CN108557468A - A kind of handling machinery arm of firm grip - Google Patents
A kind of handling machinery arm of firm grip Download PDFInfo
- Publication number
- CN108557468A CN108557468A CN201810384998.8A CN201810384998A CN108557468A CN 108557468 A CN108557468 A CN 108557468A CN 201810384998 A CN201810384998 A CN 201810384998A CN 108557468 A CN108557468 A CN 108557468A
- Authority
- CN
- China
- Prior art keywords
- side wall
- mounting plate
- block
- bottom end
- firm grip
- 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
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
-
- 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
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of handling machinery arms of firm grip, including fixed frame, the vertical tangent plane of fixed frame is U-shaped, the horizontally disposed groove of top fluting of the fixed frame, horizontally disposed first rodless cylinder is installed in groove, the output shaft of first rodless cylinder is connected with movable frame, movable frame is slidably socketed on the top side wall of fixed frame, the bottom end of the movable frame is connected with telescopic mast, it is welded with the head rod being obliquely installed on the bottom end side wall of telescopic mast, the bottom end of head rod is hinged with the second connecting rod, single head cylinder is hinged on the side wall of head rod, the piston rod of single head cylinder is hinged with the second connecting rod.The present invention can carry out the adjustment of multiple positions, facilitate and carry out clamping and copy mechanically, can realize the clamping to workpiece, it is good to grip effect, and realizes mechanical self-latching, and in the case where occurring powering off and dying, clamping object, which will not loosen, to fall down.
Description
Technical field
The present invention relates to mechanical arm technical field more particularly to a kind of handling machinery arms of firm grip.
Background technology
Mechanical arm is high-precision, high speed glue dispensing machine hand.The corresponding small lot mode of production, improves production efficiency.Except dispensing
Except operation, uv irradiations can be corresponded to, part is placed, screw locking, the various work such as circuit board cutting.With the development of science and technology,
Mechanical arm is applied in various enterprises, and for improving production efficiency, some Shipping enterprises, the substitution of configuration mechanical arm is manually
Labour for transporting goods, realized by the action of cylinder or motor mostly, is being powered off by the clamping process of existing machinery arm
Or in the case of dying, clamping piece is easy to loosen, and mechanical self-latching is cannot achieve, thus it is proposed that a kind of carrying of firm grip
Mechanical arm.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of carrying of the firm grip proposed
Mechanical arm.
To achieve the goals above, present invention employs following technical solutions：
The vertical tangent plane of a kind of handling machinery arm of firm grip, including fixed frame, fixed frame is U-shaped, the fixation
The top of frame is slotted horizontally disposed groove, is equipped with horizontally disposed first rodless cylinder in groove, first without bar gas
The output shaft of cylinder is connected with movable frame, and movable frame is slidably socketed on the top side wall of fixed frame, the movable frame
Bottom end be connected with telescopic mast, be welded with the head rod being obliquely installed on the bottom end side wall of telescopic mast, head rod
Bottom end is hinged with the second connecting rod, and single head cylinder is hinged on the side wall of head rod, and the piston rod of single head cylinder is hinged with
Second connecting rod, the bottom end of the second connecting rod are fixed with mounting plate, and the cross section of mounting plate is circle, opened on mounting plate there are four
The internal slide of the through-hole of array arrangement, through-hole is connected with sliding block, and the side of through-hole is equipped with fixed the second nothing on a mounting board
The output shaft of bar cylinder, the second rodless cylinder is connected with sliding block, and the side of sliding block, which is connected with, to be slidably connected on mounting plate side wall
Grip block, locating rod is connected on the side side wall of the sliding block, one end of locating rod passes through the side wall of through-hole to extend to peace
The outside of loading board is mounted on set casing on the surrounding side wall of mounting plate, and locating rod is slidably connected on set casing.
Preferably, it is provided with groove on the side side wall of the locating rod, groove has been embedded in rack, in the side of set casing
It is fixed with electromagnet on wall, spring is connected on electromagnet, one end of spring is connected with the work being slidably connected inside set casing
Motion block, movable block are embedded with magnet piece on the side side wall of electromagnet, multiple battle arrays are provided on the other side side wall of movable block
The tooth mouth of arrangement is arranged, movable block is intermeshed by tooth mouth and rack.
Preferably, it is equipped with the second limited block on the two side of the movable block, is provided on the both sides inner wall of set casing
Second limiting slot, the second limited block are slidably connected in the second limiting slot.
Preferably, equal adhesion has rubber slab on four grip blocks side side wall close to each other, is opened on the side wall of rubber slab
There is anti-skid chequer.
Preferably, second connecting rod is connected to the centre position of mounting plate.
Preferably, it is equipped with the first limited block on the both sides side wall of the sliding block, is provided on the both sides side wall of through-hole
One limit hole, the first limited block are slidably connected in the first limit hole.
