CN108381577A - A kind of automatic mechanical hand - Google Patents
A kind of automatic mechanical hand Download PDFInfo
- Publication number
- CN108381577A CN108381577A CN201810258667.XA CN201810258667A CN108381577A CN 108381577 A CN108381577 A CN 108381577A CN 201810258667 A CN201810258667 A CN 201810258667A CN 108381577 A CN108381577 A CN 108381577A
- Authority
- CN
- China
- Prior art keywords
- motor
- lower section
- mounting plate
- mechanical hand
- automatic
- 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- Withdrawn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
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic mechanical hands, are related to robotic device field.The automatic mechanical hand includes mounting plate, is equipped with automatic control device above the mounting plate on the right side of manipulator support, and left side is equipped with the warning device being electrically connected with automatic control device.The lower section of the mounting plate is equipped with sliding rail and first motor, the lower section of the sliding rail is equipped with the second motor, the lower section of second motor is equipped with telescopic rod, the junction of the telescopic rod and the second motor is equipped with weight sensor, the lower section of the telescopic rod is connected with handgrip by axis pin, movable pulley is additionally provided at the axis pin, the movable pulley connect to form pulley blocks by twisted rope with the fixed pulley capstan winch being arranged below first motor.The construction machine hand has the characteristics that reasonable design, flexible and convenient, safe and practical, while substantially increasing load-bearing capacity, is with a wide range of applications.
Description
Technical field
The invention belongs to robotic device fields, and in particular to a kind of automatic mechanical hand.
Background technology
With the continuous development of China's economy advancing by leaps and bounds with scientific and technical so that manipulator is in stacking, gluing, point
The industries such as weldering, arc-welding, spraying, carrying, measurement, which have, to be quite widely applied.Wherein there is an a lot of reasons, including the type of packaging,
Stacking is become a great problem in packaging plant by the environment of plant and customer demand etc..In order to overcome the problems, such as these, Palletizer
Various aspects all improved in development, include from mechanical son to manipulating its software.The demand of flexibility is constantly increased in the market
Long, this trend has influenced many aspects of packaging, and the back segment of production line is no exception.However some can flexibly be transported
Turn manipulator often can load-bearing it is smaller, it is potentially dangerous when producing line carries some compared with parcel, though provided with alarm
Device but still do not change the problem of can not carrying weight higher cargo.
Invention content
Present invention aim to address the above problems, provide a kind of automatic mechanical hand, which has larger flexible
Property and load-bearing capacity, adapt to different cargo and carry demand.
To achieve the goals above, the present invention provides a kind of automatic mechanical hand, including mounting plate, on the mounting plate
Side is equipped with manipulator support, and automatic control device is equipped in the side of the holder；
The lower section of the mounting plate is equipped with sliding rail, and the lower section of the sliding rail is equipped with mechanical arm, is equipped with below the mounting plate
First motor, the first motor are electrically connected by conducting wire and the automatic control device, and under the first motor
Side is equipped with fixed pulley capstan winch；
The mechanical arm includes the second motor, and the lower section of second motor is equipped with telescopic rod, the telescopic rod with it is described
The junction of second motor be equipped with weight sensor, second motor and the weight sensor by conducting wire with it is described from
Dynamic control device is electrically connected, and the lower section of the telescopic rod is connected with handgrip by axis pin；
Movable pulley is additionally provided at the axis pin, the movable pulley forms pulley by twisted rope and the fixed pulley capstan winch
Group.
Further, the mechanical arm is symmetricly set on the lower section both sides of the sliding rail.
Further, the first motor and second motor are decelerating motor.
Further, the lower section of the mounting plate is equipped with the fixing device for being used for connecting with the movable pulley.
Further, the clamping part surface of the handgrip is equipped with vacuum type sucker.
Further, the other side of the manipulator support be equipped with warning device, the warning device by conducting wire with
The automatic control device is electrically connected.
The automatic mechanical hand can capture the different size of object of different location by the cooperation of motor and telescopic rod
Product；Again by pin shaft design, handgrip more can flexibly be rotated, convenient for capturing object of different shapes；Finally lead to again
The combination for crossing pulley blocks and motor alleviates the load-bearing of manipulator so that it can the larger article of weight capacity, in combination with report
Alarm device also further improves the safety of manipulator, can be used with popularity.
