CN113524145A - Multi-axis numerical control mechanical gripper based on parallel mechanism - Google Patents
Multi-axis numerical control mechanical gripper based on parallel mechanism Download PDFInfo
- Publication number
- CN113524145A CN113524145A CN202110692928.0A CN202110692928A CN113524145A CN 113524145 A CN113524145 A CN 113524145A CN 202110692928 A CN202110692928 A CN 202110692928A CN 113524145 A CN113524145 A CN 113524145A
- Authority
- CN
- China
- Prior art keywords
- rod
- rotating
- fixing plate
- adjusting
- ring
- 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
- 210000000078 claw Anatomy 0.000 claims abstract description 20
- 238000004806 packaging method and process Methods 0.000 claims description 28
- 238000001125 extrusion Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000003466 welding Methods 0.000 claims description 10
- 238000005538 encapsulation Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 230000035945 sensitivity Effects 0.000 abstract description 2
- 230000002349 favourable effect Effects 0.000 abstract 1
- 239000000428 dust Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical claws, in particular to a multi-axis numerical control mechanical claw based on a parallel mechanism, which comprises a grabbing structure, a parallel rotating structure and an encapsulating shell, wherein the bottom of the parallel rotating structure is rotationally connected with the encapsulating shell; snatch the structure and include first fixed plate, first rotary rod, second fixed plate, third rotary rod, grip block, dead lever, third fixed plate, first motor 19 and lead screw 191, four dead lever top all with third fixed plate bottom threaded connection, through set up angle control structure and revolution mechanic in parallelly connected revolution mechanic bottom, increase the rotation angle of parallelly connected revolution mechanic, be favorable to the gripper to be applied to more work scenes to effectively improve the sensitivity of gripper.
Description
Technical Field
The invention relates to the field of mechanical claws, in particular to a multi-axis numerical control mechanical claw based on a parallel mechanism.
Background
The manipulator is the earliest industrial robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect the personal safety, and is widely used in the departments of mechanical manufacturing, light industry and the like. With the advent of more and more micro instruments, the traditional six-axis manipulator has large occupied volume, large work delay and large inertia, so that the precise machining of a plurality of micro instruments is difficult to complete; the manipulator generally adopts a parallel structure, the parallel structure occupies small volume and requires few parts, but the parallel structure has a defect that the working space is limited, when the parallel structure works, each leg of the parallel structure can collide, namely each joint has own mechanical limit, so that the mechanical gripper cannot realize flexible gripping in the largest range; when the mechanical claw works, a plurality of parts are required to be matched for use, certain lubrication among all parts is required to be ensured, and dust in the air is adsorbed on the mechanical claw, so that the mechanical claw is rapidly aged; the existing manipulator cannot automatically reset after grabbing, and the reset program must be executed after the program runs, so that the efficiency is low.
Therefore, it is necessary to invent a multi-axis numerical control gripper based on a parallel mechanism to solve the above problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-axis numerical control mechanical gripper based on a parallel mechanism. The problem of the manipulator snatch the scope little, and mechanical motion part receives the dust easily and adheres to and cause the lubrication inefficacy to influence the gripper to snatch the work is solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-axis numerical control mechanical gripper based on a parallel mechanism comprises a gripping structure, a parallel rotating structure and an encapsulating shell, wherein the bottom of the parallel rotating structure is rotatably connected with the encapsulating shell, a mechanical gripper angle adjusting cavity is formed in the encapsulating shell, an angle control structure is arranged in the mechanical gripper angle adjusting cavity, and the bottom end of the angle control structure is hinged with the gripping structure;
an angle adjusting structure is arranged on the outer side of the packaging shell and comprises a motor, a motor transmission shaft, a second hydraulic rod and a dustproof shell, one side of the dustproof shell is fixedly connected with the outer wall of the packaging shell, the second motor is fixedly inserted into the inner wall of the adjusting handle, one end of the motor transmission shaft is rotatably connected with the motor, the other end of the motor transmission shaft is fixedly connected with a first adjusting rod, one end of the second hydraulic rod is fixedly connected with the top of the inner wall of the dustproof shell, and the other end of the second hydraulic rod is hinged with the outer wall of the adjusting handle;
encapsulation shell bottom is equipped with connecting rod and fourth rotary rod, fourth rotary rod both ends are rotated with encapsulation shell bottom and connecting rod one end respectively and are connected, the connecting rod other end is equipped with the dicyclo and embraces revolution mechanic, the dicyclo is embraced revolution mechanic and is rotated with the third fixed plate and is connected.
