CN202656185U - Multiple-freedom-degree mechanical arm clamp - Google Patents

Multiple-freedom-degree mechanical arm clamp Download PDF

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Publication number
CN202656185U
CN202656185U CN 201220280897 CN201220280897U CN202656185U CN 202656185 U CN202656185 U CN 202656185U CN 201220280897 CN201220280897 CN 201220280897 CN 201220280897 U CN201220280897 U CN 201220280897U CN 202656185 U CN202656185 U CN 202656185U
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CN
China
Prior art keywords
gripping
cylinder
handgrip
anchor clamps
freedom degree
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Active
Application number
CN 201220280897
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Chinese (zh)
Inventor
敬俊娥
程芳玲
鲁宁
魏京利
李翊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CRRC Qingdao Sifang Co Ltd
Original Assignee
CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
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Application filed by CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd filed Critical CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
Priority to CN 201220280897 priority Critical patent/CN202656185U/en
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Publication of CN202656185U publication Critical patent/CN202656185U/en
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Abstract

The utility model relates to a multiple-freedom-degree mechanical arm clamp which comprises a mechanical arm main machine, a clamping mechanism, a connecting arm for connecting the mechanical arm main machine and the clamping mechanism and a controller. The clamping mechanism comprises a pair of rotatable tongs for clamping a workpiece, a clamping device for adjusting an X-axial distance between the two tongs and a moving device for driving the tongs to move along the Y axis, wherein the clamping device and the moving device are electrically connected with the controller. The multiple-freedom-degree mechanical arm clamp is simple in structure, capable of achieving multiple-freedom-degree clamping of workpieces with different size and shapes, safe and convenient to operate and strong in generality. The tongs can perform linear motion in the Y-axis direction, the requirements for workpiece clamping and fine adjustment in placing are met, and 180-degree turnover of the workpiece can be achieved. The multiple-freedom-degree mechanical arm clamp can further adjust the clamping force of the tongs and meet the requirement of different workpieces for different clamping force in clamping.

