CN109877815A - Electrodynamic type revolute robot's mechanical clamp - Google Patents
Electrodynamic type revolute robot's mechanical clamp Download PDFInfo
- Publication number
- CN109877815A CN109877815A CN201910326227.8A CN201910326227A CN109877815A CN 109877815 A CN109877815 A CN 109877815A CN 201910326227 A CN201910326227 A CN 201910326227A CN 109877815 A CN109877815 A CN 109877815A
- Authority
- CN
- China
- Prior art keywords
- cabinet
- mandril
- gear
- large arm
- connecting shaft
- 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
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to automobile equipment technical fields, especially a kind of electrodynamic type revolute robot mechanical clamp, compared with prior art, electrodynamic type revolute robot's mechanical clamp includes base, fuselage, large arm, large-arm joint, forearm, small shoulder joint and inner bearing type chela, it uses two section joint structures, and articulation is carried out using large arm and forearm, inner bearing type chela is used simultaneously, referred to from fixture and workpiece progress inner bearing type is picked up with clamp body, guarantee the reliable location of workpiece, having outside enough strength and stiffness, also there is enough open-angles, biggish diameter range between workpiece is grabbed and unclamped to adapt to it, adapt to the workpiece of wider size.
Description
Technical field
The present invention relates to mechanical equipment technical field, especially a kind of electrodynamic type revolute robot mechanical clamp.
Background technique
Mechanical clamp is component of the robot mechanical arm directly with the contacts such as workpiece, tool, it can execute the part of manpower
Function, currently, according to the shape, size, weight, fragility, the difference of surface roughness that are crawled workpiece, workpiece etc., in work
The hand organization of diversified forms, most commonly chela formula, magnetic-type and aspirated-air type are used in industry production, also there is a small number of spies
Different form.The calculating of various forms of its clamping force of hand organization is had nothing in common with each other.
Chela formula manipulator mechanism is one of most common form, this chela formula manipulator mechanism in the prior art
There are two grippers, three or more, two of them it is most, the mode of grabbing workpiece uses external clamping type, using external clamping type structure
With very big design defect, such as workpiece falls off in moving process in order to prevent, and generally to design clamping force is workpiece weight
2 to 3 times, the clamping force for reaching enough and exceeding, so that clamp mechanism is excessively complicated, weight is also very big, with
Enough strength and stiffness, in order to avoid bear the influence of the inertia force generated during the motion and vibration.What is thus shown is very stupid
Weight, and waste material.
Summary of the invention
For solve the problems, such as defect present in mechanical clamp in the prior art and, a kind of electrodynamic type joint type machine is provided
People's mechanical clamp.
The present invention is that technical solution used by solving its technical problem is: a kind of electrodynamic type joint type machine of the invention
People's mechanical clamp includes base, fuselage, and fuselage is fixed on base, connects a large arm, fuselage in the back side
Joint connection is carried out by a large-arm joint between large arm, the large-arm joint is arranged in one first cabinet of fuselage,
Large arm packs into the first cabinet；Connect a forearm in the large arm outer end, between forearm and large arm by a small shoulder joint into
The connection of row joint, the small shoulder joint are arranged in one second cabinet of large arm, and forearm packs into the second cabinet；The end of forearm
Connection one telescopic cylinder in end connects an inner bearing type chela in telescopic cylinder lower end；
The large-arm joint includes one first connecting shaft, and the first connecting shaft bottom end and upper end pass through bearing support
Be located on the first cabinet, be fixedly connected in large arm by the first axle key in the middle part of the first connecting shaft, the first connecting shaft top
A first gear is fixed by first gear key, the other end of first gear is with unification first gear axis, first gear axis connection
One first motor, first motor are fixed on the first Box Cover；
The small shoulder joint includes one second connecting shaft, and the second connecting shaft bottom end and upper end pass through bearing support
Be located on the second cabinet, be fixedly connected on forearm by the second axle key in the middle part of the second connecting shaft, the second connecting shaft top
A second gear is fixed by second gear key, the other end of second gear is with unification second gear axis, second gear axis connection
One second motor, the second motor are fixed on the second Box Cover；
The inner bearing type chela includes end cap, clamp body, fixture refers to and mandril, and telescopic cylinder stretches out a piston rod, institute
The end for stating piston rod packs into end cap, and end cap is fixed on clamp body by fastener, and end cap lower end is pressing against a mandril disk, top
Bar is fixedly connected on mandril disk, and mandril disk lower end is pressing against a piston, and piston is pressing against a spring；The clamp body lower end
Equipped with a through-hole, the top stem casing is equipped with horizontal convex shape slot in through-hole, in the lower end two sides of clamp body, and the fixture refers to
One end passes through horizontal convex shape slot, and the other end that fixture refers to is being pressed against by mandril.