Specifically, the grabbing structure comprises a first fixing plate, a first rotating rod, a second fixing plate, a third rotating rod, a clamping plate, fixing rods, a third fixing plate, a first motor and a screw rod, the top ends of the four fixing rods are all in threaded connection with the bottom of the third fixing plate, one end of the first motor is fixedly connected with the bottom of the third fixing plate, a transmission shaft of the first motor is fixedly connected with the screw rod, the screw rod is rotatably inserted into the second fixing plate, one side of the first fixing plate is clamped with the fixing rod, one ends of the first rotating rod and the second rotating rod are both rotationally connected with the first fixing plate, the other ends of the first rotating rod and the second rotating rod are both rotationally connected with the clamping plate, the second fixing plate is in sliding connection with the third fixing plate through threads, and two ends of the third rotating rod are respectively in rotating connection with the centers of the second fixing plate and the second rotating rod;
specifically, the parallel rotating structure comprises a fourth fixing plate, hydraulic rods and a rotating plate, the bottom of the rotating plate is rotatably connected with the packaging shell, and two ends of the hydraulic rods are rotatably connected with the bottom of the fourth fixing plate and the top of the rotating plate through hooke joints;
specifically, the angle control structure comprises a first adjusting rod, a second adjusting rod, an extrusion rod and an adjusting handle, wherein one end of the second adjusting rod is rotatably connected with the inner wall of the packaging shell, the other end of the second adjusting rod is connected with the first adjusting rod through a cross universal shaft, one end of the first adjusting rod, which is far away from the second adjusting rod, is fixedly connected with the adjusting handle, one end of the extrusion rod is sleeved with the first adjusting rod, and the other end of the extrusion rod is hinged with a third fixing plate;
specifically, the first limiting ring and the second limiting ring are arranged on the outer side of the first adjusting rod and are respectively located on two sides of the extrusion rod, and the inner wall of the extrusion rod is not in contact with the outer side of the first adjusting rod.
It is specific, gripper angle adjusts the intracavity and is equipped with revolution mechanic, revolution mechanic includes fifth rotary rod, straight bevel gear and turbine, fifth rotary rod one end is rotated with the rotor plate bottom and is connected, the fifth rotary rod other end welds with straight bevel gear top center, the turbine is inboard adjusts pole fixed connection with the second, straight bevel gear and turbine meshing.
Specifically, the double-ring rotating structure comprises a first rotating ring and a second rotating ring, the first rotating ring is fixedly connected with the third fixing plate, the second rotating ring is rotatably connected with the first rotating ring, and the top of the second rotating ring is welded with the connecting rod.
Specifically, one side that first regulation pole is close to the regulation handle is equipped with spacing resilience structure, spacing resilience structure includes third spacing ring, first spring, second spring and third spring, the third spacing ring cup joints with first regulation pole, a plurality of first spring both ends respectively with first regulation pole outer lane and third spacing ring inner circle spot welding, second spring both ends respectively with third spacing ring top and encapsulation shell inner wall top spot welding, third spring both ends respectively with third spacing ring bottom and encapsulation shell inner wall bottom spot welding
Specifically, the bottom of the packaging shell is provided with a bent pipeline, and two sides of the bent pipeline are fixedly connected with the bottom of the packaging shell and the top of the third fixing plate respectively.
The invention has the beneficial effects that:
(1) according to the multi-shaft numerical control mechanical claw based on the parallel mechanism, the motor transmission shaft is driven to rotate through the second motor, the adjusting handle is further driven to rotate, the fifth rotating rod drives the upper parallel rotating structure to rotate, the adjusting handle is lifted or pressed, the extrusion rod extrudes one side of the third fixing plate, the double-hoop rotating structure rotates due to deflection of the third fixing plate, the grabbing structure integrally rotates rightwards, the operable range of the mechanical claw is enlarged, and the use sensitivity is improved.
