CN203357466U - Clamping end damping structure of robot arm - Google Patents
Clamping end damping structure of robot arm Download PDFInfo
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- CN203357466U CN203357466U CN 201320359678 CN201320359678U CN203357466U CN 203357466 U CN203357466 U CN 203357466U CN 201320359678 CN201320359678 CN 201320359678 CN 201320359678 U CN201320359678 U CN 201320359678U CN 203357466 U CN203357466 U CN 203357466U
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- terminal end
- bare terminal
- clamping
- damping structure
- control lever
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Abstract
The utility model relates to a clamping end damping structure of a robot arm. The clamping end damping structure of the robot arm comprises a clamping mechanism body (1) and clamping arms (6), wherein a control mechanism which is used for controlling the clamping ends of the two clamping arms (6) to clamp an object or loosen the object is arranged inside the clamping mechanism body (1), and anti-skid protruding lines are arranged on the end face, in contact with the object to be clamped, of the clamping end of each clamping arm (6). The clamping end damping structure of the robot arm has the advantages that friction between the clamping ends of the robot arm and the object to be clamped can be increased, and the problem that the object to be clamped can be disengaged easily is well solved.
Description
Technical field
The utility model relates to a kind of mechanical hand bare terminal end damping structure.
Background technology
For reproduce staff the technique device of function be called manipulator.Manipulator is the part action of imitating staff, realizes the robot apparatus of automatic capturing, carrying or operation by preset sequence, track and requirement.The manipulator of applying in industrial production is called as industry mechanical arm.Industry mechanical arm is the new technology occurred in the automation field in modern age, and has become an important component part in the modern mechanical manufacturing production system, and this development of new techniques is very fast, becomes gradually an emerging subject---manipulator engineering.Manipulator relates to the scientific domains such as mechanics, mechanics, electrical equipment hydraulic technique, automatic control technology, sensor technology and computer technology, is a transsubject complex technology.
Industry mechanical arm is a kind of high-tech automatic producing device grown up nearly decades.Industry mechanical arm is also an important branch of industrial robot.His characteristics are to complete by programming the operation of various expections, on structure and performance, have people and machine advantage separately concurrently, especially are embodied in people's intelligence and adaptability.The ability fulfiled assignment in the accuracy of manipulator operation and environment, have development space widely in the national economy field.
The development of manipulator is because its positive role just is familiar with for people day by day: one, it can the part the replacement manually-operated; Two, it can, according to the requirement of production technology, follow transmission and handling that certain program, time and position complete workpiece; Three, it can operate necessary facility and is welded and assemble, thereby has improved greatly workman's working condition, has improved significantly labor productivity, accelerates to realize the paces of industrial production mechanization and automation.Thereby, be subject to the attention of a lot of countries, drop into a large amount of manpower and materials and study and apply.Especially at high temperature, high pressure, dust, noise and with the occasion of radioactivity and pollution, application more extensive.In China, development was faster also arranged in recent years, and obtained certain effect, be subject to the attention of mechanical industry.
Manipulator is a kind of control object often run in field of industrial automatic control.Manipulator can complete much work, as removes thing, assembling, cutting, spray-painting etc., applies very extensive.In modern industry, the automation in production process has become outstanding theme.The automatization level of all trades and professions is more and more higher, and the modernization job shop often is furnished with manipulator, to enhance productivity, completes that the workman has been difficult to or dangerous work.Clamping device is one of most important part of manipulator, and by clamping device, manipulator could stably, accurately carry out crawl and move operations.The mechanical gripper of manipulator mostly is two clutch types that refer to, the motion mode of grabbing by its hand can be divided into translating type and rotary type.The rotary type hand has been grabbed and can be divided into single fulcrum and two fulcrum rotary type, by method of clamping, can be divided into external clamping and inner bearing type.But, in existing clamping device, accurate not for the control of clamping framework bare terminal end.And bare terminal end, when clamping gripped object, the situation that gripped object comes off often occurs.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of mechanical hand bare terminal end damping structure, and this structure can increase the frictional force between mechanical hand bare terminal end and gripped object, preferably resolves gripped object and holds caducous problem.
The utility model solves the problems of the technologies described above adopted technical scheme: mechanical hand bare terminal end damping structure, comprise clamping device body, clamping arm, have the bare terminal end clamping of controlling two clamping arms or the controlling organization unclamped in the clamping device body, the end face that the bare terminal end of described clamping arm contacts with gripped object is provided with anti-skidding burr.The end face that this connection fruit fruit contacts with gripped object at bare terminal end is provided with anti-skidding burr, can increase the frictional force between mechanical hand bare terminal end and gripped object, preferably resolves gripped object and holds caducous problem.In this programme, the controlling organization of controlling the bare terminal end clamping of two clamping arms or unclamping adopts prior art to realize, anti-skidding burr is that end face that bare terminal end contacts with gripped object is set to concavo-convex alternate structure and gets final product, it can be the concavo-convex alternate shape of rule, as waveform, zigzag etc., can be also various irregular shapes.
