CN204935666U - Mechanical arm tail end mechanism - Google Patents
Mechanical arm tail end mechanism Download PDFInfo
- Publication number
- CN204935666U CN204935666U CN201520622245.8U CN201520622245U CN204935666U CN 204935666 U CN204935666 U CN 204935666U CN 201520622245 U CN201520622245 U CN 201520622245U CN 204935666 U CN204935666 U CN 204935666U
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- China
- Prior art keywords
- die head
- stripper
- fixed
- expansion link
- guide pillar
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- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008602 contraction Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 235000010585 Ammi visnaga Nutrition 0.000 description 1
- 244000153158 Ammi visnaga Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to a manipulator end mechanism, including connecting fixed plate, needle and holding mechanism, stripper, article layer board. The connecting and fixing plate is vertically provided with a guide pillar and a die head telescopic rod cylinder body; the lower end of the die head telescopic rod is fixedly provided with the die head, the lower end of the die head is fixedly provided with a needle tail of a plurality of needles and a guide sleeve corresponding to the position of the guide column, the lower section of the guide column penetrates through the guide sleeve to be connected with a stripper plate, and the stripper plate and the object supporting plate are provided with through holes corresponding to the needles. The advantage is suitable for ventilative, soft, the unsmooth automation of article such as roughness of surface is held and is unloaded fast, position standard, safely. The structure is simple and compact, and the cost is lower; realizes the automation of the transportation and production processes and is suitable for various automatic machines.
Description
Technical field
The utility model relates to a kind of Robotics, particularly a kind of arm end mechanism.Fast, location criteria can hold and unload ventilative, soft, that concave-convex surface is coarse resilient object.
Background technology
Along with the develop rapidly of Robotics, according to the needs of clipped object part shape, size variation, the design as the executing agency of robots arm's end becomes more and more unique and important.But in traditional ventilative, soft, resilient object process that concave-convex surface is coarse, still adopt artificial material-feeding and fetching, inefficiency, the shortcomings such as labor cost is high;
At present, hand (being used to the parts grasping workpiece or the instrument) version of manipulator: clamp-type, holding type and absorbent-type.These manipulator shortcomings at present: during clamp-type hand clamping flexible material, when material is placed, position is inaccurate; Holding type hand can not overturn object and position is inaccurate; Attraction-type hand difficulty grasps ventilative, the coarse object of concave-convex surface.
Therefore, design a kind of can fast, location criteria hold unload ventilative, soft, concave-convex surface is coarse, the mechanism of resilient object is very necessary and have practicality: had such end to hold release mechanism, manipulator got for holding of such object, mobile and unload and will become more efficient and convenient.
Utility model content
For prior art Problems existing, the purpose of this utility model is: design provides a kind of arm end mechanism, and this arm end mechanism fast, location criteria can hold and unload the resilient objects such as ventilative, soft, concave-convex surface is coarse.
The utility model is achieved through the following technical solutions above-mentioned purpose: arm end mechanism, comprises and is connected and fixed plate, Zhen Chi mechanism and stripper.Be connected and fixed plate sidepiece and vertically guide pillar be housed, link fixed head and be fixed with expansion link cylinder body; Die head is fixed in expansion link lower end, die head lower end array fixes the backshank of many pieces of pins, needle tip rear portion flicks bifurcated under normal conditions, shrink during pressurized and close up, die head is provided with the vertical guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected with stripper through guide pin bushing, and stripper is provided with the through hole corresponding with pin.Object supporting plate is provided with the room hole corresponding with pin.
Further, above-mentionedly plate linking automation machine mechanical arm is connected and fixed.
Further, the needle tip rear portion of above-mentioned Zhen Chi mechanism flicks bifurcated under normal conditions, shrinks during pressurized, and bifurcated needle is spring material.
Further, above-mentioned expansion link cylinder body needs to configure respective type according to automation machine and object production technology, then configures respective switch, the types such as the optional hydraulic cylinder of expansion link cylinder, pneumatic cylinder, electric cylinder.
Further, above-mentioned expansion link cylinder telescoping switch holding wire connects the controller of automation machine.
Further, stripper digs a room, place and object detection sensor device is housed, and detection sensor device holding wire connects the controller of automation machine.
The utility model mentality of designing: hold thing by toothpick and inspire, expects pricking object with the expansion link driving spring syringe needle of cylinder, holds object, when expansion link driving spring syringe needle is retracted, unload object above object with plate gear.Next be exactly project organization and details, syringe needle can not prick tactile object supporting plate, and shake for preventing expansion link and employ guide pillar guide pin bushing location, as the realization that expansion link is flexible, the realization of manipulator locomotive function has ready-made machine and functive.
The utility model principle is: stretched downwards by described expansion link and thin object pricked by driving spring syringe needle time, needle tip rear portion flicks bifurcated under normal conditions, prick and close up into the contraction of object pressurized, flick bifurcated when penetrating object, object is held in the palm by spring needle head breadth position, below place; Stretched downwards by described expansion link and thick object pricked by driving spring syringe needle time, needle tip rear portion flicks bifurcated under normal conditions, prick into object pressurized shrink, the resilient support of spring syringe needle object.The upwards contracting driving spring syringe needle of object expansion link moves upward, and close up by the contraction of object pressure, stripper keeps off object, and spring syringe needle is extracted out from object, thus completes discharging.Plate linking automation machine mechanical arm is connected and fixed with the utility model, Telescopic be exactly utilize hydraulic cylinder, pneumatic cylinder, electric cylinder expansion link Telescopic, expansion link cylinder signal line connects the controller of automation machine mechanical arm, controller signals to the switch of expansion link cylinder, and the switch control rule expansion link of expansion link cylinder stretches.Stripper digs a room, place and object detection sensor device is housed.Detection sensor device holding wire connects the controller of automation machine mechanical arm, and whether whether detect object supporting plate has on object, syringe needle and have the information of object to pass to controller, and controller controls expansion link action according to information.