(2) According to the multi-shaft numerical control mechanical claw based on the parallel mechanism, the second hydraulic rod is shortened to drive the sixth rotary rod to reset, the adjusting handle 74 is reset under the action of the second spring and the third spring to drive the third limiting ring to rebound, the first spring is used for damping, the third limiting ring drives the first adjusting rod to rotate back to the original position, the lower grabbing structure returns to the original vertical state, the automatic resetting function is realized, manual resetting operation is avoided, and the use efficiency is improved.
(3) According to the multi-shaft numerical control mechanical claw based on the parallel mechanism, the bent pipeline is arranged between the bottom of the packaging shell and the top of the third fixing plate, so that dust in air is prevented from entering the interior, and the service life of the mechanical claw is prolonged.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a side cross-sectional view of the overall structure of the present invention 1;
FIG. 3 is a side cross-sectional view of the overall structure of the present invention 2;
FIG. 4 is a sectional view taken along line A-A of FIG. 1;
FIG. 5 is an enlarged view of the portion B shown in FIG. 4;
FIG. 6 is an enlarged view of section C of FIG. 4;
FIG. 7 is an enlarged view of the portion D shown in FIG. 4;
FIG. 8 is an enlarged view of section E of FIG. 2;
FIG. 9 is an enlarged view of portion F of FIG. 3;
FIG. 10 is an enlarged view of the portion G shown in FIG. 4;
in the figure: 1. grabbing the structure; 11. a first fixing plate; 12. a first rotating rod; 13. a second rotating rod; 14. a second fixing plate; 15. a third rotating rod; 16. a clamping plate; 17. fixing the rod; 18. a third fixing plate; 19. the first motor 191, the screw rod 2, the parallel rotating structure; 21. a fourth fixing plate; 22. a first hydraulic lever; 23. a rotating plate; 3. bending the pipeline; 4. a double-hoop rotating structure; 41. a first rotating ring; 42. a second rotating ring; 43. a connecting rod; 44. a fourth rotating rod; 5. a package housing; 51. the mechanical claw angle adjusting cavity; 6. a rotating structure; 61. a fifth rotating lever; 62. a straight bevel gear; 63. a turbine; 7. an angle control structure; 71. a first adjusting lever; 72. a second adjusting lever; 73. an extrusion stem; 74. adjusting the handle; 75. a first limit ring; 76. a second stop collar; 8. a limiting resilience structure; 81. a third limit ring; 82. a first spring; 83. a second spring; 84. a third spring; 9. angle adjustment structure, 91, second motor, 92, motor drive shaft, 93, second hydraulic stem, 94, dust cover.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-10, the multi-axis numerical control gripper based on the parallel mechanism comprises a grabbing structure 1, a parallel rotating structure 2 and a packaging shell 5, wherein the bottom of the parallel rotating structure 2 is rotatably connected with the packaging shell 5, and a gripper angle adjusting cavity 51 is formed in the packaging shell 5;
grabbing structure 1 includes first fixed plate 11, first rotary rod 12, second rotary rod 13, second fixed plate 14, third rotary rod 15, grip block 16, dead lever 17, third fixed plate 18, first motor 19 and lead screw 191, four dead lever 17 top all with third fixed plate 18 bottom threaded connection, 19 one end of first motor and 18 bottom fixed connection of third fixed plate, 19 transmission shaft and lead screw 191 fixed connection of first motor, lead screw 191 is rotatory pegged graft with second fixed plate 14, 11 one side of first fixed plate and dead lever 17 joint, first rotary rod 12 and second rotary rod 13 one end all with first fixed plate 11 swivelling joint, the first rotary rod 12 and the second rotary rod 13 other end all with grip block 16 swivelling joint, second fixed plate 14 passes through screw thread sliding connection with third fixed plate 18, and two ends of the third rotating rod 15 are respectively connected with the second fixing plate 14 and the second rotating rod 13 in a center rotating manner. When in specific use: when the grabbing structure 1 operates, the first rotating rod 12 and the second rotating rod 13 rotate inwards together to drive the lower clamping plate 16 to grab an object, and the grabbing stability of the mechanical claw is ensured.
