CN111531568B - Linkage type mechanical finger shifting piece mechanism for mechanical arm - Google Patents
Linkage type mechanical finger shifting piece mechanism for mechanical arm Download PDFInfo
- Publication number
- CN111531568B CN111531568B CN202010377766.7A CN202010377766A CN111531568B CN 111531568 B CN111531568 B CN 111531568B CN 202010377766 A CN202010377766 A CN 202010377766A CN 111531568 B CN111531568 B CN 111531568B
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- fixedly connected
- mechanical arm
- cooling
- side wall
- box body
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- 230000007246 mechanism Effects 0.000 title claims abstract description 90
- 238000001816 cooling Methods 0.000 claims abstract description 64
- 238000007789 sealing Methods 0.000 claims description 21
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract 1
- 238000003780 insertion Methods 0.000 abstract 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- 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
Abstract
The invention discloses a linkage type mechanical finger shifting sheet mechanism for a mechanical arm, which comprises a mechanical arm, wherein a telescopic driving device is arranged in the mechanical arm, a driving end of the telescopic driving device is fixedly connected with a linkage shaft, a plurality of mechanical finger shifting sheets are arranged in the mechanical arm, a driving mechanism is arranged on the linkage shaft close to the telescopic driving device, a first cooling mechanism for the telescopic driving device is arranged in the mechanical arm and meshed with the driving mechanism, a plurality of first connecting rods are fixedly connected to the side wall of the linkage shaft, a second connecting rod is fixedly connected to the side wall of the first connecting rods, pneumatic control mechanisms corresponding to the mechanical finger shifting sheets one by one are fixedly arranged in the mechanical arm, and a second cooling mechanism for the telescopic driving device is arranged in the mechanical arm. The invention can not only effectively enlarge the opening gap of the paper and facilitate the subsequent insertion of the poking sheets, but also effectively cool down the telescopic driving device, thereby being beneficial to improving the service life of the telescopic driving device.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a linkage type manipulator finger poking sheet mechanism for a manipulator.
Background
In the printing or packaging production process, the paper taking machine is mainly used for taking out paper piles with specified height from the paper piles placed on the tray to a workbench surface for later working procedures. At present, most of traditional paper taking machines adopt a roller for inserting paper taking mechanisms, the principle is that a paper pile is pressed firstly, the paper pile is forced to be lifted by directly relying on friction force through translation and rotation of a rotating rubber roller, then the paper pile is clamped by a paper clamping device, and finally the paper pile is inserted into a workbench. The conventional paper taking machine has a plurality of obvious disadvantages such as damage to paper, incapability of taking thin paper, limited paper taking height, irregular paper taking, complex structure, high failure rate and the like.
The searched patent number is: CN106315283B discloses a linkage type mechanical finger pulling piece mechanism applied to a mechanical arm, which comprises a mechanical arm, a telescopic driving device, a linkage shaft, a driving wheel, a pulling piece driving block, a rotating shaft and a mechanical finger pulling piece. The working principle of the linkage type mechanical finger shifting piece mechanism is that the driving wheels are arranged at different intervals in an incremental or decremental way by utilizing the driving wheels on the linkage shaft, and under the extending action of the telescopic driving device, the driving wheels sequentially push the corresponding shifting piece driving blocks to drive the mechanical finger shifting pieces to sequentially and progressively extend out from the bottom of the mechanical arm in a rotating way; under the retracting action of the telescopic driving device, the driving wheel sequentially pushes the corresponding plectrum driving blocks to drive the mechanical finger plectrum to sequentially rotate and retract the bottom of the mechanical arm.