Preferably, the bottom end both sides of the fixed frame are respectively mounted there are two universal wheel, and universal wheel is equipped with retaining mechanism.
The present invention proposes a kind of handling machinery arm of firm grip：
Pass through fixed frame, mounting plate, head rod, the first rodless cylinder, movable frame, telescopic mast, single head cylinder
With the setting of the second connecting rod, the adjustment of multiple positions can be carried out, facilitates be clamped and copy mechanically；
Pass through through-hole, sliding block, grip block, locating rod, set casing, the second rodless cylinder, rack, movable block, spring, electromagnetism
The setting of iron and magnet piece can realize the clamping to workpiece, and it is good to grip effect, and realizes mechanical self-latching, is breaking
Electricity and in the case of dying, clamping object, which will not loosen, to fall down, and the present invention can carry out the adjustment of multiple positions, facilitate and carried out
Clamping is copied mechanically, can realize the clamping to workpiece, and it is good to grip effect, and realizes mechanical self-latching, is occurring powering off and die
In the case of, clamping object, which will not loosen, to fall down.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the handling machinery arm of firm grip proposed by the present invention；
Fig. 2 is a kind of partial side structural schematic diagram of the handling machinery arm of firm grip proposed by the present invention；
Fig. 3 is a kind of local overlooking structural schematic diagram of the handling machinery arm of firm grip proposed by the present invention；
Fig. 4 be a kind of set casing of the handling machinery arm of firm grip proposed by the present invention, the second rodless cylinder, rack,
The structural schematic diagram of movable block, spring, electromagnet and magnet piece.
In figure：1 fixed frame, 2 mounting plates, 3 head rods, 4 first rodless cylinders, 5 movable frames, 6 telescopic masts, 7
Single head cylinder, 8 through-holes, 9 sliding blocks, 10 grip blocks, 11 locating rods, 12 set casings, 13 second rodless cylinders, 14 racks, 15 activities
Block, 16 springs, 17 electromagnet, 18 magnet pieces.
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.1-4, the vertical tangent plane of the handling machinery arm of a kind of firm grip, including fixed frame 1, fixed frame 1 is U
Shape, the top of fixed frame 1 are slotted horizontally disposed groove, and horizontally disposed first rodless cylinder 4 is equipped in groove, the
The output shaft of one rodless cylinder 4 is connected with movable frame 5, and movable frame 5 is slidably socketed on the top side wall of fixed frame 1,
The bottom end of the movable frame 5 is connected with telescopic mast 6, and the first connection being obliquely installed is welded on the bottom end side wall of telescopic mast 6
The bottom end of bar 3, head rod 3 is hinged with the second connecting rod, and single head cylinder 7, single head are hinged on the side wall of head rod 3
The piston rod of cylinder 7 is hinged with the second connecting rod, and the bottom end of the second connecting rod is fixed with mounting plate 2, and the cross section of mounting plate 2 is
Circle, the through-hole 8 there are four array arrangement is opened on mounting plate 2, and the internal slide of through-hole 8 is connected with sliding block 9, the side of through-hole 8
Equipped with the second rodless cylinder 13 being fixed on mounting plate 2, the output shaft of the second rodless cylinder 13 is connected with sliding block 9, sliding block 9
Side is connected with the grip block 10 being slidably connected on 2 side wall of mounting plate, and locating rod is connected on the side side wall of the sliding block 9
11, one end of locating rod 11 extends to the outside of mounting plate 2 across the side wall of through-hole 8, is respectively mounted on the surrounding side wall of mounting plate 2
There are set casing 12, locating rod 11 to be slidably connected on set casing 12, groove is provided on the side side wall of locating rod 11, groove is embedded
Enter to have rack 14, electromagnet 17 is fixed on the side inner wall of set casing 12, spring 16 is connected on electromagnet 17, spring 16
One end is connected with the movable block 15 being slidably connected inside set casing 12, and movable block 15 is embedding on the side side wall of electromagnet 17
Enter to have magnet piece 18, be provided with the tooth mouth of multiple array arrangements on the other side side wall of movable block 15, movable block 15 by tooth mouth with
Rack 14 is intermeshed, and is equipped with the second limited block on the two side of movable block 15, is provided on the both sides inner wall of set casing 12
Second limiting slot, the second limited block are slidably connected in the second limiting slot, on four grip blocks 10 side side wall close to each other
Equal adhesion has rubber slab, and anti-skid chequer is provided on the side wall of rubber slab, and the second connecting rod is connected to the centre position of mounting plate 2, sliding
It is equipped with the first limited block on the both sides side wall of block 9, the first limit hole, the first limited block are provided on the both sides side wall of through-hole 8
It is slidably connected in the first limit hole, the bottom end both sides of fixed frame 1 are respectively mounted there are two universal wheel, and universal wheel is equipped with locking
Mechanism.