The parallel rotating structure 2 comprises a fourth fixing plate 21, a first hydraulic rod 22 and a rotating plate 23, the bottom of the rotating plate 23 is rotatably connected with the packaging shell 5, and two ends of the first hydraulic rod 22 are rotatably connected with the bottom of the fourth fixing plate 21 and the top of the rotating plate 23 through hook hinges. When in specific use: the angle of the lower rotating plate 23 is changed by controlling the plurality of first hydraulic rods 22, so that the operation is very precise, the grabbing of a plurality of precise instruments can be realized, and the application range is wide.
An angle control structure 7 is arranged in the mechanical claw angle adjusting cavity 51, and the bottom end of the angle control structure 7 is hinged with the grabbing structure 1; the angle control structure 7 comprises a first adjusting rod 71, a second adjusting rod 72, an extrusion rod 73 and an adjusting handle 74, wherein one end of the second adjusting rod 72 is rotatably connected with the inner wall of the packaging shell 5, the other end of the second adjusting rod 72 is connected with the first adjusting rod 71 through a cross universal shaft, one end of the first adjusting rod 71, which is far away from the second adjusting rod 72, is fixedly connected with the adjusting handle 74, one end of the extrusion rod 73 is sleeved with the first adjusting rod 71, and the other end of the extrusion rod 73 is hinged with the third fixing plate 18; a first limiting ring 75 and a second limiting ring 76 are arranged on the outer side of the first adjusting rod 71, the first limiting ring 75 and the second limiting ring 76 are respectively positioned on two sides of the extrusion rod 73, and the inner wall of the extrusion rod 73 is not in contact with the outer side of the first adjusting rod 71;
an angle adjusting structure 9 is arranged on the outer side of the packaging shell 5, the angle adjusting structure 9 comprises a motor 91, a motor transmission shaft 92, a second hydraulic rod 93 and a dustproof shell 94, one side of the dustproof shell 94 is fixedly connected with the outer wall of the packaging shell 5, the second motor 91 is fixedly connected with the inner wall of the adjusting handle 74 in an inserting mode, one end of the motor transmission shaft 92 is rotatably connected with the motor 91, the other end of the motor transmission shaft 92 is fixedly connected with the first adjusting rod 71, one end of the second hydraulic rod 93 is fixedly connected with the top of the inner wall of the dustproof shell 94, and the other end of the second hydraulic rod 93 is hinged with the outer wall of the adjusting handle 74;
a connecting rod 43 and a fourth rotating rod 44 are arranged at the bottom of the package housing 5, two ends of the fourth rotating rod 44 are respectively rotatably connected with the bottom of the package housing 5 and one end of the connecting rod 43, a double-hoop rotating structure 4 is arranged at the other end of the connecting rod 43, and the double-hoop rotating structure 4 is rotatably connected with the third fixing plate 18;
the double-hoop rotating structure 4 comprises a first rotating ring 41 and a second rotating ring 42, wherein the first rotating ring 41 is fixedly connected with the third fixing plate 18, the second rotating ring 42 is rotatably connected with the first rotating ring 41, and the top of the second rotating ring 42 is welded with a connecting rod 43. When in specific use: the second hydraulic rod 93 extends to press the adjusting handle 74 downwards, the adjusting handle 74 presses the first adjusting rod 71 downwards, the pressing rod 73 also moves downwards under the action of the first adjusting rod 71 to press one side of the third fixing plate 18, the double embracing rotating structure 4 rotates due to the deflection of the third fixing plate 18, and therefore the grabbing structure 1 rotates rightwards integrally; if the second hydraulic rod 93 is controlled to be shortened, the adjusting handle 74 is driven to deflect upwards, and then the grabbing structure 1 is driven to deflect leftwards, so that the rotating angle of the parallel rotating structure 2 is further increased, and the grabbing range of the mechanical claw does not contain dead angles.