Disadvantages in the prior art: although a plurality of plectrums get into in the gap of ply in proper order, the opening in gap is nevertheless less, is unfavorable for follow-up plectrum to insert in the gap, in addition, when using flexible drive arrangement, can not carry out effectual cooling to it, influences flexible drive arrangement's life.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a linkage type mechanical finger poking mechanism for a mechanical arm.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a coordinated type manipulator plectrum mechanism for manipulator, includes the arm, be equipped with flexible drive arrangement in the arm, flexible drive arrangement's drive end fixedly connected with universal driving shaft, install a plurality of mechanical finger plectrums in the arm, be close to be equipped with actuating mechanism on flexible drive arrangement's the universal driving shaft, be equipped with the first cooling mechanism that is used for flexible drive arrangement in the arm, first cooling mechanism meshes with actuating mechanism, fixedly connected with many head rods on the lateral wall of universal driving shaft, fixedly connected with second connecting rod on the lateral wall of head rod, the arm internal fixation is provided with the pneumatic control mechanism with a plurality of mechanical finger plectrums one-to-one, install in the arm and be used for flexible drive arrangement's second cooling mechanism, a plurality of pneumatic control mechanism all with the setting of second cooling mechanism intercommunication, be equipped with the cavity in the mechanical finger plectrum, the cavity is through first air duct and pneumatic control mechanism intercommunication setting, all fixedly connected with flaring backup pad on the both ends inner wall of cavity, top surface and the bottom of cavity all are equipped with flaring mechanism, the through-going through setting up in the fixed connection of flaring mechanism in the backup pad.
Preferably, the driving mechanism comprises a third connecting rod fixedly connected to the side wall of the linkage shaft, one end, away from the linkage shaft, of the third connecting rod is fixedly connected with a rack, and the rack is meshed with the second cooling mechanism.
Preferably, the first cooling mechanism comprises an air suction pipe fixedly arranged in the mechanical arm, the air suction pipe is communicated with a first cooling pipe, a plurality of first cooling holes used for telescopic driving devices are formed in the first cooling pipe, a cross rod is fixedly connected in the air suction pipe, a rotating shaft is rotatably arranged on the cross rod in a penetrating mode, a fan blade is coaxially and fixedly connected on the rotating shaft above the cross rod, a gear is coaxially and fixedly connected on the part, located outside the air suction pipe, of the rotating shaft, and the gear is meshed with the rack.
Preferably, the pneumatic control mechanism comprises a box body fixedly arranged in the mechanical arm, a sealing plate is arranged in the box body in a sliding sealing manner, a sliding rod is fixedly connected to one end side wall close to the telescopic driving device, the free end of the sliding rod penetrates through the side wall of the box body in a sliding manner to be arranged and is fixedly connected with a top plate, a plurality of first elastic components are fixedly connected to one end side wall of the sealing plate close to the telescopic driving device, the free end of each first elastic component is fixedly connected with the side wall of the box body, a first air duct is communicated with the box body, an air inlet hole is formed in one end side wall of the box body far away from the first air duct, and a first one-way pressure valve is arranged in the air inlet hole, and the box body is communicated with the second cooling mechanism.
Preferably, the first elastic component comprises a first telescopic rod fixedly arranged on the side wall of the sealing plate, the free end of the first telescopic rod is fixedly connected with the inner wall of the box body, a first spring is sleeved on the first telescopic rod, and the free end of the first spring is fixedly connected with the inner wall of the box body.
Preferably, the second cooling mechanism comprises a second cooling pipe fixedly arranged in the mechanical arm, a plurality of second cooling holes which are communicated inside and outside and used for telescopic driving devices are formed in the side wall of the second cooling pipe, a plurality of second air guide pipes are communicated with the second cooling pipe, a plurality of second air guide pipes are respectively communicated with a plurality of boxes, and a second one-way pressure valve is arranged in the second air guide pipes.
Preferably, the flaring mechanism comprises a convex plate arranged in the cavity in a sliding sealing way, and a plurality of second elastic components are fixedly connected between the convex plate and the supporting plate.
Preferably, the second elastic component comprises a second telescopic rod fixedly connected between the convex plate and the supporting plate, a second spring is sleeved on the second telescopic rod, and two ends of the second spring are fixedly connected with the convex plate and the supporting plate respectively.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the pneumatic control mechanism and the flaring mechanism are arranged, when the linkage shaft drives the plurality of paddles to rotate in sequence, the pneumatic control mechanisms can be driven to work respectively, so that the flaring mechanism inserted into the gap protrudes out of the cavity, the opening size of the gap can be effectively enlarged, the next paddle can be accurately inserted into the gap, the successful accuracy of paper taking is improved, in addition, the paper taking is realized by the movement driving of the linkage shaft in the whole process, and the non-contact driving is used, so that the use accuracy of the device can be effectively improved.
2. According to the invention, through the first cooling mechanism and the second cooling mechanism, the telescopic driving device can be effectively cooled, the service life of the telescopic driving device is prolonged, the first cooling mechanism and the second cooling mechanism are driven to work by the self output, no additional driving device is required to be added for realizing cooling, and the environmental protection of the device is ensured.
Drawings
Fig. 1 is a top view of a manipulator in a linkage type manipulator finger tab mechanism for a manipulator according to the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a perspective view of a finger paddle in a linkage-type finger paddle mechanism for a manipulator according to the present invention;
FIG. 4 is a partial enlarged view at B in FIG. 3;
FIG. 5 is a perspective view of a case in a coordinated type robot finger tab mechanism for a robot in accordance with the present invention;
FIG. 6 is a perspective view of a first cooling tube in a coordinated type manipulator finger tab mechanism for a manipulator according to the present invention;
FIG. 7 is a perspective view of a second cooling tube in a coordinated type manipulator finger tab mechanism for a manipulator according to the present invention;
fig. 8 is a perspective view of an air suction pipe in a linkage type finger tab mechanism for a manipulator according to the present invention.
In the figure: the mechanical arm comprises a mechanical arm body, a telescopic driving device, a 3 linkage shaft, a 4 mechanical finger pulling piece, a 5 first connecting rod, a 6 second connecting rod, a 7 first air duct, an 8 chamber, a 9 supporting plate, a 10 third connecting rod, a 11 rack, a 12 air suction pipe, a 13 first cooling pipe, a 14 first cooling hole, a 15 cross rod, a 16 rotation shaft, 17 fan blades, a 18 gear, a 19 box body, a 20 sealing plate, a 21 sliding rod, a 22 first one-way pressure valve, a 23 first telescopic rod, a 24 first spring, a 25 second air duct, a 26 second one-way pressure valve, a 27 top plate, a 28 second cooling pipe, a 29 second cooling hole, a 30 convex plate, a 31 second telescopic rod and a 32 second spring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-8, a coordinated type mechanical finger plectrum mechanism for manipulator, including arm 1, be equipped with flexible drive arrangement 2 in the arm 1, drive end fixedly connected with universal driving shaft 3 of flexible drive arrangement 2, install a plurality of mechanical finger plectrums 4 in the arm 1, be equipped with actuating mechanism on the universal driving shaft 3 that is close to flexible drive arrangement 2, be equipped with the first cooling mechanism that is used for flexible drive arrangement 2 in the arm 1, first cooling mechanism meshes with actuating mechanism, fixedly connected with many head rods 5 on the lateral wall of universal driving shaft 3, fixedly connected with second connecting rod 6 on the lateral wall of head rod 5, fixedly provided with in the arm 1 with the pneumatic control mechanism that is used for flexible drive arrangement 2 one-to-one, install the second cooling mechanism that is used for flexible drive arrangement 2 in the arm 1, a plurality of pneumatic control mechanisms all set up with the second cooling mechanism intercommunication, be equipped with cavity 8 in the mechanical finger plectrum 4, cavity 8 is through first air duct 7 and pneumatic control mechanism intercommunication setting, all fixedly connected with backup pad 9 on the both ends inner wall of cavity 8, cavity 8 is equipped with flaring mechanism and bottom, all be equipped with flaring mechanism and slip seal setting up in the backup pad 8, the cavity 9 is fixed connection.
Wherein, actuating mechanism includes the third connecting rod 10 of fixed connection on the universal driving shaft 3 lateral wall, and the one end fixedly connected with rack 11 of the universal driving shaft 3 is kept away from to third connecting rod 10, and rack 11 and second cooling mechanism meshing.
Wherein, first cooling mechanism is including fixing the breathing pipe 12 that sets up in arm 1, breathing pipe 12 intercommunication is provided with first cooling pipe 13, be equipped with a plurality of first cooling holes 14 that are used for flexible drive arrangement 2 on the first cooling pipe 13, breathing pipe 12 internal fixation has horizontal pole 15, rotate on the horizontal pole 15 and run through and be equipped with rotation axis 16, coaxial fixedly connected with fan blade 17 on the rotation axis 16 that is located horizontal pole 15 top, coaxial fixedly connected with gear 18 on the part that rotation axis 16 is located breathing pipe 12 outside, gear 18 meshes with rack 11, wherein, because the motion of rack 11 can drive gear 18 and carry out the fast rotation, can drive fan blade 17 fast rotation then, produce the suction and inhale outside air in the breathing pipe 12.
The pneumatic control mechanism comprises a box body 19 fixedly arranged in the mechanical arm 1, a sealing plate 20 is arranged in the box body 19 in a sliding sealing manner, a sliding rod 21 is fixedly connected to the side wall of one end close to the telescopic driving device 2, the free end of the sliding rod 21 is arranged in a sliding manner and penetrates through the side wall of the box body 19, and a top plate 27 is fixedly connected to the sliding rod 21, wherein the sliding rod 21 is in sliding sealing with the box body 19 through a sealing ring (not shown in the figure); the connection, fixedly connected with a plurality of first elastic component on the closing plate 20 is close to the one end lateral wall of flexible drive arrangement 2, the free end of first elastic component and the lateral wall fixed connection of box 19, first air duct 7 and box 19 intercommunication set up, be equipped with the inlet port on the one end lateral wall that first air duct 7 was kept away from to box 19, install first one-way pressure valve 22 in the inlet port, box 19 and second cooling mechanism intercommunication set up, as shown in fig. 5, box 19 intercommunication setting above first air duct 7 and closing plate 20, wherein box 19 of closing plate 20 below is the sealed space, the air current through first one-way pressure valve 22 can only flow in box 19 from the external world.
The first elastic component comprises a first telescopic rod 23 fixedly arranged on the side wall of the sealing plate 20, the free end of the first telescopic rod 23 is fixedly connected with the inner wall of the box 19, a first spring 24 is sleeved on the first telescopic rod 23, the free end of the first spring 24 is fixedly connected with the inner wall of the box 19, and the first spring 24 is convenient for the sealing plate 20 to reset downwards.
The second cooling mechanism includes a second cooling pipe 28 fixedly disposed in the mechanical arm 1, a plurality of second cooling holes 29 which are communicated inside and outside and used for the telescopic driving device 2 are formed in the side wall of the second cooling pipe 28, a plurality of second air guide pipes 25 are communicated with the second cooling pipe 28, the plurality of second air guide pipes 25 are respectively communicated with the plurality of boxes 19, a second one-way pressure valve 26 is installed in the second air guide pipes 25, and it is to be explained that air flow passing through the second one-way pressure valve 26 can only flow from the boxes 19 into the second air guide pipes 25 for cooling the telescopic driving device.
The flaring mechanism comprises a convex plate 30 arranged in the cavity 8 in a sliding sealing manner, a plurality of second elastic components are fixedly connected between the convex plate 30 and the supporting plate 9, each second elastic component comprises a second telescopic rod 31 fixedly connected between the convex plate 30 and the supporting plate 9, a second spring 32 is sleeved on each second telescopic rod 31, two ends of each second spring 32 are fixedly connected with the convex plate 30 and the supporting plate 9 respectively, and the second springs 32 are convenient to retract into the cavity 8 when the convex plate 30 is reset.
In the invention, when in use, as the telescopic driving device 2 can drive the linkage shaft 3 to extend, when the linkage shaft 3 extends, the rack 11 can be driven to extend synchronously, namely, the rack is in relative motion with the gear 18, the gear 18 can be driven to rotate, and then the rotary shaft 16 and the wind blade 17 can be driven to rotate synchronously and rapidly, external air can be sucked into the air suction pipe 12 and blown onto the telescopic driving device 2 through the first cooling hole 14 on the first cooling pipe 13 for cooling the same, meanwhile, the extension of the linkage shaft 3 can drive the second connecting rod 6 to move, when the corresponding mechanical finger pulling piece 4 is inserted into a gap, the second connecting rod 6 is contacted with the top plate 27 and extrudes the same, and then the plurality of second connecting rods 6 are respectively contacted with the plurality of top plates 27 intermittently, so that the air pressure in the box body 19 below the sealing plate 20 is reduced, the first one-way pressure valve 22 is opened, external air enters into the box body 19, partial air in the box body 19 above the sealing plate 20 is extruded into the cavity boss 8 under the conveying action of the first air guide pipe 7, and the two protruding pieces 30 can be conveniently extended to the gap 32, and the size of the second spring can be conveniently extended to the gap is extended, and the second spring is in the state of the gap is extended and extended to the gap 32; after the plectrum is finished, when flexible drive device 2 drives universal driving shaft 3 and contracts the motion, under the reset action of first spring 24 and second spring 32, part air in the cavity 8 flows back to in the box 19, the internal air pressure of box 19 of closing plate 20 below increases, second one-way pressure valve 26 is opened, the air in the box 19 gets into in the second air duct 25, and blow flexible drive device 2 through the second cooling hole 29 in the second cooling tube 28, cool down it, can realize stretching out or the homoenergetic is cooled down it when contracting at flexible drive device 2 control universal driving shaft 3, do benefit to and improve its life.