As a kind of mode that realizes this programme, described controlling organization comprises control lever, voussoir, rotation roller, rotation roller is arranged on the clamping device body interior and can rotates along installation shaft, also be provided with through hole in the clamping device body, control lever one end is fixedly connected with voussoir through through hole, the other end is connected with driving mechanism, driving mechanism by the inclined-plane that drives control lever to move to control voussoir away from rotation roller or near and hold rotation roller and form controlling organization, clamping arm one end is fixedly connected with rotation roller, and the other end of clamping arm forms bare terminal end.
Have on the outer wall of described control lever and protrude the limited block formed, limited block is between through hole and driving mechanism.
Described limited block is the circular ring structure radially protruded along on the outer wall of control lever, or is that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block overlaps with the central shaft of through hole, and the end face of limited block outermost end is greater than the radius length of through hole to the control lever central shaft apart from length.
The cross section of described voussoir is isosceles trapezoid, and control lever one end is fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir through through hole.
The angle formed between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 10 °-30 °.As preferably, the angle formed between the waist of isosceles trapezoid and the height of isosceles trapezoid is 18 °.
Described rotation roller, clamping arm are respectively 2 and be symmetricly set on the voussoir two ends.
Be provided with elastic mechanism between described two clamping arms.
Described elastic mechanism is spring or spring leaf.
The beneficial effects of the utility model are:
1, structure of the present utility model can increase the frictional force between mechanical hand bare terminal end and gripped object, preferably resolves gripped object and holds caducous problem.
2, the utility model is long in order to prevent that driving mechanism from driving the distance that control lever advances, have on the outer wall of control lever and protrude the limited block formed, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, make control lever to move on, more accurate to the control of clamping framework bare terminal end.
The accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Parts title corresponding to number in the figure is: 1-clamping device body, 2-control lever, 3-limited block, 4-voussoir, 5-rotation roller, 6-clamping arm, 7-fastening bolt, 8-elastic mechanism, the anti-skidding burr of 9-.
The specific embodiment
As shown in Figure 1, the mechanical hand bare terminal end damping structure of the present embodiment comprises clamping device body 1, control lever 2, limited block 3, voussoir 4, rotation roller 5, clamping arm 6, rotation roller 5 is arranged on clamping device body 1 inside and can rotates along installation shaft, also be provided with through hole in clamping device body 1, control lever 2 one ends are fixedly connected with voussoir 4 through through hole, the other end is connected with driving mechanism, the inclined-plane that driving mechanism form to be controlled voussoir 4 away from rotation roller 5 or near and hold the controlling organization of rotation roller 5, and have on the outer wall of control lever and protrude the limited block 3 formed, clamping arm 6 one ends are fixedly connected with rotation roller 5, the other end of clamping arm 6 forms bare terminal end, the end face that bare terminal end contacts with gripped object is provided with anti-skidding burr, anti-skidding burr is that end face that bare terminal end contacts with gripped object is set to concavo-convex alternate structure and gets final product, it can be the concavo-convex alternate shape of rule, as waveform, zigzag etc., can be also various irregular shapes.
In the present embodiment, the cross section of described voussoir 4 is isosceles trapezoid, and control lever 2 one ends are fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir 4 through through hole; Rotation roller 5, clamping arm 6 are respectively 2 and be symmetricly set on voussoir 4 two ends, from sectional view, rotation roller 5, clamping arm 6 are symmetricly set on the both sides of isosceles trapezoid, between two clamping arms 6, are provided with elastic mechanism 8, and elastic mechanism 8 is spring or spring leaf.Described limited block 3 is the circular ring structure radially protruded along on the outer wall of control lever, or is that several are along radially protruding and equally distributed projection on the outer wall of control lever.Described limited block 3 overlaps with the central shaft of through hole, and the end face of limited block 3 outermost end is greater than the radius length of through hole to the control lever central shaft apart from length.The angle formed between the waist of described isosceles trapezoid and the height of isosceles trapezoid (being to indicate the angle shown in the camber line of angle in Fig. 1) is 10 °-30 °, is preferably 18 °.Test is found, when angle is 18 °, when driving mechanism drives control lever to advance, the most easily drives rotation roller 5 and rotates, and the power output minimum of driving mechanism now.Can play preferably and control mechanical hand.
As shown in Figure 1, its course of work is as follows for the mechanical hand bare terminal end damping structure of the present embodiment:
When driving mechanism drive control lever advances, inclined-plane by voussoir 4 contacts with rotation roller 5, driving mechanism drives control lever and moves on, the inclined-plane of voussoir 4 drives rotation roller 5 and rotates under the effect of frictional force, rotation roller 5 drives close clamping of bare terminal end that clamping arm 6 rotated and made clamping arm 6, when voussoir 4 moves backward, the elastic force by elastic mechanism makes the bare terminal end of clamping arm 6 unclamp.Owing to being rolling friction between voussoir and rotation roller, frictional force is little, less to the infringement of workpiece, and simple in structure, is convenient to control.Long in order to prevent that driving mechanism from driving the distance that control lever advances, have on the outer wall of control lever and protrude the limited block 3 formed, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, make control lever to move on, more accurate to the control of clamping framework bare terminal end.
As mentioned above, can implement preferably the utility model.
Claims (10)
1. mechanical hand bare terminal end damping structure, it is characterized in that, comprise clamping device body (1), clamping arm (6), have the bare terminal end clamping of controlling two clamping arms (6) or the controlling organization unclamped in clamping device body (1), the end face that the bare terminal end of described clamping arm (6) contacts with gripped object is provided with anti-skidding burr (9).
2. mechanical hand bare terminal end damping structure according to claim 1, it is characterized in that, described controlling organization comprises control lever (2), voussoir (4), rotation roller (5), rotation roller (5) is arranged on clamping device body (1) inside and can rotates along installation shaft, the clamping device body also is provided with through hole in (1), control lever (2) one ends are fixedly connected with voussoir (4) through through hole, the other end is connected with driving mechanism, driving mechanism by the inclined-plane that drives control lever to move to control voussoir (4) away from rotation roller (5) or near and hold rotation roller (5) and form controlling organization, clamping arm (6) one ends are fixedly connected with rotation roller (5), the other end of clamping arm (6) forms bare terminal end.
3. mechanical hand bare terminal end damping structure according to claim 2, is characterized in that, has on the outer wall of described control lever and protrude the limited block (3) formed, and limited block (3) is between through hole and driving mechanism.
4. mechanical hand bare terminal end damping structure according to claim 3, is characterized in that, described limited block (3) is the circular ring structure radially protruded along on the outer wall of control lever, or be that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block (3) overlaps with the central shaft of through hole, and the end face of limited block (3) outermost end is greater than the radius length of through hole to the control lever central shaft apart from length.
5. mechanical hand bare terminal end damping structure according to claim 2, is characterized in that, the cross section of described voussoir (4) is isosceles trapezoid, and control lever (2) one ends are fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir (4) through through hole.
6. mechanical hand bare terminal end damping structure according to claim 5, is characterized in that, the angle formed between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 10 °-30 °.
7. mechanical hand bare terminal end damping structure according to claim 6, is characterized in that, the angle formed between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 18 °.
8. according to the described mechanical hand bare terminal end of claim 2 to 7 any one damping structure, it is characterized in that, described rotation roller (5), clamping arm (6) are respectively 2 and be symmetricly set on voussoir (4) two ends.
9. mechanical hand bare terminal end damping structure according to claim 6, is characterized in that, is provided with elastic mechanism (8) between described two clamping arms (6).
10. mechanical hand bare terminal end damping structure according to claim 9, is characterized in that, described elastic mechanism (8) is spring or spring leaf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320359678 CN203357466U (en) | 2013-06-23 | 2013-06-23 | Clamping end damping structure of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320359678 CN203357466U (en) | 2013-06-23 | 2013-06-23 | Clamping end damping structure of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203357466U true CN203357466U (en) | 2013-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320359678 Expired - Fee Related CN203357466U (en) | 2013-06-23 | 2013-06-23 | Clamping end damping structure of robot arm |
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| CN (1) | CN203357466U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317525A (en) * | 2013-06-23 | 2013-09-25 | 四川海普工控技术有限公司 | Improved structure of industrial mechanical arms |
| CN106516717A (en) * | 2016-10-29 | 2017-03-22 | 安徽旭虹机械设备有限公司 | Clamping device for conveying bars |
| CN111037070A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工业大学 | Automatic internal stay frock clamp of assembly before special-shaped component welding |
-
2013
- 2013-06-23 CN CN 201320359678 patent/CN203357466U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317525A (en) * | 2013-06-23 | 2013-09-25 | 四川海普工控技术有限公司 | Improved structure of industrial mechanical arms |
| CN106516717A (en) * | 2016-10-29 | 2017-03-22 | 安徽旭虹机械设备有限公司 | Clamping device for conveying bars |
| CN111037070A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工业大学 | Automatic internal stay frock clamp of assembly before special-shaped component welding |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131225 Termination date: 20140623 |
|
| EXPY | Termination of patent right or utility model |