Be equipped with revolution mechanic 6 in the gripper angle regulation chamber 51, revolution mechanic 6 includes fifth rotary rod 61, straight bevel gear 62 and turbine 63, fifth rotary rod 61 one end is rotated with rotor plate 23 bottom and is connected, the fifth rotary rod 61 other end and the welding of straight bevel gear 62 top center, turbine 63 inboard and second are adjusted pole 72 fixed connection, straight bevel gear 62 meshes with turbine 63. When in specific use: the second motor 91 is started to drive the motor transmission shaft 92 to rotate, and the motor transmission shaft 92 synchronously drives the adjusting handle 74 to rotate, so that the fifth rotating rod 61 drives the parallel rotating structure 2 above to rotate, and the grabbing range of the mechanical claw is further enlarged.
The bottom of the packaging shell 5 is provided with a bent pipeline 3, and two sides of the bent pipeline 3 are respectively fixedly connected with the bottom of the packaging shell 5 and the top of the third fixing plate 18. When in specific use: the bent pipeline 3 can be folded and unfolded along with the lifting of the extrusion rod 73, so that dust in the air is prevented from entering the interior, and the service life of the mechanical claw is prolonged.
The working principle is as follows:
(1) the clamping process comprises the following steps: the first motor 19 is started to drive the screw rod 191 to rotate, the screw rod 191 rotates to drive the second fixing plate 14 to move upwards and drive a plurality of third rotating rods 15 to rotate, and the third rotating rods 15 drive the first rotating rods 12 and the second rotating rods 13 to synchronously rotate to drive the clamping plates 16 which are rotatably connected to move inwards to clamp articles placed in the clamping plates;
(2) and (3) a rotating process: the second motor 91 is started to drive the motor transmission shaft 92 to rotate, the motor transmission shaft 92 synchronously drives the adjusting handle 74 to rotate, the adjusting handle 74 drives the first adjusting rod 71 and the second adjusting rod 72 inside to rotate, the second adjusting rod 72 drives the turbine 63 outside to synchronously rotate, the turbine 63 drives the meshed straight bevel gear 62 to rotate and then drives the fifth rotating rod 61 to rotate, and the fifth rotating rod 61 drives the parallel rotating structure 2 above to rotate;
(3) and (3) angle transformation process: the second hydraulic rod 93 extends to press the adjusting handle 74 downwards, the adjusting handle 74 presses the first adjusting rod 71 downwards, the pressing rod 73 also moves downwards under the action of the first adjusting rod 71 to press one side of the third fixing plate 18, the double-hoop rotating structure 4 rotates due to the deflection of the third fixing plate 18, so that the grabbing structure 1 rotates rightwards integrally, if the adjusting handle 74 is pressed downwards continuously, the rotating angle of the double-hoop rotating structure 4 reaches the maximum value, at the moment, the connecting rod 43 and the fourth rotating rod 44 above the double-hoop rotating structure 4 start to deflect, and the grabbing structure 1 can continue to rotate; the second hydraulic rod 93 is controlled to be shortened, the adjusting handle 74 is driven to deflect upwards, and then the grabbing structure 1 is driven to deflect leftwards;
(4) resetting: the second hydraulic rod 93 is controlled to stretch and rebound to the original position, the adjusting handle 74 is driven to restore to the horizontal position, the adjusting handle 74 drives the third limiting ring 81 to rebound under the action of the second spring 83 and the third spring 84, the first spring 82 is used for damping, the third limiting ring 81 drives the first adjusting rod 71 to rotate back to the original position, and the grabbing structure 1 below returns to the original vertical state.