Embodiment：When in use, the present apparatus is moved to the near workpieces for needing to carry by universal wheel, first without bar gas
Cylinder 4 drives movable frame 5 to be moved on fixed frame 1, and telescopic mast 6 drives head rod 3 to move up and down, 7 band of single head cylinder
Dynamic second connecting rod rotates on head rod 3, carries out angle adjustment, and the movement of mounting plate 2 is clamped near article, four fixations
Electromagnet 17 in shell 12 is powered, and electromagnet 17 is mutually adsorbed with magnet piece 18, and movable block 15 is driven to move, on movable block 15
Tooth mouth is not intermeshed with rack 14, while compressed spring 16, and four the second rodless cylinder 13 actions, band movable slider 9 is in through-hole 8
Interior sliding drives locating rod 11 to be moved in set casing 12, drives grip block 10 that workpiece is clamped, after clamping, electromagnetism
Iron 17 powers off, and electromagnet 17 does not adsorb mutually with magnet piece 18, and under the drive of spring 16, movable block 15 moves so that drives
Movable block 15 moves, and movable block 15 is intermeshed by tooth mouth and rack 14, is carried out to locating rod 11, sliding block 9 and grip block 10
Fixed, firm grip, the first rodless cylinder 4 drives movable frame 5 to be moved on fixed frame 1 again, and workpiece is removed in realization
With the present invention can carry out the adjustment of multiple positions, facilitate be clamped and copy mechanically, can realize the clamping to workpiece, press from both sides
Good fixing effect is held, and realizes mechanical self-latching, in the case where occurring powering off and dying, clamping object, which will not loosen, to fall down.
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. the vertical tangent plane of a kind of handling machinery arm of firm grip, including fixed frame (1), fixed frame (1) is U-shaped, special
Sign is, the top of the fixed frame (1) is slotted horizontally disposed groove, and horizontally disposed first nothing is equipped in groove
The output shaft of bar cylinder (4), the first rodless cylinder (4) is connected with movable frame (5), and movable frame (5) is slidably socketed in fixation
On the top side wall of frame (1), the bottom end of the movable frame (5) is connected with telescopic mast (6), the bottom end side wall of telescopic mast (6)
On be welded with the head rod (3) being obliquely installed, the bottom end of head rod (3) is hinged with the second connecting rod, the first connection
Single head cylinder (7) is hinged on the side wall of bar (3), the piston rod of single head cylinder (7) is hinged with the second connecting rod, the second connecting rod
Bottom end be fixed with mounting plate (2), the cross section of mounting plate (2) is circle, opens that there are four the logical of array arrangement on mounting plate (2)
The internal slide in hole (8), through-hole (8) is connected with sliding block (9), and the side of through-hole (8) is equipped be fixed on mounting plate (2) second
The output shaft of rodless cylinder (13), the second rodless cylinder (13) is connected with sliding block (9), and the side of sliding block (9) is connected with sliding and connects
The grip block (10) being connected on mounting plate (2) side wall is connected with locating rod (11) on the side side wall of the sliding block (9), positions
One end of bar (11) extends to the outside of mounting plate (2) across the side wall of through-hole (8), pacifies on the surrounding side wall of mounting plate (2)
Equipped with set casing (12), locating rod (11) is slidably connected on set casing (12).
2. a kind of handling machinery arm of firm grip according to claim 1, which is characterized in that the locating rod (11)
Groove is provided on the side wall of side, groove has been embedded in rack (14), electromagnet is fixed on the side inner wall of set casing (12)
(17), spring (16) is connected on electromagnet (17), one end of spring (16), which is connected with, is slidably connected at set casing (12) inside
Movable block (15), movable block (15) close to electromagnet (17) side side wall on be embedded with magnet piece (18), movable block (15)
Other side side wall on be provided with the tooth mouths of multiple array arrangements, movable block (15) passes through tooth mouth and is intermeshed with rack (14).
3. a kind of handling machinery arm of firm grip according to claim 2, which is characterized in that the movable block (15)
It is equipped with the second limited block on two side, the second limiting slot is provided on the both sides inner wall of set casing (12), the second limited block is slided
It is dynamic to be connected in the second limiting slot.
4. a kind of handling machinery arm of firm grip according to claim 1, which is characterized in that four grip block (10) phases
Mutually adhesion has rubber slab on close side side wall, and anti-skid chequer is provided on the side wall of rubber slab.
5. a kind of handling machinery arm of firm grip according to claim 1, which is characterized in that second connecting rod connects
It is connected on the centre position of mounting plate (2).
6. a kind of handling machinery arm of firm grip according to claim 1, which is characterized in that the two of the sliding block (9)
It is equipped with the first limited block on the side wall of side, the first limit hole is provided on the both sides side wall of through-hole (8), the sliding of the first limited block connects
It is connected in the first limit hole.