Description

Multi freedom degree mechanical hand anchor clamps
Technical field
The utility model relates to a kind of anchor clamps, particularly a kind of multi freedom degree mechanical hand anchor clamps.
Background technology
Existing boosting manipulator pawl folder clamp mechanism mostly is special fixture, and versatility is little, and generally can have following problem: one, mechanism freedom is little, is difficult to adapt to the needs of sizes workpiece.Two, workpiece is difficult to realize upset, even realize upset, also is difficult to the position that workpiece is placed is more accurately located that cause need reapposing again gripping to behind the workpiece turning, gripping efficient is not high, and consuming time, is difficult to operation.Three, be difficult to regulate gripping power to workpiece, different workpiece, the quality requirement of surface of the work, the rigidity of workpiece are different, gripping power to manipulator fixture has proposed different requirements, the general gripping power of existing manipulator is fixed, change even realize gripping power, also can cause mechanism complicated, so be difficult to satisfy the production actual requirement.
The utility model content
The utility model main purpose is to address the above problem and is not enough, provides a kind of simple in structure, highly versatile, multi freedom degree mechanical hand anchor clamps safe and convenient to use.
For achieving the above object, the technical solution of the utility model is:
A kind of multi freedom degree mechanical hand anchor clamps, comprise Robotic Host, gripping body, be used for connecting linking arm and the controller of described Robotic Host and gripping body, described gripping body comprises a pair of rotatable handgrip for the gripping workpiece, is used for regulating the clamp device of X axis distance between two described handgrips, is used for driving described handgrip along the moving mobile device of y-axis shift, and described clamp device and mobile device are electrically connected with described controller.
Further, also comprise in the described gripping body be used to the adjusting device of regulating described handgrip gripping power.
Further, also comprise the mechanical arm of pair of opposing in the described gripping body, described handgrip is connected on the described mobile device, and described mobile device is fixed on the described mechanical arm, and described mechanical arm is connected with described clamp device.
Further: described clamp device is flexible gripping cylinder, and two described mechanical arms are fixed on the two ends of described flexible gripping cylinder, is relatively moved by a pair of described mechanical arm of the flexible drive of described flexible gripping cylinder and realizes the gripping of workpiece and unclamp.
Further, described flexible gripping cylinder connects a cylinder pressure regulator valve, and described cylinder pressure regulator valve is electrically connected with described controller.
Further, described mobile device is the telescopic moving cylinder, and the described handgrip of described telescopic moving air cylinder driven is done rectilinear motion along described mechanical arm.
Further, the rotation of described handgrip is driven by the rotary cylinder that is connected with described handgrip, and described rotary cylinder is connected on the described mobile device, and described rotary cylinder is electrically connected with described controller.
Further, be provided with for manually operated handle at described linking arm.
Further, described Robotic Host comprises a cantilever crane, is rotationally connected described linking arm in the cantilever lower end of described cantilever crane.
Further, the cantilever of described cantilever crane is by the lifting on the telescopic cylinder realization vertical direction.
Content to sum up, a kind of multi freedom degree mechanical hand anchor clamps described in the utility model, simple in structure, can realize the multivariant gripping to the workpiece of different size, shape, easy-to-operate, highly versatile, handgrip can be done the rectilinear motion of Y-axis, the requirement of fine setting when satisfying workpiece holding and placement, and can realize 180 degree of workpiece are overturn, the utility model can also be regulated the gripping power of handgrip, when satisfying the different workpieces gripping to the requirement of different gripping power.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model gripping body structural representation.
As depicted in figs. 1 and 2, Robotic Host 1, gripping body 2, linking arm 3, control panel 4, cantilever crane 5, cantilever 6, column 7, bearing pin 8, telescopic cylinder 9, connecting rod 10, expansion link 11, mechanical arm 12, handgrip 13, flexible gripping cylinder 14, cylinder pressure regulator valve 15, telescopic moving cylinder 16, rotary cylinder 17, handle 18.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment the utility model is described in further detail:
As shown in Figure 1, a kind of multi freedom degree mechanical hand anchor clamps comprise Robotic Host 1, gripping body 2, are used for connecting linking arm 3, the controller of Robotic Host 1 and gripping body 2.
Wherein, as shown in Figure 1, Robotic Host 1 comprises a center steering formula cantilever crane 5, cantilever crane 5 is centered by a steel column 7, column 7 is fixed on the ground in workshop, cantilever 6 is done 360 degree rotations around column 7, cantilever 6 is connected by bearing pin 8 with the top of column 7, the lifting that cantilever 6 is realized on the vertical direction by telescopic cylinder 9, telescopic cylinder 9 is fixed on the column 7, cantilever 6 is connected with the expansion link 11 of telescopic cylinder 9 by connecting rod 10, and telescopic cylinder 9 is connected with controller, by the height of controller control cantilever 6.
The bottom of the top of linking arm 3 and cantilever 6 realizes that by rotating shaft and bearing 360 degree are rotationally connected, and the bottom of linking arm 3 is connected with gripping body 2.
