CN203282490U - Holding mechanical arm capable of changing along with shapes of objects - Google Patents
Holding mechanical arm capable of changing along with shapes of objects Download PDFInfo
- Publication number
- CN203282490U CN203282490U CN2013202221870U CN201320222187U CN203282490U CN 203282490 U CN203282490 U CN 203282490U CN 2013202221870 U CN2013202221870 U CN 2013202221870U CN 201320222187 U CN201320222187 U CN 201320222187U CN 203282490 U CN203282490 U CN 203282490U
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- bar
- rotating mechanism
- transmission
- hinged
- 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
Links
Images
Landscapes
- Clamps And Clips (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a holding mechanical arm capable of changing along with the shapes of objects in order to solve the problem that an existing mechanical arm can not change along with the shapes of the objects so that the objects can be damaged. The holding mechanical arm capable of changing along with the shapes of the objects is characterized in that hydraulic pressure is used as power, a left-right symmetric structure is achieved, a single-side mechanism is that one end of a fixing frame is simultaneously hinged to a connecting clamping push rod and a transmission clamping rod which is provided with a first hydraulic cylinder in a hinged mode, and meanwhile the first hydraulic cylinder is provided with a pressure sensor and a balance winding rod; a thrust rotating mechanism, the first hydraulic cylinder and a thrust rotating mechanism are sequentially hinged to the transmission clamping rod; a second hydraulic cylinder is connected to the hinged portions of both the transmission clamping rod and the thrust rotating mechanisms; the other end of the first hydraulic cylinder and the other end of a thrust selecting and loading mechanism are both hinged to a soft friction belt to be fixed. The holding mechanical arm capable of changing along with the shapes of the objects does not damage objects, and is simple in structure, flexible, variable, strong in adaptability, and powerful in function.
Description
Technical field
The utility model relates to mechanical field, especially a kind ofly can hold manipulator tightly with what body form changed.
Background technology
Manipulator is a kind of very important mechanical execution unit, it is widely used in clamping and plucks and to hold tightly etc., its development makes the machine work parts more rich and varied, make mechanical system more flexible, also make to control to be more prone to have now various robot devices to be used for different occasions, and clamping mechanical hand also having various forms ofly, but is mostly contact with the object line or can not become with body form, this can cause the object part to be subject to very large clamping force, also can damage be arranged to object.
Summary of the invention
Can not become the situation that object is damaged with body form in order to solve existing manipulator, the utility model provides a kind of can hold manipulator tightly with what body form changed, it can change and change with body form, object for the convex outer curve shape, capital contacts with object plane to the full extent, thereby make object each several part uniform stressed, and produce larger frictional force.
Describedly a kind ofly can hold manipulator tightly with what body form changed, formed around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: this equipment is for utilizing hydraulic pressure as power, be the left-right symmetry structure simultaneously, its one-sided mechanism is: an end of fixed mount is articulated and connected simultaneously and steps up push rod and transmission steps up bar, step up hinged 1# hydraulic cylinder on bar in transmission, simultaneously, pressure sensor and balance are set around bar on the 1# hydraulic cylinder; Transmission steps up on bar hinged thrust rotating mechanism, 1# hydraulic cylinder and thrust rotating mechanism successively; Step up bar in transmission and all be connected the 2# hydraulic cylinder with the hinged place of thrust rotating mechanism; An other end of 1# hydraulic cylinder, thrust select an other end of mounting mechanism all to be hinged on the flexible friction band, are fixed.
Describedly a kind ofly can hold manipulator tightly with what body form changed, formed around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: the thrust rotating mechanism is comprised of 3# hydraulic cylinder, sleeve pipe and axle, wherein: axle sleeve is at the cover tube hub, and the 3# hydraulic cylinder is arranged on the rear of axle.
Describedly a kind ofly can hold manipulator tightly with what body form changed, formed around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: the 2# hydraulic cylinder is all vertically fixing, and it is subjected to force direction all with horizontal plane, to hold 90 ° of angles.
Described a kind of can the be comprised of around bar, thrust rotating mechanism and flexible friction band fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance with the manipulator of holding tightly of body form variation, it is characterized in that: described flexible friction band can be quality of rubber materials.
The beneficial effects of the utility model are: not only do not damage object, and also simple in structure, flexible and changeable, strong adaptability, powerful.
Description of drawings
Fig. 1 is can be with the schematic diagram of holding manipulator tightly of body form variation; Fig. 2 is the enlarged drawing of thrust rotating mechanism.
Wherein, 1. fixed mount; 2. step up push rod; 3. transmission steps up bar; 4.1# hydraulic cylinder; 5. pressure sensor; 6. balance is around bar; 7.2# hydraulic cylinder; 8. thrust rotating mechanism; 9.3# hydraulic cylinder; 10. flexible friction band; 11. sleeve; 12. axle.
The specific embodiment
As Fig. 1 ~ 2, a kind ofly can hold manipulator tightly with what body form changed, this equipment is the left-right symmetry structure, its one-sided structure is: an end of fixed mount 1 is articulated and connected simultaneously and steps up push rod 2 and transmission steps up bar 3, step up hinged 1# hydraulic cylinder 4 on bar 3 in transmission, simultaneously, pressure sensor 5 and balance are set around bar 6 on 1# hydraulic cylinder 4; Transmission steps up on bar 3 hinged thrust rotating mechanism 8,1# hydraulic cylinder 4 and thrust rotating mechanism 8 successively; Step up bar 3 in transmission and all be connected 2# hydraulic cylinder 7 with the hinged place of thrust rotating mechanism 8; An other end of 1# hydraulic cylinder 4, thrust select an other end of mounting mechanism 8 all to be hinged on flexible friction band 10, are fixed.