7. a kind of handling machinery arm of firm grip according to claim 1, which is characterized in that the fixed frame (1)
Bottom end both sides be respectively mounted there are two universal wheel, universal wheel is equipped with retaining mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810384998.8A CN108557468A (en) | 2018-04-26 | 2018-04-26 | A kind of handling machinery arm of firm grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810384998.8A CN108557468A (en) | 2018-04-26 | 2018-04-26 | A kind of handling machinery arm of firm grip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108557468A true CN108557468A (en) | 2018-09-21 |
Family
ID=63536873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810384998.8A Pending CN108557468A (en) | 2018-04-26 | 2018-04-26 | A kind of handling machinery arm of firm grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108557468A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370243A (en) * | 2021-06-30 | 2021-09-10 | 浙江天能动力能源有限公司 | Mechanical arm clamping device for storage battery and control system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3603076A1 (en) * | 1986-02-01 | 1987-08-06 | Krupp Gmbh | TIRE PRESS LOADING |
| US20130097975A1 (en) * | 2011-10-24 | 2013-04-25 | Remedi Technology Holdings, Llc | Packaging system for pharmaceutical dispenser and associated method |
| CN202934566U (en) * | 2012-11-13 | 2013-05-15 | 宁波市北仑恒誉自动化科技有限公司 | Heavy load transportation manipulator |
| CN203079312U (en) * | 2013-03-06 | 2013-07-24 | 楚天科技股份有限公司 | Bottle card transferring device for blowing and encapsulating integrated machine |
| CN104724497A (en) * | 2013-12-18 | 2015-06-24 | 富泰华工业（深圳）有限公司 | Material taking device |
| CN204800656U (en) * | 2015-04-02 | 2015-11-25 | 陈国丽 | Four paws anchor clamps |
| CN204847376U (en) * | 2015-08-30 | 2015-12-09 | 晋江力达机械有限公司 | Material taking -out device |
| CN205132810U (en) * | 2015-11-06 | 2016-04-06 | 杭州保利电梯导轨制造有限公司 | Car auto -lock protection rope sheave for elevator guide rail |
| CN106476006A (en) * | 2016-11-25 | 2017-03-08 | 南陵县襄荷产业协会 | A kind of handling machinery arm of firm grip |
| CN106625617A (en) * | 2017-03-03 | 2017-05-10 | 中国科学院合肥物质科学研究院 | Anti-falling self-locking mechanism for exoskeleton robot |
| CN107503633A (en) * | 2017-08-30 | 2017-12-22 | 天津市森奥门窗有限公司 | A kind of overhead door that can be cut off self-lock |
-
2018
- 2018-04-26 CN CN201810384998.8A patent/CN108557468A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3603076A1 (en) * | 1986-02-01 | 1987-08-06 | Krupp Gmbh | TIRE PRESS LOADING |
| US20130097975A1 (en) * | 2011-10-24 | 2013-04-25 | Remedi Technology Holdings, Llc | Packaging system for pharmaceutical dispenser and associated method |
| CN202934566U (en) * | 2012-11-13 | 2013-05-15 | 宁波市北仑恒誉自动化科技有限公司 | Heavy load transportation manipulator |
| CN203079312U (en) * | 2013-03-06 | 2013-07-24 | 楚天科技股份有限公司 | Bottle card transferring device for blowing and encapsulating integrated machine |
| CN104724497A (en) * | 2013-12-18 | 2015-06-24 | 富泰华工业（深圳）有限公司 | Material taking device |
| CN204800656U (en) * | 2015-04-02 | 2015-11-25 | 陈国丽 | Four paws anchor clamps |
| CN204847376U (en) * | 2015-08-30 | 2015-12-09 | 晋江力达机械有限公司 | Material taking -out device |
| CN205132810U (en) * | 2015-11-06 | 2016-04-06 | 杭州保利电梯导轨制造有限公司 | Car auto -lock protection rope sheave for elevator guide rail |
| CN106476006A (en) * | 2016-11-25 | 2017-03-08 | 南陵县襄荷产业协会 | A kind of handling machinery arm of firm grip |
| CN106625617A (en) * | 2017-03-03 | 2017-05-10 | 中国科学院合肥物质科学研究院 | Anti-falling self-locking mechanism for exoskeleton robot |
| CN107503633A (en) * | 2017-08-30 | 2017-12-22 | 天津市森奥门窗有限公司 | A kind of overhead door that can be cut off self-lock |
Non-Patent Citations (1)
| Title |
|---|
| 陆鑫盛等: "《气动自动化系统的优化设计》", 31 May 2000 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370243A (en) * | 2021-06-30 | 2021-09-10 | 浙江天能动力能源有限公司 | Mechanical arm clamping device for storage battery and control system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20180921 |