The utility model outstanding feature is: fast, location criteria can hold and unload the flexible objects such as ventilative, soft, concave-convex surface is coarse.Tie-up part pin hole is little.Can be directly installed on process equipment and use, hold discharging fast, location criteria, increase work efficiency, substitute manual operation, reduce labor cost, improve safety guarantee, cost is low.Realize the automation of carrying, production process, be applicable to polytype automation machine.
Accompanying drawing explanation
Fig. 1 of the present utility modelly faces structural representation.
Fig. 2 of the present utility modelly looks up structural representation.
In figure: 1-links fixed head; 2-Zhen Chi mechanism; 3-stripper; 21-die head; 22-expansion link; 23-expansion link cylinder body; 24-pin; 25-guide pillar; 26-guide pin bushing; 201-spring syringe needle; Tiny place in 202-pin; 203-pin rear end; 4-object; 5-object supporting plate; 6-through hole; 7-detection sensor device.
Detailed description of the invention
Under below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
See Fig. 1-2: the utility model relates to a kind of arm end mechanism, comprise and be connected and fixed plate 1, Zhen Chi mechanism 2, stripper 3, object supporting plate 5.Be connected and fixed plate 1 sidepiece and guide pillar 25 is vertically housed, link fixed head 1 and be fixed with expansion link cylinder body 23; Die head 21 is fixed in expansion link 22 lower end, the pin rear end 203 of many pieces of pins 24 is fixed in die head 21 lower end, die head 21 is provided with the vertical guide pin bushing 26 corresponding with guide pillar 25 position, and guide pillar 25 hypomere is connected with stripper 3 through guide pin bushing 26, and stripper 3 is provided with the through hole 6 corresponding with pin 24.Object supporting plate 5 is provided with the through hole 6 corresponding with pin 24.Stretched downwards by described expansion link 22 and object 4 pricked by driving spring syringe needle 201, needle tip rear portion flicks under normal conditions and is branched into rib type shape, pricks and closes up into 1 type shape into the contraction of object pressurized, flick be branched into rib type shape when penetrating object.Object 4 is held in the palm by below spring syringe needle 201 wide position place, and object 4 is parked in 202 places, and when manipulator moves, object 4 pin 24 of ining succession can not drop, thus completes to hold and get.The upwards contracting driving spring syringe needle 201 of expansion link 22 moves upward, and press contraction to close up into 1 type shape by object 4, stripper 3 keeps off object 4, and spring syringe needle 201 is extracted out from object 4, thus completes discharging.Plate 1 linking automation machine mechanical arm is connected and fixed with the utility model, Telescopic be exactly utilize hydraulic cylinder, pneumatic cylinder, electric cylinder expansion link Telescopic, expansion link cylinder signal line connects the controller of automation machine mechanical arm, controller signals to the switch of expansion link cylinder, and the switch control rule expansion link of expansion link cylinder stretches.Stripper 3 digs a room, place and object detection sensor device 7 is housed.Detection sensor device 7 holding wire connects the controller of automation machine mechanical arm, and whether detect whether object supporting plate 5 have on object 4, syringe needle 201 has the information of object 4 to pass to controller, and controller controls expansion link 22 action according to information.
Although the foregoing describe detailed description of the invention of the present utility model, it will be understood by those of skill in the art that these only illustrate, protection domain of the present utility model is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection domain of the present utility model.
Claims (3)
1. arm end mechanism, it is characterized in that: the utility model relates to a kind of arm end mechanism, comprise and be connected and fixed plate, Zhen Chi mechanism, stripper and object supporting plate, be connected and fixed plate sidepiece and vertically guide pillar be housed, link fixed head and be fixed with die head expansion link cylinder body, die head is fixed in die head expansion link lower end, the backshank of many pieces of pins is fixed in die head lower end, needle tip rear portion flicks bifurcated under normal conditions, shrink during pressurized, die head is provided with the vertical guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected with stripper through guide pin bushing, stripper is provided with the through hole corresponding with pin, object supporting plate is provided with the room hole corresponding with pin, stripper digs a room, place and object detection sensor device is housed.
2. arm end mechanism according to claim 1, is characterized in that: the needle tip rear portion of described Zhen Chi mechanism flicks bifurcated under normal conditions, shrinks during pressurized, and bifurcated needle is spring material.
3. arm end mechanism according to claim 1, is characterized in that: described stripper is equipped with object detection sensor device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520622245.8U CN204935666U (en) | 2015-08-19 | 2015-08-19 | Mechanical arm tail end mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520622245.8U CN204935666U (en) | 2015-08-19 | 2015-08-19 | Mechanical arm tail end mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204935666U true CN204935666U (en) | 2016-01-06 |
Family
ID=55003119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520622245.8U Expired - Fee Related CN204935666U (en) | 2015-08-19 | 2015-08-19 | Mechanical arm tail end mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204935666U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881567A (en) * | 2016-06-23 | 2016-08-24 | 四川巨浪智能设备有限公司 | Sheet grasping hand |
-
2015
- 2015-08-19 CN CN201520622245.8U patent/CN204935666U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881567A (en) * | 2016-06-23 | 2016-08-24 | 四川巨浪智能设备有限公司 | Sheet grasping hand |
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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: 20160106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |