CN203600248U - Elastic mechanical arm - Google Patents
Elastic mechanical arm Download PDFInfo
- Publication number
- CN203600248U CN203600248U CN201320701578.0U CN201320701578U CN203600248U CN 203600248 U CN203600248 U CN 203600248U CN 201320701578 U CN201320701578 U CN 201320701578U CN 203600248 U CN203600248 U CN 203600248U
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- China
- Prior art keywords
- paw
- cylinder
- rod
- claw
- drive rod
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Abstract
The utility model relates to a mechanical arm, in particular to an elastic mechanical arm. The elastic mechanical arm comprises a base body, an air cylinder, a sliding body, connecting rods, a first claw and a second claw, wherein the air cylinder is arranged on the base, one end of the first claw and one end of the second claw are hinged to the base respectively, the first claw and the second claw are arranged on the two sides of the sliding body, the middle of the first claw and the middle of the second claw are hinged to the sliding body through the connecting rods respectively, a driving rod is additionally arranged, the end, close to the claws, of the driving rod is connected with the sliding body, and a spring is arranged between the other end of the driving rod and a piston rod of the air cylinder. Pressure, applied by the first claw and the second claw, to a part is small, and therefore damage to the part can be reduced.
Description
Technical field
The utility model relates to a kind of manipulator, is specifically related to a kind of elastic mechanical hand.
Background technology
Manipulator can imitate some holding function of staff, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.Manipulator is the industrial robot occurring the earliest, is also the modern machines people who occurs the earliest, and it can replace people's heavy work to realize mechanization and the automation of producing, thereby is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Robot drives mode can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type, wherein adopts the Pneumatic mechanical hand of air cylinder driven the most common.
General manipulator paw, is connected with the piston rod of cylinder as connecting rod, slide block by drive mechanism, piston rod snap action, thus drive also moment crawl of paw, easy and part collision when crawl, or the power of crawl part is excessive, causes part destroyed.
Utility model content
The defect existing for above-mentioned prior art, the technical problems to be solved in the utility model is: existing manipulator drive mechanism is connected with the piston rod of cylinder, piston rod snap action, thereby also moment captures to drive paw, easy and part collision when crawl, or the power that captures part is excessive, causes part destroyed.
For achieving the above object, the technical solution of the utility model is: elastic mechanical hand, comprise base body, cylinder, slide mass, connecting rod, the first paw and the second paw, described cylinder is arranged on base body, described the first paw and second paw one end are articulated with respectively on base body, both are arranged at slide mass both sides, rod hinge connection is passed through with slide mass respectively in the middle part of paw, wherein, have additional drive rod, the nearly paw of described drive rod one end is connected with slide mass, between the described drive rod other end and the piston rod of cylinder, spring is set.
While adopting technique scheme, between the piston rod of cylinder and drive mechanism, set up spring, in the utility model, drive mechanism is drive rod, slide mass and connecting rod, when paw captures part, the quick indentation of piston rod of cylinder, the quick acting that now spring can bounce cylinder piston rod, spring pulls drive rod, under the driving of drive rod, slide mass pulls the first paw and the second paw by connecting rod, thereby crawl part, in this process, spring not only can slow down the grasping movement of the first paw and the second paw, and can reduce two paws and be applied to the pressure on part.
Further, between described drive rod and the piston rod of cylinder, sleeve pipe is set, described spring runs through sleeve pipe, and on the drive rod at sleeve pipe two ends and the piston rod of cylinder, spacer pin is set, crawl part completes, need to decontrol part time, a little less than spring compression capability, so be not easy to unclamp fast paw, sleeve pipe and spacer pin be set and can unclamp fast the first paw and the second paw that clamp part.
Further, the contact-making surface that described the first paw and the second paw capture part arranges rubber, can protect to greatest extent like this part, can not damage because of the pressure of the first paw and the second paw.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
Fig. 1 is the structural representation of the utility model elastic mechanical hand embodiment.
The specific embodiment
As shown in Figure 1, a kind of elastic mechanical hand, comprise base body 1, cylinder 2, slide mass 3, connecting rod 4, the first paw 5 and the second paw 6, described cylinder 2 is arranged on base body 1, one end of described the first paw 5 and the second paw 6 is articulated with respectively on base body 1, both are arranged at slide mass both sides, the middle part of the first paw 5 and the second paw 6 is hinged by connecting rod 4 with slide mass 3 respectively, wherein, have additional drive rod 7, described drive rod 7 nearly paw one end are connected with slide mass 3, between described drive rod 7 other ends and the piston rod 9 of cylinder 2, spring 8 are set.
