（1）, revolving body（2）With mechanical human hand（3）, which is characterized in that it is described
Robot pedestal（1）Internal installed thrust axis（4）, the thrust axis（4）It is provided at both ends with harmonic oscillator（5）, the thrust
Axis（4）Lower end sets and is connected with stepper motor（6）, the revolving body（2）With mechanical human hand（3）Pass through hydraulic cylinder（7）Connection, institute
State mechanical human hand（3）And hydraulic cylinder（7）It is connected with vertically-guided bar（8）, the machinery human hand setting arm pedestal（9）, it is described
Arm pedestal（9）It is provided with front and rear guide rod（10）, the arm pedestal（9）Hydraulic pressure body is set（11）.
A kind of 2. clamping mechanical hand according to claim 1, which is characterized in that the harmonic oscillator（5）Surface is set
There is flexbile gear (12).
A kind of 3. clamping mechanical hand according to claim 1, which is characterized in that the guide rod（10）Front and back end is set respectively
It is equipped with guide rod front stall（13）With guide rod back seat（14）.
A kind of 4. clamping mechanical hand according to claim 1, which is characterized in that the vertically-guided bar（8）Both ends connect
There is turntable（15）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976530.3A CN108058166A (en) | 2017-10-19 | 2017-10-19 | A kind of clamping mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976530.3A CN108058166A (en) | 2017-10-19 | 2017-10-19 | A kind of clamping mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108058166A true CN108058166A (en) | 2018-05-22 |
Family
ID=62138065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710976530.3A Withdrawn CN108058166A (en) | 2017-10-19 | 2017-10-19 | A kind of clamping mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108058166A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927785A (en) * | 2018-07-23 | 2018-12-04 | 荆门它山之石电子科技有限公司 | A kind of multi-stage cylinder formula puma manipulator |
-
2017
- 2017-10-19 CN CN201710976530.3A patent/CN108058166A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927785A (en) * | 2018-07-23 | 2018-12-04 | 荆门它山之石电子科技有限公司 | A kind of multi-stage cylinder formula puma manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180522 |