CN108284441A - A kind of small-sized machine arm end clamping device - Google Patents
A kind of small-sized machine arm end clamping device Download PDFInfo
- Publication number
- CN108284441A CN108284441A CN201810387475.9A CN201810387475A CN108284441A CN 108284441 A CN108284441 A CN 108284441A CN 201810387475 A CN201810387475 A CN 201810387475A CN 108284441 A CN108284441 A CN 108284441A
- Authority
- CN
- China
- Prior art keywords
- fixed
- clamping plate
- hollow
- small
- motor
- 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.)
- Granted
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of small-sized machine arm end clamping devices, including connecting seat, hollow mounting base is fixed at the top of the connecting seat, and it is fixed with first motor at the top of hollow mounting base, the output shaft of first motor is fixed with the first gear that rotation is socketed on the inside of hollow mounting base, the first gear engagement is connected with second gear, and the Rotational Cylindrical being rotatablely connected with hollow mounting base is fixed at the top of second gear, and the top of the Rotational Cylindrical is fixed with electric cylinder.The present invention passes through the second motor, threaded rod, riffled tube, rectangular shaped slider, fixed block, connecting rod, first clamping plate and second clamping plate, multiple objects can disposably be clamped, and then improve transfer efficiency, it is easy to use, and the structures such as limitting casing, first clamping plate and second clamping plate can be dismantled integrally, and then facilitate repair or replacement, and it is powerful, it then can be with the service life of prolonged mechanical arm.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of small-sized machine arm end clamping devices.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Warehouse is relatively often used automatic manipulator and Manual manipulator at present, however, the clamping part of both manipulators is
It is wholely set with manipulator, when its clamping part is damaged during gripping object and being shifted, needs to spend very
The long time repairs replacement, and process is very complicated, and maintenance time is long, causes article transfer efficiency low so that machinery
The service life of arm is short, in addition, manipulator used at present can only disposably capture one object of transfer mostly so that object turns
It is low to move efficiency.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of small-sized machine arm end proposed
Clamping device.
To achieve the goals above, present invention employs following technical solutions：
A kind of small-sized machine arm end clamping device, including connecting seat are fixed with hollow installation at the top of the connecting seat
Seat, and first motor is fixed at the top of hollow mounting base, the output shaft of first motor is fixed with rotation and is socketed in hollow installation
The first gear of seat inside, first gear engagement are connected with second gear, and be fixed at the top of second gear with it is hollow
The Rotational Cylindrical of mounting base rotation connection, the top of the Rotational Cylindrical is fixed with electric cylinder, and the piston rod of electric cylinder is vertically fixed
There is hollow leading arm, one end screw of the hollow leading arm is fixed with limitting casing, and the other end of hollow leading arm is fixed with
The output shaft of second motor, second motor is fixed with threaded rod, and the outside screw of threaded rod is socketed with and is slidably socketed
One end of riffled tube on the inside of hollow leading arm, the riffled tube is fixed with symmetrically arranged rectangular shaped slider, and rectangle is slided
The one end of block far from riffled tube is fixed with the fixed block for being symmetricly set on hollow leading arm both sides, and fixed block is connected with clamping knot
Structure.
Preferably, the clamp structure includes the connecting rod that screw is fixed on fixed block side, and connecting rod is far from fixed
One end of block is fixed with the second clamping plate on the inside of limitting casing, and the side of second clamping plate is equipped with the be fixed on the inside of limitting casing
One clamping plate.
Preferably, the limitting casing is equipped with the rectangular opening being adapted to connecting rod size close to the side of fixed block, and connects
Bar is slidably socketed in rectangular opening, and connecting rod and fixed block are equipped with threaded hole, and threaded hole inner screw sheath is connected to the first spiral shell
Nail.
Preferably, the limitting casing is equipped with jack close to the side inner wall of hollow leading arm, and the second spiral shell is plugged in jack
Nail, and hollow leading arm is connect with the second screw thread, and hollow leading arm is located at the top of electric cylinder.
Preferably, the hollow leading arm close to the side of fixed block along its length be equipped with sliding slot, and rectangular shaped slider with
Sliding slot size is adapted to, and rectangular shaped slider is slidably socketed in sliding slot.
Preferably, the opposite side of the first clamping plate and second clamping plate is equipped with arc holding tank, and first clamping plate and
The length of second splint is more than the height of limitting casing.
Preferably, the side of the electric cylinder is fixed with the controller above first motor, and controller model
ATMEGA16, and the lower section of controller is equipped with redundant electrical power.