Claims (9)
1. The utility model provides a multiaxis numerical control gripper based on parallel mechanism, includes snatchs structure (1), parallelly connected revolution mechanic (2) and encapsulation shell (5), its characterized in that: the bottom of the parallel rotating structure (2) is rotatably connected with a packaging shell (5), a mechanical claw angle adjusting cavity (51) is formed in the packaging shell (5), an angle control structure (7) is arranged in the mechanical claw angle adjusting cavity (51), and the bottom end of the angle control structure (7) is hinged to the grabbing structure (1);
an angle adjusting structure (9) is arranged on the outer side of the packaging shell (5), the angle adjusting structure (9) comprises a second motor (91), a motor transmission shaft (92), a second hydraulic rod (93) and a dustproof shell (94), one side of the dustproof shell (94) is fixedly connected with the outer wall of the packaging shell (5), the second motor (91) is fixedly connected with the inner wall of the adjusting handle (74) in an inserting mode, one end of the motor transmission shaft (92) is rotatably connected with the motor (91), the other end of the motor transmission shaft (92) is fixedly connected with the first adjusting rod (71), one end of the second hydraulic rod (93) is fixedly connected with the top of the inner wall of the dustproof shell (94), and the other end of the second hydraulic rod (93) is hinged to the outer wall of the adjusting handle (74);
encapsulation shell (5) bottom is equipped with connecting rod (43) and fourth rotary rod (44), fourth rotary rod (44) both ends rotate with encapsulation shell (5) bottom and connecting rod (43) one end respectively and are connected, connecting rod (43) other end is equipped with dicyclo armful revolution mechanic (4), dicyclo armful revolution mechanic (4) rotate with third fixed plate (18) and are connected.
2. The multi-axis numerical control gripper based on the parallel mechanism as claimed in claim 1, wherein: the grabbing structure (1) comprises a first fixing plate (11), a first rotating rod (12), a second rotating rod (13), a second fixing plate (14), a third rotating rod (15), a clamping plate (16), a fixing rod (17), a third fixing plate (18), a first motor (19) and a lead screw (191), wherein the top end of the fixing rod (17) is in threaded connection with the bottom of the third fixing plate (18), one end of the first motor (19) is fixedly connected with the bottom of the third fixing plate (18), a transmission shaft of the first motor (19) is fixedly connected with the lead screw (191), the lead screw (191) is in rotary insertion connection with the second fixing plate (14), one side of the first fixing plate (11) is connected with the fixing rod (17) in a clamping manner, one ends of the first rotating rod (12) and the second rotating rod (13) are in rotary connection with the first fixing plate (11), the other ends of the first rotating rod (12) and the second rotating rod (13) are in rotary connection with the clamping plate (16), the second fixing plate (14) is in sliding connection with a third fixing plate (18) through threads, and two ends of the third rotating rod (15) are respectively in center rotating connection with the second fixing plate (14) and the second rotating rod (13);
3. the multi-axis numerical control gripper based on the parallel mechanism as claimed in claim 1, wherein: the parallel rotating structure (2) comprises a fourth fixing plate (21), first hydraulic rods (22) and a rotating plate (23), the bottom of the rotating plate (23) is rotatably connected with the packaging shell (5), and two ends of each of the first hydraulic rods (22) are rotatably connected with the bottom of the fourth fixing plate (21) and the top of the rotating plate (23) through hook hinges;
4. the multi-axis numerical control gripper based on the parallel mechanism as claimed in claim 1, wherein: the angle control structure (7) comprises a first adjusting rod (71), a second adjusting rod (72), an extrusion rod (73) and an adjusting handle (74), one end of the second adjusting rod (72) is rotatably connected with the inner wall of the packaging shell (5), the other end of the second adjusting rod (72) is connected with the first adjusting rod (71) through a cross universal shaft, one end, far away from the second adjusting rod (72), of the first adjusting rod (71) is fixedly connected with the adjusting handle (74), one end of the extrusion rod (73) is sleeved with the first adjusting rod (71), and the other end of the extrusion rod (73) is hinged with the third fixing plate (18);
5. the multi-axis numerical control gripper based on the parallel mechanism as claimed in claim 1, wherein: the outer side of the first adjusting rod (71) is provided with a first limiting ring (75) and a second limiting ring (76), the first limiting ring (75) and the second limiting ring (76) are respectively located on two sides of the extrusion rod (73), and the inner wall of the extrusion rod (73) is not in contact with the outer side of the first adjusting rod (71).