As shown in Figure 2, gripping body 2 comprises a pair of for the rotatable handgrip 13 of gripping workpiece, a pair of mechanical arm 12 that is oppositely arranged, each mechanical arm 12 corresponding handgrip 13, connect by clamp device between two mechanical arms 12, two relative motions of mechanical arm 12 on X-direction of clamp device control, be fixedly connected with a mobile device at each mechanical arm 12, rotatable handgrip 13 is connected with mobile device, and mobile device drives handgrip 13 and does rectilinear motion in Y-axis.
In the present embodiment, clamp device adopts flexible gripping cylinder 14, flexible gripping cylinder 14 is flexible to both sides by controller control, the bottom of linking arm 3 is fixed on the flexible gripping cylinder 14, two mechanical arms 12 are fixed on the two ends of flexible gripping cylinder 14, the a pair of mechanical arm 12 of flexible drive by flexible gripping cylinder 14 is done relative traveling priority in X-direction, and two mechanical arms 12 or the relatively close gripping that realizes workpiece are perhaps relatively away from the placement of unclamping that realizes workpiece.
Also comprise in the gripping body 2 for the adjusting device of regulating handgrip 13 gripping power, in the present embodiment, the adjusting device of gripping power adopts cylinder pressure regulator valve 15, by the power output of the flexible gripping cylinder 14 of adjusting cylinders pressure regulator valve 15 controls, namely require to reach by the output valve of setting cylinder pressure regulator valve 15 the gripping power of 12 pairs of workpiece of control mechanical arm according to different workpiece.
Mobile device adopts telescopic moving cylinder 16, handgrip 13 connects a rotary cylinder 17, rotary cylinder 17 is connected with telescopic moving cylinder 16, telescopic moving cylinder 16 and rotary cylinder 17 are electrically connected with controller, telescopic moving cylinder 16 is fixed on the mechanical arm 12, mechanical arm 12 is when motion, and telescopic moving cylinder 16, rotary cylinder 17 and handgrip 13 be thereupon motion also.Telescopic moving cylinder 16 drives rotary cylinder 17 and handgrip 13 and does rectilinear motion in Y-axis under the control of controller, when needed, rotary cylinder 17 rotates in 180 degree scopes at driving handgrip 13 under the control of controller, and then the workpiece of drive handgrip 13 grippings overturns in 180 degree scopes.
After gripping or the gripping during place work piece, by driving telescopic moving cylinder 16, make handgrip 13 do rectilinear motion along mechanical arm 12 in Y-axis, finely tune with the gripping position to gripping body 2, realize the reorientation of handgrip 13, guarantee gripping body 2 active accurately gripping and place work pieces.
Be the handled easily personnel operation, in controller, be provided with control panel 4, the operator can be according to being regulated arbitrarily by the workpiece of gripping, with the output valve of control telescopic cylinder 9, flexible gripping cylinder 14, telescopic moving cylinder 16, rotary cylinder 17 and setting cylinder pressure regulator valve 15, and then accomplish accurate gripping and place work piece.
In the present embodiment, be provided with for manually operated handle 18 at linking arm 3, for the ease of operating personnel's operation, control panel 4 is installed in handle 18 places.
The below describes the course of work of this handling erecting device in detail:
Placement location according to workpiece, operating personnel promote operating grip 18, cantilever 6 is around column 7 rotations, linking arm 3 is around cantilever 6 rotations, gripping body 2 is moved to the position that workpiece is placed, operating personnel make gripping body 2 liftings to suitable height by the telescopic cylinder 9 in the operation control panel 4 control Robotic Hosts 1.
Position with reference to workpiece, when workpiece can't grab by operating grip 18, operating personnel start telescopic moving cylinder 16 by operation control panel 4, make handgrip 13 do rectilinear motion at mechanical arm 12, and then the gripping position of a pair of handgrip 13 finely tuned, after definite accurate crawl that can realize workpiece, start flexible gripping cylinder 14 by operation control panel 4, drive a pair of mechanical arm 12 and do in the X-axis linear relative movement, realization is to the gripping of workpiece, make handgrip 13 grippings in the suitable position of workpiece, guarantee that the workpiece of gripping can not come off.Simultaneously, operating personnel set the output pressure value of cylinder pressure regulator valve 15 according to the requirement of different workpieces by operation control panel 4, and then set the gripping power of handgrip 13, under the prerequisite of defective work piece not, further, guarantee that gripping is firm, thereby guarantee the accurate gripping of workpiece.
After determining that gripping of workpiece is complete, by operating grip 18, travelling workpiece is to the position that needs to place.When will be to workpiece turning, start rotary cylinders 17 by operation control panel 4, realize 180 degree upsets to workpiece.After workpiece turning is complete, operating grip 18, simultaneously auxiliary operation control panel 4 starts telescopic moving cylinder 16, and workpiece is accurately moved on the workbench position.After workpiece is determined the position, start flexible gripping cylinder 14 by operation control panel 4, drive a pair of mechanical arm 12 to two side shiftings to unclamp the crawl to workpiece.Last operation handle 18 is removed whole gripping body 2.
As mentioned above, given scheme content can derive similar technical scheme by reference to the accompanying drawings.In every case be the content that does not break away from technical solutions of the utility model,, all still belong in the scope of technical solutions of the utility model any simple modification, equivalent variations and modification that above embodiment does according to technical spirit of the present utility model.

