CN203542606U - Plane joint type mechanical hand - Google Patents
Plane joint type mechanical hand Download PDFInfo
- Publication number
- CN203542606U CN203542606U CN201320727722.8U CN201320727722U CN203542606U CN 203542606 U CN203542606 U CN 203542606U CN 201320727722 U CN201320727722 U CN 201320727722U CN 203542606 U CN203542606 U CN 203542606U
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- CN
- China
- Prior art keywords
- wrist
- hand
- large arm
- arm
- forearm
- 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 plane joint type mechanical hand which comprises a machine seat, a large arm, a small arm, a telescopic wrist and a wrist lift motor. The machine seat is connected with one end of the large arm through a lift mechanism. The large arm lifts on the machine seat through the lift mechanism. The other end of the large arm is hinged to one end of the small arm through a rotating shaft. The small arm horizontally rotates around the rotating shaft through a horizontal rotating mechanism. An installation hole is formed in the front end of the small arm. The telescopic wrist is vertically arranged in the position of the installation hole. An output shaft of the wrist lift motor is in transmission connection with a belt wheel and the telescopic wrist through a belt. A hand paw is arranged at the front end of the telescopic wrist. The plane joint type mechanical hand has the advantages of being simple in structure, convenient to operate and firm in clamping.
Description
Technical field
The utility model relates to mechanical automation technical field, is specifically related to a kind of plane articulation arm.
Background technology
Life now and Science and Technology Day crescent benefit progress under, robot arm is just flexibility ratio and endurance degree with the maximum difference of the arm that has the mankind, namely the sharpest edges of manipulator are recursive does same action and can not feel tired! The application of mechanical arm also will be more and more extensive, and manipulator is a kind of high-tech automatic producing device growing up nearly decades, the ability fulfiling assignment in the accuracy of operation and environment.But the most complex structure of manipulator using at present, not easy to operate, and fault rate is high, inconvenient maintenance.
Utility model content
The defect existing for prior art, the purpose of this utility model be to provide a kind of simple in structure, easy to operate, with low cost, clamp firmly plane articulation arm.
The technical solution of the utility model is:
A kind of plane articulation arm, comprise support, large arm, forearm, scalable wrist and wrist lifting motor, described support is connected with one end of large arm by an elevating mechanism, described large arm is by elevating mechanism lifting on support, described large arm the other end and one end of forearm hinged by rotating shaft, described forearm horizontally rotates around the shaft by horizontal rotary mechanism, the front end of forearm is provided with installing hole, scalable wrist is vertically arranged on position of mounting hole, the output shaft of wrist lifting motor is in transmission connection by belt and belt pulley and scalable wrist, the front end of described scalable wrist is provided with hand and grabs.
Preferably, described elevating mechanism is hoist cylinder, and described hoist cylinder is arranged on support, and the cylinder rod of hoist cylinder is connected with large arm, the stretching and lifting of the cylinder rod of described large arm by hoist cylinder.
Preferably, described hand is grabbed and is provided with hand and grabs actuator, and the middle part main joint that hand is grabbed is hinged on hand and grabs on the output shaft of actuator.
Preferably, described horizontal rotary mechanism is electric rotating machine, and the output shaft of described electric rotating machine is connected with rotating shaft.
Preferably, two symmetrical hinged clamping limbs are drawn together in described hand packet capturing, the end of two clamping limbs is equipped with the recess of opening direction towards another clamping limb, two recesses are symmetrical arranged, symmetrically arranged two recesses are configured for clamping the jaw of to be held, and hand is grabbed actuator and driven two clamping limbs to adjust the openings of sizes of jaw.
Useful technique effect of the present utility model is:
On the support of the manipulator that the utility model provides, be provided with elevating mechanism, can oscilaltion; Forearm can be around large arm left rotation and right rotation; Wrist can be stretched up and down; Can meet the operation of diverse location.And the utility model is simple in structure, flexible movements, without manual operation, reduced workload and increased work efficiency, and hand to grab two even application of forces of recess between two clamping limbs and be clamped on the outer wall of to be held, clamping force is larger, and reliability is high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
The realization of the utility model object, functional characteristics and advantage, in connection with embodiment, are described further with reference to accompanying drawing.
Number in the figure represents: 1, support; 11, hoist cylinder; 2, large arm; 3, forearm; 31, rotating shaft; 32, electric rotating machine; 4, scalable wrist; 41, wrist lifting motor; 5, hand is grabbed; 51, hand is grabbed actuator; 52, clamping limb.
The specific embodiment
Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figure 1, plane articulation arm of the present utility model, comprise support 1, large arm 2, forearm 3, scalable wrist 4 and wrist lifting motor 41, described support 1 is connected with one end of large arm 2 by an elevating mechanism, described large arm 2 is by elevating mechanism lifting on support 1, described large arm 2 the other end and one end of forearm 3 hinged by rotating shaft 31, described forearm 3 31 horizontally rotates around the shaft by horizontal rotary mechanism, the front end of forearm 3 is provided with installing hole, scalable wrist 4 is vertically arranged on position of mounting hole, the output shaft of wrist lifting motor 41 is in transmission connection by belt and belt pulley and scalable wrist 4, the front end of described scalable wrist 4 is provided with hand and grabs 5.On the support 1 of the manipulator that the utility model provides, be provided with elevating mechanism, can oscilaltion; Forearm 3 can be around large arm 2 left rotation and right rotation; Wrist can be stretched up and down; Can meet the operation of diverse location.And the utility model is simple in structure, flexible movements, without manual operation, reduced workload and increased work efficiency,
Of the present utility model being characterised in that, described elevating mechanism is hoist cylinder 11, and described hoist cylinder 11 is arranged on support 1, and the cylinder rod of hoist cylinder 11 is connected with large arm 2, the cylinder rod of described large arm 2 by hoist cylinder 11 flexible and lifting.
Of the present utility model being characterised in that, described hand is grabbed and on 5, is provided with hand and grabs actuator 51, and hand is grabbed 5 middle part main joint and is hinged on hand and grabs on the output shaft of actuator 51.
Of the present utility model being characterised in that, described horizontal rotary mechanism is electric rotating machine 32, the output shaft of described electric rotating machine 32 is connected with rotating shaft 31.
Of the present utility model being characterised in that, described hand is grabbed 5 and is comprised two symmetrical hinged clamping limbs 52, the end of two clamping limbs 52 is equipped with the recess of opening direction towards another clamping limb 52, two recesses are symmetrical arranged, symmetrically arranged two recesses are configured for clamping the jaw of to be held, and hand is grabbed actuator 51 and driven two clamping limbs 52 to adjust the openings of sizes of jaw.Hand is grabbed two even application of forces of recess between two clamping limbs 52 on 5 and is clamped on the outer wall of to be held, and clamping force is larger, and reliability is high.
The foregoing is only preferred embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure transformation that utilizes the utility model description to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (5)
1. a plane articulation arm, it is characterized in that: comprise support, large arm, forearm, scalable wrist and wrist lifting motor, described support is connected with one end of large arm by an elevating mechanism, described large arm is by elevating mechanism lifting on support, described large arm the other end and one end of forearm hinged by rotating shaft, described forearm horizontally rotates around the shaft by horizontal rotary mechanism, the front end of forearm is provided with installing hole, scalable wrist is vertically arranged on position of mounting hole, the output shaft of wrist lifting motor is in transmission connection by belt and belt pulley and scalable wrist, the front end of described scalable wrist is provided with hand and grabs.
2. plane articulation arm according to claim 1, it is characterized in that, described elevating mechanism is hoist cylinder, and described hoist cylinder is arranged on support, the cylinder rod of hoist cylinder is connected with large arm, the stretching and lifting of the cylinder rod of described large arm by hoist cylinder.
3. plane articulation arm according to claim 1 and 2, is characterized in that, described hand is grabbed and is provided with hand and grabs actuator, and the middle part main joint that hand is grabbed is hinged on hand and grabs on the output shaft of actuator.
4. plane articulation arm according to claim 3, is characterized in that, described horizontal rotary mechanism is electric rotating machine, and the output shaft of described electric rotating machine is connected with rotating shaft.
5. plane articulation arm according to claim 4, it is characterized in that, two symmetrical hinged clamping limbs are drawn together in described hand packet capturing, the end of two clamping limbs is equipped with the recess of opening direction towards another clamping limb, two recesses are symmetrical arranged, symmetrically arranged two recesses are configured for clamping the jaw of to be held, and hand is grabbed actuator and driven two clamping limbs to adjust the openings of sizes of jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320727722.8U CN203542606U (en) | 2013-11-18 | 2013-11-18 | Plane joint type mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320727722.8U CN203542606U (en) | 2013-11-18 | 2013-11-18 | Plane joint type mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203542606U true CN203542606U (en) | 2014-04-16 |
Family
ID=50460772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320727722.8U Expired - Fee Related CN203542606U (en) | 2013-11-18 | 2013-11-18 | Plane joint type mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203542606U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105382851A (en) * | 2015-12-29 | 2016-03-09 | 苏州卓德电子有限公司 | Omni-directional rotatable mechanical arm |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN112811199A (en) * | 2021-01-08 | 2021-05-18 | 樊智耀 | Fragment of brick passes on and uses manipulator |
-
2013
- 2013-11-18 CN CN201320727722.8U patent/CN203542606U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105382851A (en) * | 2015-12-29 | 2016-03-09 | 苏州卓德电子有限公司 | Omni-directional rotatable mechanical arm |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN112811199A (en) * | 2021-01-08 | 2021-05-18 | 樊智耀 | Fragment of brick passes on and uses manipulator |
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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: 20140416 Termination date: 20141118 |
|
| EXPY | Termination of patent right or utility model |