CN202781150U - Multi-joint connecting rod mechanical hand - Google Patents
Multi-joint connecting rod mechanical hand Download PDFInfo
- Publication number
- CN202781150U CN202781150U CN 201220430637 CN201220430637U CN202781150U CN 202781150 U CN202781150 U CN 202781150U CN 201220430637 CN201220430637 CN 201220430637 CN 201220430637 U CN201220430637 U CN 201220430637U CN 202781150 U CN202781150 U CN 202781150U
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- CN
- China
- Prior art keywords
- connecting rod
- screw mandrel
- linkage
- operating mechanism
- steel cable
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a multi-joint connecting rod mechanical hand, which is used for solving the problem of incapability of finely adjusting a take-out device in the prior art and the problem of high time and labor consumption existing in manual take-out equipment. The multi-joint connecting rod mechanical hand comprises a guide rail, a slide carriage, two mechanical arms, a bracket and an operating mechanism, wherein the slide carriage is arranged on the guide rail; the mechanical arms are arranged in parallel on the slide carriage along the vertical direction; the bracket is arranged on the end parts of the mechanical arms through a connecting rod mechanism; and the operating mechanism is used for controlling the mechanical arms. The multi-joint connecting rod mechanical hand is characterized in that: the mechanical arms comprise arm bodies which are provided with cavities, and sliding shafts which are arranged in the arm bodies and are connected with the connecting rod mechanism through connecting steel ropes; the operating mechanism comprises screw rods which are connected with the sliding shafts, nuts matched with the screw rods, and runners which are connected with the screw rods and are used for controlling the screw rodsrunners; positioning blocks for fixing the connecting steel ropes are arranged outside the connecting steel ropes; and the bracket consists of a fixed frame and a foldable frame which is movably connected with the fixed frame. The multi-joint connecting rod mechanical hand is simple in structure, is low in cost, and is convenient to realize.
Description
Technical field
The utility model relates to a kind of equipment that grasps material, specifically, is a kind of multi-joint link robot manipulator.
Background technology
In the prior art, the mechanical feeding equipment of industrial use is divided into three major types: gripping-type, sucked type, magnetic suction disc formula, the material that these three kinds of feeding equipment are usually used in producing, processing in the operation is fetched and delivered, its purposes is very extensive, and for operating efficiency, normally by driven by motor, mainly there is following shortcoming in it: the mechanical feeding equipment of driven by motor can only be adjusted feeding on a large scale, can't occupy advantage in the feeding of fine distance, though and traditional manual machine feeding equipment can be accomplished the feeding distance fine regulation, but operation very bothers again, consuming time, consumption power.
The utility model content
The purpose of this utility model is to overcome defects, provide a kind of overall structure simple, realize easily feeding equipment.
To achieve these goals, the scheme of the utility model employing is as follows:
The multi-joint link robot manipulator, comprise guide rail, be arranged on the slide on this guide rail, two mechanical arms that vertically are set up in parallel on slide, be arranged on the carriage of this mechanical arm end by linkage, and in order to control the operating mechanism of mechanical arm, described mechanical arm comprises the arm body with cavity, be arranged on the sliding axle that is connected with linkage by connecting steel cable in this arm body, described operating mechanism then comprises the screw mandrel that is connected with sliding axle, the screw that matches with screw mandrel, and be connected with this screw mandrel and be the runner of screw mandrel in order to control, outside described connection steel cable, also being provided with one in order to being fixedly connected with the locating piece of steel cable, described carriage forms by fixed mount and with folding stand that this fixed mount is flexibly connected, carriage is provided with spring in institute, and an end of this spring is connected with pressure sensor.
Further, also be provided with screw mandrel drive mechanism at described slide.
Further, described connection steel cable is connected with linkage by spring.
Simultaneously, outside described sliding axle, also be socketed with black box.
Further, described linkage is quadric chain.