6. The multi-axis numerical control gripper based on the parallel mechanism as claimed in claim 1, wherein: rotating-structure (6) are equipped with in gripper angle regulation chamber (51), rotating-structure (6) include fifth rotary rod (61), straight bevel gear (62) and turbine (63), fifth rotary rod (61) one end is rotated with rotor plate (23) bottom and is connected, the fifth rotary rod (61) other end welds with straight bevel gear (62) top center, turbine (63) inboard adjusts pole (72) fixed connection with the second, straight bevel gear (62) and turbine (63) meshing.
7. The multi-axis numerical control gripper based on the parallel mechanism as claimed in claim 1, wherein: the double-ring rotating structure (4) comprises a first rotating ring (41) and a second rotating ring (42), the first rotating ring (41) is fixedly connected with the third fixing plate (18), the second rotating ring (42) is rotatably connected with the first rotating ring (41), and the top of the second rotating ring (42) is welded with a connecting rod (43).
8. The multi-axis numerical control gripper based on a parallel mechanism as claimed in claim 7, wherein: one side that first regulation pole (71) is close to regulation handle (74) is equipped with spacing resilience structure (8), spacing resilience structure (8) include third spacing ring (81), first spring (82), second spring (83) and third spring (84), third spacing ring (81) cup joint, a plurality of with first regulation pole (71) first spring (82) both ends respectively with first regulation pole (71) outer lane and third spacing ring (81) inner circle spot welding, second spring (83) both ends respectively with third spacing ring (81) top and packaging casing (5) inner wall top spot welding, third spring (84) both ends respectively with third spacing ring (81) bottom and packaging casing (5) inner wall bottom spot welding.
9. The multi-axis numerical control gripper based on a parallel mechanism as claimed in claim 7, wherein: the bottom of the packaging shell (5) is provided with a bent pipeline (3), and two sides of the bent pipeline (3) are respectively fixedly connected with the bottom of the packaging shell (5) and the top of the third fixing plate (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110692928.0A CN113524145A (en) | 2021-06-22 | 2021-06-22 | Multi-axis numerical control mechanical gripper based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110692928.0A CN113524145A (en) | 2021-06-22 | 2021-06-22 | Multi-axis numerical control mechanical gripper based on parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113524145A true CN113524145A (en) | 2021-10-22 |
Family
ID=78125512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110692928.0A Pending CN113524145A (en) | 2021-06-22 | 2021-06-22 | Multi-axis numerical control mechanical gripper based on parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113524145A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI790982B (en) * | 2022-08-03 | 2023-01-21 | 國立成功大學 | Smart sensorized gripper |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015220413A1 (en) * | 2015-10-20 | 2017-04-20 | Krones Aktiengesellschaft | Parallel kinematic robot and method of handling same |
| KR20170111967A (en) * | 2016-03-30 | 2017-10-12 | 박경철 | Parallel robot apparatus |
| CN108297072A (en) * | 2018-03-12 | 2018-07-20 | 佛山职业技术学院 | A kind of four axis pressing robots |
| LU100822B1 (en) * | 2017-09-29 | 2019-03-29 | Univ Anhui Sci & Technology | Turnover multi-finger asynchronous gripper for casting robot |
| CN209076005U (en) * | 2018-10-29 | 2019-07-09 | 广州天娱动漫科技有限公司 | A kind of doll machine day mechanism of car convenient for multi-angle regulation gripper |
| CN211662055U (en) * | 2019-12-04 | 2020-10-13 | 贵州西南工具(集团)有限公司 | Anti-skid manipulator |
| CN213106915U (en) * | 2020-09-07 | 2021-05-04 | 青岛云智朗高新科技有限公司 | Automatic respond to letter sorting arm for intelligent robot |
| CN213439730U (en) * | 2020-09-02 | 2021-06-15 | 中外非标（天津）自动化设备有限公司 | Mechanical claw for automatic equipment |