In the present invention, pass through the second motor, threaded rod, riffled tube, rectangular shaped slider, fixed block, connecting rod, first clamping plate
And second clamping plate, multiple objects can disposably be clamped, and then improve transfer efficiency, it is easy to use, and limitting casing, first clamping plate
It can integrally be dismantled with structures such as second clamping plates, and then facilitate repair or replacement, it is powerful, it then can be with prolonged mechanical
The service life of arm；Pass through first motor, first gear, second gear, Rotational Cylindrical, electric cylinder and hollow leading arm, Neng Gougen
According to the height for needing to adjust object crawl direction and object is placed, object is shifted to convenient, using flexible is good.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of small-sized machine arm end proposed by the present invention clamping device；
Fig. 2 is that a kind of hollow leading arm internal structure vertical view of small-sized machine arm end proposed by the present invention clamping device is shown
It is intended to；
Fig. 3 is a kind of riffled tube schematic side view of small-sized machine arm end proposed by the present invention clamping device.
In figure：1 connecting seat, 2 hollow mounting bases, 3 electric cylinders, 4 first motors, 5 first gears, 6 second gears, 7 rotations
Column, 8 hollow leading arms, 9 second motors, 10 threaded rods, 11 riffled tubes, 12 rectangular shaped sliders, 13 fixed blocks, 14 connecting rods, 15
Limitting casing, 16 first clamping plates, 17 second clamping plates, 18 first screws, 19 second screws.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3, a kind of small-sized machine arm end clamping device, including connecting seat 1, the top of connecting seat 1 are fixed with
Hollow mounting base 2, and the top of hollow mounting base 2 is fixed with first motor 4, the output shaft of first motor 4 is fixed with turning set
It is connected on the first gear 5 of 2 inside of hollow mounting base, the engagement of first gear 5 is connected with second gear 6, and the top of second gear 6
It is fixed with the Rotational Cylindrical 7 being rotatablely connected with hollow mounting base 2, the top of Rotational Cylindrical 7 is fixed with electric cylinder 3, and the work of electric cylinder 3
Stopper rod is vertically and fixedly provided with hollow leading arm 8, and one end screw of hollow leading arm 8 is fixed with limitting casing 15, and hollow leading arm 8
The other end is fixed with the second motor 9, and the output shaft of the second motor 9 is fixed with threaded rod 10, and the outside screw set of threaded rod 10
It is connected to the riffled tube 11 being slidably socketed in 8 inside of hollow leading arm, one end of riffled tube 11 is fixed with symmetrically arranged square
Shape sliding block 12, and the one end of rectangular shaped slider 12 far from riffled tube 11 is fixed with and is symmetricly set on consolidating for 8 both sides of hollow leading arm
Determine block 13, fixed block 13 is connected with clamp structure, and clamp structure includes the connecting rod 14 that screw is fixed on 13 side of fixed block, and
The one end of connecting rod 14 far from fixed block 13 is fixed with the second clamping plate 17 positioned at 15 inside of limitting casing, the side of second clamping plate 17
Equipped with the first clamping plate 16 for being fixed on 15 inside of limitting casing, limitting casing 15 is equipped with big with connecting rod 14 close to the side of fixed block 13
The rectangular opening of small adaptation, and connecting rod 14 is slidably socketed in rectangular opening, and connecting rod 14 and fixed block 13 are equipped with threaded hole,
And threaded hole inner screw sheath is connected to the first screw 18, limitting casing 15 is equipped with jack, jack close to the side inner wall of hollow leading arm 8
It is inside plugged with the second screw 19, and hollow leading arm 8 is threadedly coupled with the second screw 19, and hollow leading arm 8 is located at electric cylinder 3
Top, hollow leading arm 8 is equipped with sliding slot, and rectangular shaped slider 12 and sliding slot size along its length close to the side of fixed block 13
Adaptation, and rectangular shaped slider 12 is slidably socketed in sliding slot, the opposite side of first clamping plate 16 and second clamping plate 17 is equipped with arc folder
Slot is held, and the length of first clamping plate 16 and second clamping plate 17 is more than the height of limitting casing 15, the side of electric cylinder 3, which is fixed with, to be located at
The controller of 4 top of first motor, and controller model ATMEGA16, and the lower section of controller is equipped with redundant electrical power.