The utility model compared with prior art has the following advantages and beneficial effect:
(1) the utility model is not only simple in structure, and with low cost, realization convenience;
(2) mechanical arm comprises the arm body with cavity in the utility model, be arranged on the sliding axle that is connected with linkage by connecting steel cable in this arm body, described operating mechanism then comprises the screw mandrel that is connected with sliding axle, the screw that matches with screw mandrel, and be connected with this screw mandrel and be the runner of screw mandrel in order to control, manpower gets final product the driving mechanical arm by rotating wheel and carriage carries out feeding, feeding operation, it is easy to operate, laborsaving, can realize again the fine setting of feeding distance, effectively with electronic, the advantage of manpower feeding equipment combines, and has overcome the defective of the two;
(3) linkage is quadric chain in the utility model, so that the movement of carriage is more flexible, and has avoided the motion dead angle of connecting rod;
(4) the utility model also is socketed with black box outside sliding axle, adheres to impurity in order to avoid sliding axle, affects the movement of sliding axle;
(5) the utility model also is provided with one it can effectively prevent from connecting steel and rock, and has guaranteed the normal conduction of power in order to be fixedly connected with the locating piece of steel cable outside described connection steel cable, and normally the carrying out of equipment work;
(6) carriage forms by fixed mount and with folding stand that this fixed mount is flexibly connected in the utility model, when the dynamics of carriage crawl material greater than between fixed mount and the folding stand be connected power the time, folding stand stirs on can be mutually, effectively avoid the crawled damages of class material such as frangible, thin plate, reduced economic loss.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Wherein, the parts name that Reference numeral is corresponding is called: the 1-guide rail, and the 2-linkage, the 3-carriage, 4-arm body, 5-connects steel cable, 6-sliding axle, 7-screw mandrel, 8-screw, 9-slide, 10-runner, 11-black box, 12-locating piece, 13-pressure sensor.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing thereof the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
As shown in Figure 1, the multi-joint link robot manipulator, comprise guide rail 1, be arranged on the slide 9 on this guide rail 1, two mechanical arms that vertically are set up in parallel on slide 9, be arranged on the carriage 3 of this mechanical arm end by linkage 2, and in order to control the operating mechanism of mechanical arm, described mechanical arm comprises the arm body 4 with cavity, be arranged on the sliding axle 6 that is connected with linkage 2 by connecting steel cable 5 in this arm body 4, described operating mechanism then comprises the screw mandrel 7 that is connected with sliding axle 6, the screw 8 that matches with screw mandrel 7, and be connected with this screw mandrel 7 and be the runner 10 of screw mandrel 7 in order to control.Manpower gets final product the driving mechanical arm by rotating wheel and carriage carries out feeding, feeding operation, it is easy to operate, laborsaving, can realize again the fine setting of feeding distance, effectively advantage electronic, manpower feeding equipment be combined, overcome the defective of the two.
The utility model is provided with a pressure sensor 13 that is attached thereto by spring at carriage 3, and this pressure sensor 13 is connected with external display list, and the size that reflects grip that can be instant has avoided excessive because of grip effectively, and damages the defective of material.
Carriage 3 forms by fixed mount and with folding stand that this fixed mount is flexibly connected in the utility model, when the dynamics of carriage crawl material greater than between fixed mount and the folding stand be connected power the time, folding stand stirs on can be mutually, effectively avoid the crawled damages of class material such as frangible, thin plate, reduced economic loss.
In the present embodiment, also be provided with the screw mandrel drive mechanism of auxiliary screw mandrel 7 operations at described slide 9.
In the present embodiment, in order better to realize the work of linkage 2, described connection steel cable 5 is connected with linkage 2 by spring.
The utility model also is provided with a locating piece 12 in order to be fixedly connected with steel cable outside described connection steel cable 5, it can effectively prevent from connecting steel and rock, and has guaranteed the normal conduction of power, and normally the carrying out of equipment work.
In the present embodiment, be attached to sliding axle 6 surfaces for fear of impurity, affect the movement of sliding axle 6, outside described sliding axle 6, also be socketed with black box 11.
In the present embodiment, for so that the movement of carriage is more flexible, avoid link motion the dead angle to occur, described linkage 2 is quadric chain.
According to above-described embodiment, can well realize the utility model.
Claims (5)
1. multi-joint link robot manipulator, comprise guide rail (1), be arranged on the slide (9) on this guide rail (1), two mechanical arms that vertically are set up in parallel on slide (9), be arranged on the carriage (3) of this mechanical arm end by linkage (2), and in order to control the operating mechanism of mechanical arm, it is characterized in that: described mechanical arm comprises the arm body (4) with cavity, be arranged on the sliding axle (6) that is connected with linkage (2) by connecting steel cable (5) in this arm body (4), described operating mechanism then comprises the screw mandrel (7) that is connected with sliding axle (6), the screw (8) that matches with screw mandrel (7), and be connected with this screw mandrel (7) and be the runner (10) of screw mandrel (7) in order to control, outside described connection steel cable (5), also be provided with a locating piece (12) in order to be fixedly connected with steel cable (5), described carriage (3) forms by fixed mount and with folding stand that this fixed mount is flexibly connected, be provided with spring at institute's carriage (3), and an end of this spring is connected with pressure sensor (13).
2. multi-joint link robot manipulator according to claim 1 is characterized in that: also be provided with screw mandrel drive mechanism at described slide (9).
3. multi-joint link robot manipulator according to claim 2, it is characterized in that: described connection steel cable (5) is connected with linkage (2) by spring.
4. multi-joint link robot manipulator according to claim 3 is characterized in that: also be socketed with black box (11) outside described sliding axle (6).
5. multi-joint link robot manipulator according to claim 4, it is characterized in that: described linkage (2) is quadric chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220430637 CN202781150U (en) | 2012-08-28 | 2012-08-28 | Multi-joint connecting rod mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220430637 CN202781150U (en) | 2012-08-28 | 2012-08-28 | Multi-joint connecting rod mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202781150U true CN202781150U (en) | 2013-03-13 |
Family
ID=47808484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220430637 Expired - Fee Related CN202781150U (en) | 2012-08-28 | 2012-08-28 | Multi-joint connecting rod mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202781150U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003005A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Plate grabbing, releasing and temporary storing system |
-
2012
- 2012-08-28 CN CN 201220430637 patent/CN202781150U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003005A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Plate grabbing, releasing and temporary storing system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20130828 |