Between the piston rod 9 of cylinder 2 and drive mechanism, set up spring 8, in the utility model, drive mechanism is drive rod 7, slide mass 3 and connecting rod 4, when paw captures part, the quick indentation of piston rod 9 of cylinder 2, the quick acting that now spring 8 can bounce cylinder 2 piston rods 9, spring 8 pulls drive rod 7, under the driving of drive rod 7, slide mass 3 pulls the first paw 5 and the second paw 6 by connecting rod 4, thereby crawl part, in this process, spring 8 not only can slow down the grasp speed of the first paw 5 and the second paw 6, and can reduce two paws and be applied to the pressure on part.
Between described drive rod 7 and the piston rod 9 of cylinder 2, sleeve pipe is set, described spring 8 runs through sleeve pipe, and on the drive rod 7 at sleeve pipe two ends and the piston rod 9 of cylinder 2, spacer pin is set, crawl part completes, need to decontrol part time, a little less than spring 8 compression capability, so be not easy to unclamp fast paw, sleeve pipe and spacer pin be set and can unclamp fast the first paw 5 and the second paw 6 that clamp part.The contact-making surface that described the first paw 5 and the second paw 6 capture part arranges rubber, can protect to greatest extent like this part can not damage because of the pressure of the first paw 5 and the second paw 6.
Specific works flow process:
As shown in Figure 1, while capturing part, enter compressed air from the air inlet in cylinder 2 left sides, compressed air promotes piston, and drives piston rod 9 to move right, the pulling force of spring 8 bounce cylinder 2 piston rods 9 also pulls drive rod 7, the slide mass 3 being connected with drive rod 7 moves right, and slide mass 3 pulls connecting rod 4, and first paw 5 and second paw 6 middle parts hinged with connecting rod 4 are subject to pulling force to the right, the first paw 5 and the second paw 6 rotate around the pin joint of end, capture part; Need to unclamp part time, enter compressed air from the air inlet on cylinder 2 right sides, compressed air promotes piston, and drives piston rod 9 to be moved to the left, and the spacer pin on piston rod 9 and the piston rod 9 of cylinder 2 promotes sleeve pipe and moves to left, under the effect of the spacer pin on drive rod 7, promote drive rod 7 and move to left, the slide mass 3 being connected with drive rod 7 promotes connecting rod 4, and connecting rod 4 outwards struts the first paw 5 and the second paw 6, the first paw 5 and the second paw 6 rotate, and unclamp part.
Above-described is only preferred embodiment of the present utility model; should be understood that; for a person skilled in the art; do not departing under the prerequisite of the utility model structure; can also make some distortion and improvement; these also should be considered as protection domain of the present utility model, and these can not affect effect and practical applicability that the utility model is implemented.
Claims (3)
1. elastic mechanical hand, comprise base body, cylinder, slide mass, connecting rod, the first paw and the second paw, described cylinder is arranged on base body, described the first paw and second paw one end are articulated with respectively on base body, both are arranged at slide mass both sides, rod hinge connection is passed through with slide mass respectively in the middle part of the first paw and the second paw, it is characterized in that, have additional drive rod, the nearly paw of described drive rod one end is connected with slide mass, between the described drive rod other end and the piston rod of cylinder, spring is set.
2. elastic mechanical hand according to claim 1, is characterized in that, between described drive rod and the piston rod of cylinder, sleeve pipe is set, and described spring runs through sleeve pipe, and on the drive rod at sleeve pipe two ends and the piston rod of cylinder, spacer pin is set.
3. elastic mechanical hand according to claim 1, is characterized in that, the contact-making surface that described the first paw and the second paw capture part arranges rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320701578.0U CN203600248U (en) | 2013-11-08 | 2013-11-08 | Elastic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320701578.0U CN203600248U (en) | 2013-11-08 | 2013-11-08 | Elastic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203600248U true CN203600248U (en) | 2014-05-21 |
Family
ID=50712947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320701578.0U Expired - Fee Related CN203600248U (en) | 2013-11-08 | 2013-11-08 | Elastic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203600248U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN106132185A (en) * | 2016-07-28 | 2016-11-16 | 珠海智新自动化科技有限公司 | Jaw and robot abnormal shape inserter clamp device |
| CN106514683A (en) * | 2017-01-13 | 2017-03-22 | 北京维弦科技有限责任公司 | Clamping mechanism for robot |
| CN108501018A (en) * | 2018-03-08 | 2018-09-07 | 杨煜海 | A kind of heavy-duty machinery gripper equipment |
-
2013
- 2013-11-08 CN CN201320701578.0U patent/CN203600248U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN106132185A (en) * | 2016-07-28 | 2016-11-16 | 珠海智新自动化科技有限公司 | Jaw and robot abnormal shape inserter clamp device |
| CN106514683A (en) * | 2017-01-13 | 2017-03-22 | 北京维弦科技有限责任公司 | Clamping mechanism for robot |
| CN108501018A (en) * | 2018-03-08 | 2018-09-07 | 杨煜海 | A kind of heavy-duty machinery gripper equipment |
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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: 20140521 Termination date: 20141108 |
|
| EXPY | Termination of patent right or utility model |