First cabinet links into an integrated entity with fuselage, and the first cabinet is a side protrusion of fuselage.
Second cabinet links into an integrated entity with large arm, and the second cabinet is a side protrusion of large arm.
The first gear axis is sequentially connected with first motor by a box coupling.
The second gear axis is sequentially connected with the second motor by a box coupling.
The mandril top is connecting rod, and middle part is cylinder set, and cylinder set is matched with the through-hole of clamp body lower end, under mandril
Quotient is bullet, and bullet is withstood on fixture refers to.
The fixture refers to that one end is straight tube, and the other end is a hat lid, and straight tube and hat lid are integrated shape, straight tube direction
Outside, hat lid is in, and straight tube passes through the horizontal convex shape slot of clamp body and withstands on workpiece, and hat is covered in clamp body inner end and top
Bar is in contact, and hat caping connects a compression on the bullet of mandril between hat lid and the interior axial plane of horizontal convex shape slot
Spring.
The beneficial effects of the present invention are: compared with prior art, a kind of electrodynamic type revolute robot of the invention is mechanical
Fixture uses two section joint structures, and carries out articulation using large arm and forearm, while using inner bearing type chela, by fixture
Refer to that carrying out inner bearing type to workpiece with clamp body cooperation picks up, and guarantees the reliable location of workpiece, is having enough strength and stiffness
Outside, also there is enough open-angles, grab and unclamp biggish diameter range between workpiece to adapt to it, adapt to wider ruler
Very little workpiece.
Detailed description of the invention
A kind of electrodynamic type revolute robot mechanical clamp of the invention is made with reference to the accompanying drawings and detailed description
It further illustrates.
Fig. 1 is a kind of structural schematic diagram of electrodynamic type revolute robot mechanical clamp of the invention；
Fig. 2 is the large arm in Fig. 1 and the attachment structure schematic diagram between forearm；
Fig. 3 is the attachment structure schematic diagram between inner bearing type chela and telescopic cylinder in Fig. 1.
Specific embodiment
As shown in Figure 1 to Figure 3, a kind of electrodynamic type revolute robot mechanical clamp of the invention includes base 10, large arm
20, large-arm joint 30, forearm 40, small shoulder joint 50 and inner bearing type chela 60.Fuselage 11 is fixed on base 10, in fuselage 11
Upper side protrudes one first cabinet 12, and the first cabinet 12 links into an integrated entity with fuselage 11, and the first cabinet 12 is fuselage 11
A side protrusion.
As shown in Figure 1 to Figure 3, large-arm joint 30 is arranged in one first cabinet 12 of fuselage 11, and large arm 20 passes through large arm
Joint 30 is connected on the first cabinet 12.Large-arm joint 30 includes one first connecting shaft 31.First connecting shaft, 31 bottom end and upper end
It supports and is located on the first cabinet 12 by bearing 32.It is fixedly connected on greatly in the middle part of first connecting shaft 31 by the first axle key 33
On arm 20, a first gear 35 is fixed by first gear key 34 in 31 top of the first connecting shaft, and the other end of first gear 35 is matched
Unify first gear axis 36,36 upper end of first gear axis connects a first motor 38, first motor by a box coupling 37
38 are fixed on the first Box Cover 39, and the joint motions of large-arm joint 30 are driven by first motor 38.