Description of the drawings
Technical solution in technology in order to illustrate the embodiments of the present invention more clearly, in being described below to embodiment technology
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the present invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Each symbolic indication is as follows in figure：
1, manipulator support, 2, mounting plate, 3, warning device,
4, sliding rail, 5, fixed link, 6, first motor,
7, the second motor, 8, weight sensor, 9, telescopic rod,
10, axis pin, 11, movable pulley, 12, handgrip,
13, fixed pulley capstan winch, 14, automatic control device
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.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of one embodiment of the invention.As shown in Figure 1, the automated machine handbag of the present embodiment
Mounting plate 2 is included, the upper center of mounting plate 2 is provided with manipulator support 1, in the top of mounting plate 2 simultaneously in manipulator support 1
Right side be provided with automatic control device 14, be used for the whole of control machinery hand and carry operation, left side is provided with warning device
3, it is electrically connected by conducting wire and automatic control device 14, the lower section of mounting plate 2 is equipped with sliding rail 4, fixed link 5 and first motor
6, two mechanical arms are symmetrically arranged in the lower section of sliding rail 4, fixed link 5 is connect by twisted rope with the movable pulley 11 on mechanical arm,
First motor 6 is electrically connected by conducting wire and the automatic control device 14, and is additionally provided in the lower section of first motor 6 and is determined cunning
Capstan winch 13 is taken turns, which connect to form pulley blocks with the movable pulley 11 on mechanical arm.
Mechanical arm includes the second motor 7, and the lower section of the second motor 7 is equipped with telescopic rod 9, telescopic rod 9 and the second motor 7
To be equipped with weight sensor 8, the second motor 7 and weight sensor 8 electrical by conducting wire and automatic control device 14 for junction
The lower section of connection, telescopic rod 9 is connected with handgrip 12 by axis pin 10, and the clamping part surface of handgrip 12 is inhaled equipped with vacuum type
Disk, it can be achieved that cargo stable holding.Movable pulley 11 is provided at axis pin 10,11 both ends of movable pulley by twisted rope and are consolidated respectively
Fixed pole 5 and fixed pulley capstan winch 13 connect.In order to control the lifting speed of cargo, first motor is the electricity that slows down with the second motor
Machine.
When the automatic mechanical hand works, machinery is manually placed at beside the object for needing to capture by sliding rail 4 first,
It is then turned on automatic control device 8, automatic control device 8 can automatically control handgrip 12 and capture object, when handgrip support is steady or folder is steady
After object, automatic control device 8 controls first motor 6 and the second motor 7 starts operation, and first motor 6 controls fixed pulley at this time
Capstan winch rotates counterclockwise, and twisted rope is driven to be wrapped on fixed pulley capstan winch, and movable pulley 11 is then carried by twisted rope drawing and rises simultaneously band therewith
The dynamic object for having been held up or having been picked up by handgrip 12 rises, and the second motor 7 then controls telescopic rod 9 simultaneously and received with the rising of object
Contracting.When the weight of object of crawl exceeds preset value, warning device 3 can send out alarm, effectively prevent damaging because object is overweight
Bad hand grip extends the service life of hand grip.
The automatic mechanical hand of the structure can flexibly capture the different size of object of different location, while by pulley blocks knot
Structure can effectively carry heavier object and be with a wide range of applications to which manpower be greatly saved.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (6)
1. a kind of automatic mechanical hand, including mounting plate, the mounting plate top is equipped with manipulator support, the one of the holder
Side is equipped with automatic control device, it is characterised in that：
The lower section of the mounting plate is equipped with sliding rail, and the lower section of the sliding rail is equipped with mechanical arm, first is equipped with below the mounting plate
Motor, the first motor is electrically connected by conducting wire and the automatic control device, and is set below the first motor
There is fixed pulley capstan winch；
The mechanical arm includes the second motor, and the lower section of second motor is equipped with telescopic rod, the telescopic rod and described second
The junction of motor is equipped with weight sensor, and second motor and the weight sensor pass through conducting wire and the automatic control
Device processed is electrically connected, and the lower section of the telescopic rod is connected with handgrip by axis pin；
Movable pulley is additionally provided at the axis pin, the movable pulley forms pulley blocks by twisted rope and the fixed pulley capstan winch.
2. automatic mechanical hand according to claim 1, it is characterised in that：The mechanical arm is symmetricly set on the sliding rail
Lower section both sides.
3. automatic mechanical hand according to claim 1, it is characterised in that：The first motor and second motor are equal
For decelerating motor.
4. automatic mechanical hand according to claim 1, it is characterised in that：The lower section of the mounting plate, which is equipped with, to be used for and institute
State the fixing device of movable pulley connection.