Operation principle: when clamping push rod 2 was subject to thrust, it can open to both sides, and the transmission clamping bar 3 of both sides is rotatablely moved around fixed mount 1.Utilize hydraulic pressure that pressure oil is entered in 1# hydraulic cylinder 4, make 4 elongations of 1# hydraulic cylinder, and then be with dynamicthrust rotating mechanism 8 to rotate around bar 6 around balance, and make the end of flexible friction band 10 produce pressure, flexible friction band 10 has all produced and has contacted and active force with object at each position; When flexible friction band 10 and object contact, 2# hydraulic cylinder 7 is compressed and at first liquid is wherein passed to the 2# hydraulic cylinder, acceptable solution force feed and extending, and then band dynamicthrust rotating mechanism 8 is extracted out and extends, flexible friction band 10 is fully stretched around object, produce pretension.Increase pressure, in 2# hydraulic cylinder 7, pressure rises, and while arriving setting value, sensor feedback stops increasing and remaining unchanged to controller signals, and this moment, manipulator was embraced object tightly.
Claims (4)
1. can hold manipulator tightly with what body form changed for one kind, formed around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: this equipment is for utilizing hydraulic pressure as power, be the left-right symmetry structure simultaneously, its one-sided mechanism is: an end of fixed mount is articulated and connected simultaneously and steps up push rod and transmission steps up bar, step up hinged 1# hydraulic cylinder on bar in transmission, simultaneously, pressure sensor and balance are set around bar on the 1# hydraulic cylinder; Transmission steps up on bar hinged thrust rotating mechanism, 1# hydraulic cylinder and thrust rotating mechanism successively; Step up bar in transmission and all be connected the 2# hydraulic cylinder with the hinged place of thrust rotating mechanism; An other end of 1# hydraulic cylinder, thrust select an other end of mounting mechanism all to be hinged on the flexible friction band, are fixed.
2. according to claim 1ly a kind ofly can hold manipulator tightly with what body form changed, formed around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: the thrust rotating mechanism is comprised of 3# hydraulic cylinder, sleeve pipe and axle, wherein: axle sleeve is at the cover tube hub, and the 3# hydraulic cylinder is arranged on the rear of axle.
3. according to claim 1ly a kind ofly can hold manipulator tightly with what body form changed, formed around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: the 2# hydraulic cylinder is all vertically fixing, and it is subjected to force direction all with horizontal plane, to hold 90 ° of angles.
4. according to claim 1ly a kind ofly can hold manipulator tightly with what body form changed, be comprised of around bar, thrust rotating mechanism and flexible friction band fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, it is characterized in that: described flexible friction band can be quality of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202221870U CN203282490U (en) | 2013-04-27 | 2013-04-27 | Holding mechanical arm capable of changing along with shapes of objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202221870U CN203282490U (en) | 2013-04-27 | 2013-04-27 | Holding mechanical arm capable of changing along with shapes of objects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203282490U true CN203282490U (en) | 2013-11-13 |
Family
ID=49538869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013202221870U Expired - Fee Related CN203282490U (en) | 2013-04-27 | 2013-04-27 | Holding mechanical arm capable of changing along with shapes of objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203282490U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303219A (en) * | 2019-06-25 | 2019-10-08 | 宿迁华虹电子工业有限公司 | A kind of thin film capacitor pin soldering apparatus |
-
2013
- 2013-04-27 CN CN2013202221870U patent/CN203282490U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303219A (en) * | 2019-06-25 | 2019-10-08 | 宿迁华虹电子工业有限公司 | A kind of thin film capacitor pin soldering apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203185352U (en) | Pneumatic centering inside-supporting clamping device | |
| CN203818150U (en) | Gear-rack horizontal-moving connecting rod type clamp holder | |
| CN203712018U (en) | Clamping device for large agricultural machinery gears | |
| CN202780905U (en) | Pneumatic clamping mechanism | |
| MX2019000865A (en) | A gripper device for gripping a pipe. | |
| CN203665545U (en) | Self-adaptation and self-balancing manipulator finger | |
| WO2010051279A3 (en) | Pipe handling apparatus with arm stiffening | |
| CN103522295A (en) | Grasping mechanical hand capable of changing according to shape of object | |
| CN204235550U (en) | A kind of three grab clamping manipulator mechanism | |
| CN208729818U (en) | Clamping manipulator | |
| CN104139396B (en) | A kind of under-driven adaptive manipulator | |
| CN105563503B (en) | Pre-tightening type clamping device | |
| CN209050445U (en) | It is a kind of for clamping the clamper of cylindrical workpiece | |
| CN205889230U (en) | Mechanical hand tool | |
| CN109571539A (en) | The quick crawl bar cluster adaptive robot arm device of controllable force | |
| CN203901292U (en) | Multiple degree of freedom (MDOF) ultra-high vacuum mechanical hand with continuously adjustable grasping force | |
| CN203282490U (en) | Holding mechanical arm capable of changing along with shapes of objects | |
| CN204086019U (en) | A kind of vertical bonding force proving installation of portable ice | |
| CN204064823U (en) | A kind of shearing force testing device of portable ice | |
| CN204008309U (en) | A kind of tension and compression-torsion combined loading test machine | |
| CN203542600U (en) | Discharging mechanical arm | |
| CN202964461U (en) | Single-cylinder two-rocker-arm clamping mechanism | |
| CN203542606U (en) | Plane joint type mechanical hand | |
| CN204525463U (en) | A kind of can the manipulator mechanism of Open valve | |
| CN203579654U (en) | Two-degree-of-freedom simple teaching mechanical hand device |
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: 20131113 Termination date: 20140427 |