As shown in Figure 1 to Figure 3, one second cabinet 21 is protruded in the other side of large arm 20, the second cabinet 21 connects with large arm 20
It is connected into one, the second cabinet 21 is a side protrusion of large arm 20.The second cabinet of large arm 20 is arranged in small shoulder joint 50
In 21, forearm 40 is connected on the second cabinet 21 by small shoulder joint 50.Small shoulder joint 50 include one second connecting shaft 51, second
51 bottom end of connecting shaft and upper end are supported and are located on the second cabinet 21 by bearing 52, pass through second in the middle part of the second connecting shaft 51
Axle key 53 is fixedly connected on forearm 40, and a second gear 55 is fixed by second gear key 54 in 51 top of the second connecting shaft, the
The other end of two gears 55 passes through a box coupling 57 connection one the with unification second gear axis 56,56 upper end of second gear axis
Two motors 58, the second motor 58 are fixed on the second Box Cover 59, and the joint motions of small shoulder joint 50 are driven by the second motor 58.
As shown in Figure 1 to Figure 3, the end of forearm 40 connects a telescopic cylinder 41, stretches out a piston rod in telescopic cylinder 41
42,42 lower end of piston rod connects inner bearing type chela 60.Inner bearing type chela 60 refers to 63 and top including end cap 61, clamp body 62, fixture
Bar 64.The end of piston rod 42 packs into end cap 61, and end cap 61 is fixed on clamp body 62 by fastener, 62 lower end of clamp body
Equipped with a through-hole 621, horizontal convex shape slot 622 is equipped in the lower end two sides of clamp body 62.
As shown in Figure 1 to Figure 3,61 lower end of end cap is pressing against a mandril disk 641, and mandril 64 is fixedly connected on mandril disk 641,
641 lower end of mandril disk is pressing against a piston 65, and 65 lower end of piston is pressing against a spring 66.64 top of mandril is connecting rod 642, and middle part is
Cylinder set 643, cylinder set 643 are matched with the through-hole 621 of 62 lower end of clamp body, and the lower quotient of mandril 64 is bullet 644, bullet 644
Fixture is withstood on to refer on 63.
As shown in Figure 1 to Figure 3, fixture refers to that 63 one end are straight tube 631, and the other end is a hat lid 632, straight tube 631 and cap
Shape lid 632 is integrated shape, and straight tube 631 is towards outer, and for hat lid 632 towards interior, straight tube 631 passes through the horizontal convex shape slot of clamp body 62
It 622 and withstands on workpiece 0, hat lid 632 is in contact in 62 inner end of clamp body with mandril 64, and hat lid 632 withstands on mandril 64
On bullet 644, a compressed spring 66, compressed spring 66 are connected between hat lid 632 and the interior axial plane of horizontal convex shape slot 622
One elastic pressure is formed to hat lid 632.
As shown in Figure 1 to Figure 3, drive large-arm joint 30 that large arm 20 is allow to carry out joint motions by first motor 38.
It drives small shoulder joint 50 that forearm 40 is allow to carry out joint motions by the second motor 58, passes through large-arm joint 30 and small shoulder joint
50 two section joint motions, can greatly improve the ranges of the inner bearing type chela 60 in 40 end of forearm.Inner bearing type
Chela 60 can be moved up and down by telescopic cylinder 41 by the drive of piston rod 42, meanwhile, by, clamp body 62 packs into workpiece 0,
And refer to that the straight tube 631 on 63 is withstood on workpiece 0 by fixture, it realizes and the inner bearing type fixation of workpiece 0 is picked up, to reach mechanical folder
The efficiency of tool.
In conclusion compared with prior art, a kind of electrodynamic type revolute robot mechanical clamp of the invention uses two
Joint structure is saved, and articulation is carried out using large arm and forearm, while using inner bearing type chela, is referred to by fixture and clamp body
Cooperation carries out inner bearing type to workpiece and picks up, and guarantees the reliable location of workpiece, having outside enough strength and stiffness also have foot
Enough open-angles grab and unclamp biggish diameter range between workpiece to adapt to it, adapt to the workpiece of wider size.
Embodiment according to the present invention the present invention is described the description of property and not restrictive, it should be appreciated that this
The protection scope of invention is not limited thereto, without departing from the relevant scope of protection defined by the claims, this
The technical staff in field can make change and/or modification, and should be covered by the protection scope of the present invention.