| CN216385662U (en) * | 2021-11-29 | 2022-04-26 | 魏绪芝 | Accurate measuring device for homeland resource management |
-
2021
- 2021-06-22 CN CN202110692928.0A patent/CN113524145A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015220413A1 (en) * | 2015-10-20 | 2017-04-20 | Krones Aktiengesellschaft | Parallel kinematic robot and method of handling same |
| KR20170111967A (en) * | 2016-03-30 | 2017-10-12 | 박경철 | Parallel robot apparatus |
| LU100822B1 (en) * | 2017-09-29 | 2019-03-29 | Univ Anhui Sci & Technology | Turnover multi-finger asynchronous gripper for casting robot |
| CN108297072A (en) * | 2018-03-12 | 2018-07-20 | 佛山职业技术学院 | A kind of four axis pressing robots |
| CN209076005U (en) * | 2018-10-29 | 2019-07-09 | 广州天娱动漫科技有限公司 | A kind of doll machine day mechanism of car convenient for multi-angle regulation gripper |
| CN211662055U (en) * | 2019-12-04 | 2020-10-13 | 贵州西南工具(集团)有限公司 | Anti-skid manipulator |
| CN213439730U (en) * | 2020-09-02 | 2021-06-15 | 中外非标（天津）自动化设备有限公司 | Mechanical claw for automatic equipment |
| CN213106915U (en) * | 2020-09-07 | 2021-05-04 | 青岛云智朗高新科技有限公司 | Automatic respond to letter sorting arm for intelligent robot |
| CN216385662U (en) * | 2021-11-29 | 2022-04-26 | 魏绪芝 | Accurate measuring device for homeland resource management |
Non-Patent Citations (1)
| Title |
|---|
| 宋和义;王雷;胡聪;邓海顺;: "架管机的机械手爪优化分析", 矿山机械, no. 04, 10 April 2020 (2020-04-10), pages 58 - 61 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI790982B (en) * | 2022-08-03 | 2023-01-21 | 國立成功大學 | Smart sensorized gripper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108747109B (en) | Automatic part welding device for industrial production | |
| CN208914108U (en) | A kind of articulated robot | |
| CN208231391U (en) | A kind of machining workpiece holding transfer device | |
| CN207841335U (en) | A kind of Novel machine machinery claw | |
| CN113524145A (en) | Multi-axis numerical control mechanical gripper based on parallel mechanism | |
| CN108284441A (en) | A kind of small-sized machine arm end clamping device | |
| CN208196840U (en) | Joint of mechanical arm connector and its mechanical arm | |
| CN210233030U (en) | Convertible double-arm robot | |
| CN106737603A (en) | A kind of moving platform mechanism of ball-screw series connection pinion and-rack | |
| CN209793733U (en) | Industrial manipulator based on PLC control | |
| CN207788957U (en) | A kind of multifunctional vertical manipulator | |
| CN108748222A (en) | A kind of infant industry manipulator | |
| CN210061138U (en) | Hydraulic mechanical arm | |
| CN211517538U (en) | Gear rack lifting type joint mechanical arm | |
| CN208946171U (en) | A kind of four axis robots | |
| CN106685157B (en) | High-precision stator core press-fitting machine | |
| CN208196788U (en) | A kind of four axis fully automatic manipulators | |
| CN210046665U (en) | Rotary telescopic mechanical arm | |
| CN220389458U (en) | Manipulator connecting rod of operation robot | |
| CN216859778U (en) | Convertible formula industry is adsorption head for adsorber | |
| CN215037449U (en) | Industrial cooperation robot with adjustable fixture | |
| CN219504779U (en) | Extensible multifunctional industrial robot | |
| CN220389474U (en) | Manipulator joint device of operation robot | |
| CN217046477U (en) | Linear drive is convenient for flexible arm that turns to | |
| CN116160429B (en) | Industrial robot applied to complex ground and having balance 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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20241022 Address after: 341000 1st Floor, Building A4, Qiuyue Science and Technology Park Phase I, Ganzhou Economic and Technological Development Zone, Ganzhou City, Jiangxi Province Applicant after: Ganzhou Xinhu Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 232001 No. 168 Taifeng Street, Huainan City, Anhui Province Applicant before: Anhui University of Science and Technology Country or region before: China |