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides a coordinated type manipulator plectrum mechanism for manipulator, includes arm (1), be equipped with flexible drive arrangement (2) in arm (1), drive end fixedly connected with universal driving shaft (3) of flexible drive arrangement (2), install a plurality of manipulator plectrum (4) in arm (1), its characterized in that is close to be equipped with actuating mechanism on universal driving shaft (3) of flexible drive arrangement (2), be equipped with the first cooling mechanism that is used for flexible drive arrangement (2) in arm (1), first cooling mechanism meshes with actuating mechanism, fixedly connected with many head rods (5) on the lateral wall of universal driving shaft (3), fixedly connected with second connecting rod (6) on the lateral wall of head rod (5), be provided with the pneumatic control mechanism with a plurality of manipulator plectrum (4) one-to-one in arm (1), install the second cooling mechanism that is used for flexible drive arrangement (2) in arm (1), a plurality of pneumatic control mechanism all are equipped with the flaring mechanism that is used for flexible drive arrangement (2) on the universal driving shaft (3), a plurality of pneumatic control mechanism all are equipped with through the top surface (8) and chamber (8) are equipped with on the top surface (8) and the equal chamber (8), the chamber (8) are all connected with one and are connected with each other through the chamber (8), the flaring mechanism is arranged in the cavity (8) in a sliding sealing manner, and is fixedly connected with the supporting plate (9).
2. The linkage type mechanical finger shifting plate mechanism for the mechanical arm according to claim 1, wherein the driving mechanism comprises a third connecting rod (10) fixedly connected to the side wall of the linkage shaft (3), one end, far away from the linkage shaft (3), of the third connecting rod (10) is fixedly connected with a rack (11), and the rack (11) is meshed with the first cooling mechanism.
3. The linkage type mechanical finger poking mechanism for the mechanical arm according to claim 2, wherein the first cooling mechanism comprises an air suction pipe (12) fixedly arranged in the mechanical arm (1), the air suction pipe (12) is communicated with a first cooling pipe (13), a plurality of first cooling holes (14) used for a telescopic driving device (2) are formed in the first cooling pipe (13), a cross rod (15) is fixedly connected in the air suction pipe (12), a rotating shaft (16) is rotatably arranged on the cross rod (15) in a penetrating manner, a fan blade (17) is coaxially and fixedly connected to the rotating shaft (16) above the cross rod (15), a gear (18) is coaxially and fixedly connected to a part, located outside the air suction pipe (12), of the rotating shaft (16), and the gear (18) is meshed with the rack (11).
4. The linkage type mechanical finger poking mechanism for the mechanical arm according to claim 3, wherein the pneumatic control mechanism comprises a box body (19) fixedly arranged in the mechanical arm (1), a sealing plate (20) is arranged in the box body (19) in a sliding sealing mode, a sliding rod (21) is fixedly connected to one end side wall close to the telescopic driving device (2), the free end of the sliding rod (21) is arranged in a sliding mode and penetrates through the side wall of the box body (19) in a sliding mode, a top plate (27) is fixedly connected to one end side wall of the sealing plate (20) close to the telescopic driving device (2), a plurality of first elastic components are fixedly connected to the free end of the first elastic components, the free end of the first elastic components is fixedly connected with the side wall of the box body (19), the first air guide pipe (7) is communicated with the box body (19), an air inlet hole is formed in one end side wall, far away from the first air guide pipe (7), a first one-way pressure valve (22) is arranged in the air inlet hole, and the box body (19) is communicated with the second cooling mechanism.
5. The linkage type mechanical finger poking mechanism for the mechanical arm according to claim 4, wherein the first elastic component comprises a first telescopic rod (23) fixedly arranged on the side wall of the sealing plate (20), the free end of the first telescopic rod (23) is fixedly connected with the inner wall of the box body (19), a first spring (24) is sleeved on the first telescopic rod (23), and the free end of the first spring (24) is fixedly connected with the inner wall of the box body (19).