Operation principle：In the present invention, the first motor 4 of setting is for driving first gear 5, second gear 6, Rotational Cylindrical 7
It is rotated with electric cylinder 3, the crawl direction for adjusting object, electricity that is convenient that the object of different directions is captured, and being arranged
Dynamic cylinder 3 can adjust the height of hollow leading arm 8, and after facilitating grasping body, object is transferred to the position of different height, to
Convenience in transport, the second motor 9 of setting when in use, can drive threaded rod 10 to rotate, under the action of screw thread, riffled tube
11, rectangular shaped slider 12, fixed block 13 and connecting rod 14 will be slided, at this point, the distance between first clamping plate 16 and second clamping plate 17
It will change, and then object can be gripped, and the first clamping plate 16 of setting and the quantity of second clamping plate 17 are
It is multiple, and then multiple objects can disposably be clamped, and then transfer efficiency is improved, it is easy to use；Due to limitting casing 15 with it is hollow
Leading arm 8 is fixed by the second screw 19, and connecting rod 14 and fixed block 13 are fixed by the first screw 18, thus when clamping is tied
After structure damage, only the first screw 18 need to be taken out and under the second screw 19 can very easily dismantle 15 overall structure of limitting casing
Come, and then facilitates repair or replacement, it is powerful.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of small-sized machine arm end clamping device, including connecting seat (1), which is characterized in that the top of the connecting seat (1)
It is fixed with hollow mounting base (2), and is fixed with first motor (4) at the top of hollow mounting base (2), the output of first motor (4)
Axis is fixed with the first gear (5) that rotation is socketed on the inside of hollow mounting base (2), and first gear (5) engagement is connected with the
Two gears (6), and the Rotational Cylindrical (7) being rotatablely connected with hollow mounting base (2) is fixed at the top of second gear (6), described turn
The top of dynamic column (7) is fixed with electric cylinder (3), and the piston rod of electric cylinder (3) is vertically and fixedly provided with hollow leading arm (8), described
One end screw of hollow leading arm (8) is fixed with limitting casing (15), and the other end of hollow leading arm (8) is fixed with the second motor
(9), the output shaft of second motor (9) is fixed with threaded rod (10), and the outside screw of threaded rod (10) is socketed with sliding
The riffled tube (11) being socketed on the inside of hollow leading arm (8), one end of the riffled tube (11) are fixed with symmetrically arranged
Rectangular shaped slider (12), and the one end of rectangular shaped slider (12) far from riffled tube (11) is fixed with and is symmetricly set on hollow leading arm
(8) fixed block (13) of both sides, fixed block (13) are connected with clamp structure.
2. a kind of small-sized machine arm end according to claim 1 clamping device, which is characterized in that the clamp structure packet
The connecting rod (14) that screw is fixed on fixed block (13) side is included, and the one end of connecting rod (14) far from fixed block (13) is fixed with
Second clamping plate (17) on the inside of limitting casing (15), the side of second clamping plate (17), which is equipped with, to be fixed on the inside of limitting casing (15)
First clamping plate (16).
3. a kind of small-sized machine arm end according to claim 2 clamping device, which is characterized in that the limitting casing (15)
The rectangular opening being adapted to connecting rod (14) size is equipped with close to the side of fixed block (13), and connecting rod (14) is slidably socketed in square
In shape hole, and connecting rod (14) and fixed block (13) are equipped with threaded hole, and threaded hole inner screw sheath is connected to the first screw (18).
4. a kind of small-sized machine arm end according to claim 1 clamping device, which is characterized in that the limitting casing (15)
It is equipped with jack close to the side inner wall of hollow leading arm (8), the second screw (19), and hollow leading arm (8) are plugged in jack
It is threadedly coupled with the second screw (19), and hollow leading arm (8) is located at the top of electric cylinder (3).
5. a kind of small-sized machine arm end according to claim 1 clamping device, which is characterized in that the hollow leading arm
(8) it is equipped with sliding slot along its length close to the side of fixed block (13), and rectangular shaped slider (12) is adapted to sliding slot size, and rectangle
Sliding block (12) is slidably socketed in sliding slot.
6. a kind of small-sized machine arm end according to claim 2 clamping device, which is characterized in that the first clamping plate
(16) and the opposite side of second clamping plate (17) is equipped with arc holding tank, and the length of first clamping plate (16) and second clamping plate (17)
More than the height of limitting casing (15).