5. automatic mechanical hand according to claim 1, it is characterised in that：The clamping part surface of the handgrip is equipped with vacuum
Formula sucker.
6. automatic mechanical hand according to claim 1, it is characterised in that：It is equipped in the other side of the manipulator support
Warning device, the warning device are electrically connected by conducting wire and the automatic control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810258667.XA CN108381577A (en) | 2018-03-27 | 2018-03-27 | A kind of automatic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810258667.XA CN108381577A (en) | 2018-03-27 | 2018-03-27 | A kind of automatic mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381577A true CN108381577A (en) | 2018-08-10 |
Family
ID=63072669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810258667.XA Withdrawn CN108381577A (en) | 2018-03-27 | 2018-03-27 | A kind of automatic mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381577A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129419A (en) * | 2018-08-29 | 2019-01-04 | 王令剑 | A kind of anti-overload industrial machine human arm |
| CN109435237A (en) * | 2018-12-14 | 2019-03-08 | 武汉理工大学 | A kind of large space 3D printer based on light-duty mechanical arm |
| CN111230878A (en) * | 2020-02-14 | 2020-06-05 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
| CN112811057A (en) * | 2021-02-01 | 2021-05-18 | 芳坤智能储存（宿迁）股份有限公司 | Intensive efficient intelligent shelf storage equipment and use method |
-
2018
- 2018-03-27 CN CN201810258667.XA patent/CN108381577A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129419A (en) * | 2018-08-29 | 2019-01-04 | 王令剑 | A kind of anti-overload industrial machine human arm |
| CN109129419B (en) * | 2018-08-29 | 2021-07-02 | 昆山艾易得自动化科技有限公司 | Prevent industrial robot arm that overloads |
| CN109435237A (en) * | 2018-12-14 | 2019-03-08 | 武汉理工大学 | A kind of large space 3D printer based on light-duty mechanical arm |
| CN109435237B (en) * | 2018-12-14 | 2020-09-08 | 武汉理工大学 | Large-space 3D printer based on light mechanical arm |
| CN111230878A (en) * | 2020-02-14 | 2020-06-05 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
| CN111230878B (en) * | 2020-02-14 | 2021-10-26 | 珠海格力智能装备有限公司 | Stacking robot control method, device and equipment and stacking robot system |
| CN112811057A (en) * | 2021-02-01 | 2021-05-18 | 芳坤智能储存（宿迁）股份有限公司 | Intensive efficient intelligent shelf storage equipment and use method |
| CN112811057B (en) * | 2021-02-01 | 2021-12-07 | 芳坤智能储存（宿迁）股份有限公司 | Intensive efficient intelligent shelf storage equipment and use method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108381577A (en) | A kind of automatic mechanical hand | |
| CN206703051U (en) | A kind of Palletizing robot | |
| CN205771904U (en) | A kind of packaging bag handgrip | |
| CN204546551U (en) | A kind of mechanical gripper | |
| CN208215372U (en) | It is a kind of for grabbing the mechanical gripper and manipulator of lithium battery | |
| CN206691998U (en) | A kind of automatic stacking machine | |
| CN201253848Y (en) | Stack robot manipulator | |
| CN208759606U (en) | A kind of four-degree-of-freedom underloading industrial robot | |
| CN108163556A (en) | A kind of Palletised carry machine | |
| CN208147866U (en) | A kind of automatic mechanical hand | |
| CN201942363U (en) | Wire material rewinding equipment | |
| CN203045729U (en) | Gripper structure of automatic feeding manipulator | |
| CN106865242B (en) | A kind of stacking machine convenient for being aligned brick packet | |
| CN206366993U (en) | A kind of automatic clamping and placing material manipulator | |
| CN209113380U (en) | A kind of folding arm crane | |
| CN209319779U (en) | A kind of fetching device based on manipulator | |
| CN206969089U (en) | A kind of woven bag grabs bag mechanism and its grabs bag system | |
| CN206048232U (en) | For capturing the handgrip of feeding structure | |
| CN210456554U (en) | Box stacking machine gripper | |
| CN209455641U (en) | A kind of manipulator of conveying device | |
| CN205905003U (en) | Novel connecting rod tongs of structure | |
| CN213197570U (en) | Robot gripper made of tubular materials | |
| CN206955503U (en) | Derrick crane with vibratory sieve material function | |
| CN209425472U (en) | A kind of automobile component processing electromagnetism profiling mechanism hand | |
| CN209699144U (en) | A kind of manipulator with overload protection function |
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: 20180810 |