Claims (7)
1. electrodynamic type revolute robot's mechanical clamp, it is characterised in that: including base, fuselage, fuselage is fixed on base,
The back side connects a large arm, carries out joint connection by a large-arm joint between fuselage and large arm, described
Large-arm joint is arranged in one first cabinet of fuselage, and large arm packs into the first cabinet；It is small in the large arm outer end connection one
Arm carries out joint connection by a small shoulder joint between forearm and large arm, and the one second of large arm is arranged in the small shoulder joint
In cabinet, forearm is packed into the second cabinet；The end of forearm connects a telescopic cylinder, connects an inner bearing type in telescopic cylinder lower end
Chela；
The large-arm joint includes one first connecting shaft, the first connecting shaft bottom end and upper end by bearing support and determines
Position is fixedly connected in large arm in the middle part of the first connecting shaft by the first axle key, the first connecting shaft top passes through on the first cabinet
First gear key fixes a first gear, and the other end of first gear is with unification first gear axis, first gear axis connection 1 the
One motor, first motor are fixed on the first Box Cover；
The small shoulder joint includes one second connecting shaft, the second connecting shaft bottom end and upper end by bearing support and determines
Position is fixedly connected on forearm in the middle part of the second connecting shaft by the second axle key, the second connecting shaft top passes through on the second cabinet
Second gear key fixes a second gear, and the other end of second gear is with unification second gear axis, second gear axis connection 1 the
Two motors, the second motor are fixed on the second Box Cover；
The inner bearing type chela includes end cap, clamp body, fixture refers to and mandril, and telescopic cylinder stretches out a piston rod, the work
The end of stopper rod packs into end cap, and end cap is fixed on clamp body by fastener, and end cap lower end is pressing against a mandril disk, and mandril is solid
Surely it is connected on mandril disk, mandril disk lower end is pressing against a piston, and piston is pressing against a spring；The clamp body lower end is equipped with
One through-hole, the top stem casing are equipped with horizontal convex shape slot in through-hole, in the lower end two sides of clamp body, and the fixture refers to one end
Across horizontal convex shape slot, the other end that fixture refers to is being pressed against by mandril.
2. a kind of electrodynamic type revolute robot mechanical clamp according to claim 1, it is characterised in that: described first
Cabinet links into an integrated entity with fuselage, and the first cabinet is a side protrusion of fuselage.
3. a kind of electrodynamic type revolute robot mechanical clamp according to claim 1, it is characterised in that: described second
Cabinet links into an integrated entity with large arm, and the second cabinet is a side protrusion of large arm.
4. a kind of electrodynamic type revolute robot mechanical clamp according to claim 1, it is characterised in that: described first
Gear shaft is sequentially connected with first motor by a box coupling.
5. a kind of electrodynamic type revolute robot mechanical clamp according to claim 1, it is characterised in that: described second
Gear shaft is sequentially connected with the second motor by a box coupling.
6. a kind of electrodynamic type revolute robot mechanical clamp according to claim 1, it is characterised in that: the mandril
Top is connecting rod, and middle part is cylinder set, and cylinder set is matched with the through-hole of clamp body lower end, and quotient is bullet, bullet under mandril
It withstands on fixture refers to.
7. according to claim 1 with a kind of electrodynamic type revolute robot's mechanical clamp described in 6, it is characterised in that: it is described
Fixture refers to that one end is straight tube, and the other end is a hat lid, and straight tube and hat lid are integrated shape, and straight tube is outside, hat lid direction
Interior, straight tube passes through the horizontal convex shape slot of clamp body and withstands on workpiece, and hat, which is covered, to be in contact in clamp body inner end with mandril, hat