7. a kind of small-sized machine arm end according to claim 1 clamping device, which is characterized in that the electric cylinder (3)
Side be fixed with the controller above first motor (4), and controller model ATMEGA16, and the lower section of controller
Equipped with redundant electrical power.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810387475.9A CN108284441B (en) | 2018-04-26 | 2018-04-26 | Terminal clamping device of small-size arm |
| CN202010821833.XA CN111993404A (en) | 2018-04-26 | 2018-04-26 | Control method of small mechanical arm tail end clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810387475.9A CN108284441B (en) | 2018-04-26 | 2018-04-26 | Terminal clamping device of small-size arm |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010821833.XA Division CN111993404A (en) | 2018-04-26 | 2018-04-26 | Control method of small mechanical arm tail end clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108284441A true CN108284441A (en) | 2018-07-17 |
| CN108284441B CN108284441B (en) | 2020-10-09 |
Family
ID=62834797
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010821833.XA Withdrawn CN111993404A (en) | 2018-04-26 | 2018-04-26 | Control method of small mechanical arm tail end clamping device |
| CN201810387475.9A Active CN108284441B (en) | 2018-04-26 | 2018-04-26 | Terminal clamping device of small-size arm |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010821833.XA Withdrawn CN111993404A (en) | 2018-04-26 | 2018-04-26 | Control method of small mechanical arm tail end clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111993404A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772834A (en) * | 2018-08-03 | 2018-11-09 | 山东省科学院海洋仪器仪表研究所 | A kind of Multi-freedom-degreemanipulator manipulator |
| CN108996230A (en) * | 2018-09-26 | 2018-12-14 | 樊强 | A kind of handling machinery arm of multi-stage expansion |
| CN109175834A (en) * | 2018-09-28 | 2019-01-11 | 江苏派远软件开发有限公司 | A kind of welding robot working platform overturning angle adjustment device |
| CN109176498A (en) * | 2018-10-25 | 2019-01-11 | 胡友红 | A kind of industrial robot grabbing device |
| CN109974550A (en) * | 2019-04-21 | 2019-07-05 | 吉林工程技术师范学院 | A kind of high-accuracy main shaft detection device |
| CN112489975A (en) * | 2020-11-23 | 2021-03-12 | 海安上海交通大学智能装备研究院 | Sheet stock slewer suitable for automatic closed assembly production line of transformer core |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005118958A (en) * | 2003-10-17 | 2005-05-12 | Fanuc Ltd | Robot hand and handling robot system |
| WO2011016968A1 (en) * | 2009-07-27 | 2011-02-10 | J&L Group International, Llc | System and methods for forming stacks |
| CN107378983A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical paw that hobboing cutter is changed for shield machine |
| CN206703060U (en) * | 2017-04-17 | 2017-12-05 | 黄河科技学院 | A kind of loading and unloading manipulator |
| CN107953322A (en) * | 2017-12-28 | 2018-04-24 | 铜陵安博电路板有限公司 | A kind of clamping device |
-
2018
- 2018-04-26 CN CN202010821833.XA patent/CN111993404A/en not_active Withdrawn
- 2018-04-26 CN CN201810387475.9A patent/CN108284441B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005118958A (en) * | 2003-10-17 | 2005-05-12 | Fanuc Ltd | Robot hand and handling robot system |
| WO2011016968A1 (en) * | 2009-07-27 | 2011-02-10 | J&L Group International, Llc | System and methods for forming stacks |
| CN107378983A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical paw that hobboing cutter is changed for shield machine |
| CN206703060U (en) * | 2017-04-17 | 2017-12-05 | 黄河科技学院 | A kind of loading and unloading manipulator |
| CN107953322A (en) * | 2017-12-28 | 2018-04-24 | 铜陵安博电路板有限公司 | A kind of clamping device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772834A (en) * | 2018-08-03 | 2018-11-09 | 山东省科学院海洋仪器仪表研究所 | A kind of Multi-freedom-degreemanipulator manipulator |
| CN108996230A (en) * | 2018-09-26 | 2018-12-14 | 樊强 | A kind of handling machinery arm of multi-stage expansion |
| CN109175834A (en) * | 2018-09-28 | 2019-01-11 | 江苏派远软件开发有限公司 | A kind of welding robot working platform overturning angle adjustment device |
| CN109176498A (en) * | 2018-10-25 | 2019-01-11 | 胡友红 | A kind of industrial robot grabbing device |
| CN109974550A (en) * | 2019-04-21 | 2019-07-05 | 吉林工程技术师范学院 | A kind of high-accuracy main shaft detection device |
| CN112489975A (en) * | 2020-11-23 | 2021-03-12 | 海安上海交通大学智能装备研究院 | Sheet stock slewer suitable for automatic closed assembly production line of transformer core |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111993404A (en) | 2020-11-27 |
| CN108284441B (en) | 2020-10-09 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20200911 Address after: No.5 Keda Road, Yicheng Economic Development Zone, Yicheng District, Zaozhuang City, Shandong Province Applicant after: Zaozhuang Longhai automation equipment Co., Ltd Address before: 236000 Room 301, No.168, Zhifu Road, Yingdong District, Fuyang City, Fuyang City, Anhui Province Applicant before: FUYANG SHENGDONG INTELLIGENT MANUFACTURING TECHNOLOGY DEVELOPMENT Co.,Ltd. |
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