6. The linkage type mechanical finger poking mechanism for the mechanical arm according to claim 5, wherein the second cooling mechanism comprises a second cooling pipe (28) fixedly arranged in the mechanical arm (1), a plurality of second cooling holes (29) which are communicated with each other inside and outside and are used for telescopic driving devices (2) are formed in the side wall of the second cooling pipe (28), a plurality of second air guide pipes (25) are communicated with each other on the second cooling pipe (28), the second air guide pipes (25) are respectively communicated with the plurality of boxes (19), and a second one-way pressure valve (26) is arranged in the second air guide pipes (25).
7. The linkage type mechanical finger poking mechanism for the mechanical arm according to claim 6, wherein the flaring mechanism comprises a convex plate (30) which is arranged in the cavity (8) in a sliding sealing manner, and a plurality of second elastic components are fixedly connected between the convex plate (30) and the supporting plate (9).
8. The linkage type mechanical finger shifting mechanism for the mechanical arm according to claim 7, wherein the second elastic component comprises a second telescopic rod (31) fixedly connected between the convex plate (30) and the supporting plate (9), a second spring (32) is sleeved on the second telescopic rod (31), and two ends of the second spring (32) are fixedly connected with the convex plate (30) and the supporting plate (9) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010377766.7A CN111531568B (en) | 2020-05-07 | 2020-05-07 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010377766.7A CN111531568B (en) | 2020-05-07 | 2020-05-07 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111531568A CN111531568A (en) | 2020-08-14 |
| CN111531568B true CN111531568B (en) | 2024-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010377766.7A Active CN111531568B (en) | 2020-05-07 | 2020-05-07 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
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| Country | Link |
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| CN (1) | CN111531568B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114732270B (en) * | 2022-04-28 | 2023-07-04 | 安徽工程大学 | Finger stall wearing device |
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| JPH11262881A (en) * | 1998-03-19 | 1999-09-28 | Hitachi Koki Co Ltd | Controlling method for link arm mechanism |
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| CN203862948U (en) * | 2014-06-10 | 2014-10-08 | 温州职业技术学院 | Hot forging piece-taking mechanical hand with self-cooling function |
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| CN106315283A (en) * | 2015-07-08 | 2017-01-11 | 德阳市利通印刷机械有限公司 | Linkage type mechanical finger stirring piece mechanism applied to mechanical hand |
| CN209036699U (en) * | 2018-10-15 | 2019-06-28 | 赣州邦德电路科技有限公司 | A kind of fixation device for pcb board drilling |
| CN110682277A (en) * | 2019-11-20 | 2020-01-14 | 常州工业职业技术学院 | Light compact material snatchs manipulator |
| CN113276100A (en) * | 2021-06-15 | 2021-08-20 | 广东寻夏科技有限公司 | Multi-axis stacking industrial robot and working method thereof |
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2020
- 2020-05-07 CN CN202010377766.7A patent/CN111531568B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11262881A (en) * | 1998-03-19 | 1999-09-28 | Hitachi Koki Co Ltd | Controlling method for link arm mechanism |
| CN201544223U (en) * | 2009-04-28 | 2010-08-11 | 章雄辉 | Cash transport robot with function of guarding |
| CN203862948U (en) * | 2014-06-10 | 2014-10-08 | 温州职业技术学院 | Hot forging piece-taking mechanical hand with self-cooling function |
| CN106315283A (en) * | 2015-07-08 | 2017-01-11 | 德阳市利通印刷机械有限公司 | Linkage type mechanical finger stirring piece mechanism applied to mechanical hand |
| CN205526724U (en) * | 2016-04-08 | 2016-08-31 | 瑞安市鑫锐机械设备有限公司 | Auto radiator radiating core doffer |
| CN209036699U (en) * | 2018-10-15 | 2019-06-28 | 赣州邦德电路科技有限公司 | A kind of fixation device for pcb board drilling |
| CN110682277A (en) * | 2019-11-20 | 2020-01-14 | 常州工业职业技术学院 | Light compact material snatchs manipulator |
| CN113276100A (en) * | 2021-06-15 | 2021-08-20 | 广东寻夏科技有限公司 | Multi-axis stacking industrial robot and working method thereof |
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| Publication number | Publication date |
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| CN111531568A (en) | 2020-08-14 |
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