Claims (10)

1. multi freedom degree mechanical hand anchor clamps, it is characterized in that: comprise Robotic Host, gripping body, be used for connecting linking arm and the controller of described Robotic Host and gripping body, described gripping body comprises a pair of rotatable handgrip for the gripping workpiece, is used for regulating the clamp device of X axis distance between two described handgrips, is used for driving described handgrip along the moving mobile device of y-axis shift, and described clamp device and mobile device are electrically connected with described controller.
2. multi freedom degree mechanical hand anchor clamps according to claim 1 is characterized in that: also comprise in the described gripping body be used to the adjusting device of regulating described handgrip gripping power.
3. multi freedom degree mechanical hand anchor clamps according to claim 1, it is characterized in that: the mechanical arm that also comprises pair of opposing in the described gripping body, described handgrip is connected on the described mobile device, described mobile device is fixed on the described mechanical arm, and described mechanical arm is connected with described clamp device.
4. multi freedom degree mechanical hand anchor clamps according to claim 3, it is characterized in that: described clamp device is flexible gripping cylinder, two described mechanical arms are fixed on the two ends of described flexible gripping cylinder, are relatively moved by a pair of described mechanical arm of the flexible drive of described flexible gripping cylinder and realize the gripping of workpiece and unclamp.
5. multi freedom degree mechanical hand anchor clamps according to claim 4, it is characterized in that: described flexible gripping cylinder connects a cylinder pressure regulator valve, and described cylinder pressure regulator valve is electrically connected with described controller.
6. multi freedom degree mechanical hand anchor clamps according to claim 3, it is characterized in that: described mobile device is the telescopic moving cylinder, the described handgrip of described telescopic moving air cylinder driven is done rectilinear motion along described mechanical arm.
7. multi freedom degree mechanical hand anchor clamps according to claim 3, it is characterized in that: the rotation of described handgrip is driven by the rotary cylinder that is connected with described handgrip, described rotary cylinder is connected on the described mobile device, and described rotary cylinder is electrically connected with described controller.
8. multi freedom degree mechanical hand anchor clamps according to claim 1 is characterized in that: be provided with for manually operated handle at described linking arm.
9. multi freedom degree mechanical hand anchor clamps according to claim 1, it is characterized in that: described Robotic Host comprises a cantilever crane, is rotationally connected described linking arm in the cantilever lower end of described cantilever crane.
10. multi freedom degree mechanical hand anchor clamps according to claim 9 is characterized in that: the cantilever of described cantilever crane is realized lifting on the vertical direction by telescopic cylinder.
CN 201220280897 2012-06-14 2012-06-14 Multiple-freedom-degree mechanical arm clamp Active CN202656185U (en)

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Application Number Priority Date Filing Date Title
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103213852A (en) * 2013-04-25 2013-07-24 云南众诚士德柔性自动化设备有限公司 Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically
CN103481279A (en) * 2012-06-14 2014-01-01 南车青岛四方机车车辆股份有限公司 Multi-freedom-degree manipulator fixture
CN104339363A (en) * 2013-07-24 2015-02-11 财团法人工业技术研究院 Clamping mechanism with overturn function and method for overturning and translating workpiece
CN104803297A (en) * 2014-01-23 2015-07-29 北大方正集团有限公司 Tower crane apparatus and large beam ion injection equipment
CN107414870A (en) * 2017-09-22 2017-12-01 太仓市微贯机电有限公司 A kind of trouble free service method for shifting mechanical arm
CN107414806A (en) * 2017-09-22 2017-12-01 太仓市微贯机电有限公司 A kind of displacement mechanical arm with auto-lock function
CN107414485A (en) * 2017-09-22 2017-12-01 中核(天津)机械有限公司 Stock work-piece auto-feeding device
CN110744563A (en) * 2019-10-30 2020-02-04 中电装备山东电子有限公司 Intelligent lower-surface manipulator

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103481279A (en) * 2012-06-14 2014-01-01 南车青岛四方机车车辆股份有限公司 Multi-freedom-degree manipulator fixture
CN103481279B (en) * 2012-06-14 2016-12-21 中车青岛四方机车车辆股份有限公司 Multi-freedom-degreemanipulator manipulator fixture
CN103213852A (en) * 2013-04-25 2013-07-24 云南众诚士德柔性自动化设备有限公司 Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically
CN103213852B (en) * 2013-04-25 2015-06-24 云南众诚士德柔性自动化设备有限公司 Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically
CN104339363A (en) * 2013-07-24 2015-02-11 财团法人工业技术研究院 Clamping mechanism with overturn function and method for overturning and translating workpiece
CN104803297A (en) * 2014-01-23 2015-07-29 北大方正集团有限公司 Tower crane apparatus and large beam ion injection equipment
CN107414870A (en) * 2017-09-22 2017-12-01 太仓市微贯机电有限公司 A kind of trouble free service method for shifting mechanical arm
CN107414806A (en) * 2017-09-22 2017-12-01 太仓市微贯机电有限公司 A kind of displacement mechanical arm with auto-lock function
CN107414485A (en) * 2017-09-22 2017-12-01 中核(天津)机械有限公司 Stock work-piece auto-feeding device
CN110744563A (en) * 2019-10-30 2020-02-04 中电装备山东电子有限公司 Intelligent lower-surface manipulator
CN110744563B (en) * 2019-10-30 2020-10-16 中电装备山东电子有限公司 Intelligent lower-surface manipulator

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C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP01 Change in the name or title of a patent holder

Address after: Jihongtan town Chengyang District Shandong city Qingdao province Jinhong road 266111 No. 88

Patentee after: CRRC QINGDAO SIFANG CO., LTD.

Address before: Jihongtan town Chengyang District Shandong city Qingdao province Jinhong road 266111 No. 88

Patentee before: CSR Qingdao Sifang Locomotive and Rolling Stock Co., Ltd.