Caping connects a compressed spring between hat lid and the interior axial plane of horizontal convex shape slot on the bullet of mandril.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326227.8A CN109877815A (en) | 2019-04-23 | 2019-04-23 | Electrodynamic type revolute robot's mechanical clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326227.8A CN109877815A (en) | 2019-04-23 | 2019-04-23 | Electrodynamic type revolute robot's mechanical clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109877815A true CN109877815A (en) | 2019-06-14 |
Family
ID=66938093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910326227.8A Pending CN109877815A (en) | 2019-04-23 | 2019-04-23 | Electrodynamic type revolute robot's mechanical clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109877815A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6105454A (en) * | 1995-07-10 | 2000-08-22 | Kensington Laboratories, Inc. | Single and dual end effector, multiple link robot arm systems having triaxial drive motors |
| CN201192842Y (en) * | 2008-01-08 | 2009-02-11 | 上海大学 | Arm section mechanism of industrial robot |
| CN203266634U (en) * | 2013-04-07 | 2013-11-06 | 浙江师范大学 | Plane joint type simple manipulator |
| CN105563473A (en) * | 2016-03-10 | 2016-05-11 | 温州职业技术学院 | Plane joint manipulator |
| CN107150334A (en) * | 2017-06-29 | 2017-09-12 | 礼泉鑫灞厨具有限公司 | A kind of plane articulation robot |
| CN107745393A (en) * | 2017-10-15 | 2018-03-02 | 无锡市盛宝嘉科技有限公司 | Plane joint manipulator for bearing ring forging and stamping loading and unloading |
| CN108326840A (en) * | 2017-01-19 | 2018-07-27 | 深圳市越疆科技有限公司 | Plane multi-joint type robot |
| CN208496992U (en) * | 2018-06-15 | 2019-02-15 | 昆山昊旺机械有限公司 | A kind of selective compliance assembly robot arm's four axis arm of flapping articulation |
-
2019
- 2019-04-23 CN CN201910326227.8A patent/CN109877815A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6105454A (en) * | 1995-07-10 | 2000-08-22 | Kensington Laboratories, Inc. | Single and dual end effector, multiple link robot arm systems having triaxial drive motors |
| CN201192842Y (en) * | 2008-01-08 | 2009-02-11 | 上海大学 | Arm section mechanism of industrial robot |
| CN203266634U (en) * | 2013-04-07 | 2013-11-06 | 浙江师范大学 | Plane joint type simple manipulator |
| CN105563473A (en) * | 2016-03-10 | 2016-05-11 | 温州职业技术学院 | Plane joint manipulator |
| CN108326840A (en) * | 2017-01-19 | 2018-07-27 | 深圳市越疆科技有限公司 | Plane multi-joint type robot |
| CN107150334A (en) * | 2017-06-29 | 2017-09-12 | 礼泉鑫灞厨具有限公司 | A kind of plane articulation robot |
| CN107745393A (en) * | 2017-10-15 | 2018-03-02 | 无锡市盛宝嘉科技有限公司 | Plane joint manipulator for bearing ring forging and stamping loading and unloading |
| CN208496992U (en) * | 2018-06-15 | 2019-02-15 | 昆山昊旺机械有限公司 | A kind of selective compliance assembly robot arm's four axis arm of flapping articulation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201669703U (en) | Turnover mechanical arm | |
| WO2016155469A1 (en) | Robot based on parallelogram principle | |
| CN106670304B (en) | A kind of all-in-one machine of multistation | |
| CN108890683A (en) | A kind of elastic pick device of industrial automation assembly line | |
| CN106826881A (en) | A kind of paw and handgrip for clamping material | |
| CN106734631A (en) | The all-in-one of multistation | |
| CN209774704U (en) | Buffer device of carrying manipulator | |
| CN209242112U (en) | A kind of feeding manipulator | |
| CN217833698U (en) | Interval adjustable manipulator | |
| CN108127648A (en) | A kind of numerically-controlled machine tool clamping manipulator executing agency | |
| CN211440046U (en) | Array type electromagnetic material taking device for industrial robot | |
| CN210081773U (en) | Composite fixture for grabbing plates | |
| CN209111096U (en) | A kind of novel clamping jaw device | |
| CN109877815A (en) | Electrodynamic type revolute robot's mechanical clamp | |
| CN107234436B (en) | Multifunctional robot gripping apparatus on assembly line | |
| CN109760017A (en) | There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band | |
| CN105773585A (en) | Robot-assisted transferring and clamping equipment for work-pieces | |
| CN111360750A (en) | System for flexibly assembling plum coupling | |
| CN108818583A (en) | A kind of multi-function robot gripper | |
| CN110612176A (en) | Screw locking working platform and five-shaft screw locking device thereof | |
| CN206154337U (en) | Manipulator dead end clamp utensil with carry function | |
| CN211465465U (en) | Cylinder cover press-fitting full-automatic transmission mechanism of single-cylinder diesel engine | |
| CN115157299A (en) | Four-bar linkage manipulator | |
| CN212044477U (en) | System for flexibly assembling plum coupling | |
| CN207014363U (en) | A kind of automobile fixture manipulator |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190614 |