CN205043798U - Robotic arm - Google Patents
Robotic arm Download PDFInfo
- Publication number
- CN205043798U CN205043798U CN201520824314.3U CN201520824314U CN205043798U CN 205043798 U CN205043798 U CN 205043798U CN 201520824314 U CN201520824314 U CN 201520824314U CN 205043798 U CN205043798 U CN 205043798U
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- CN
- China
- Prior art keywords
- thing
- sense
- mechanical arm
- absorber
- arc
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- 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
Robotic arm includes, presss from both sides to get the claw, press from both sides and get interior side -mounting sense of touch piece of claw and adsorber, the sense of touch piece with the sucking port interval sets up in turn, the sense of touch piece include the arc piece and with press from both sides the shell of getting the inboard fixed connection of claw, it answers force transducer to set up in the shell, answer force transducer with the arc piece passes through cylindricality spring coupling, the mouth body edge of adsorber sets up subsidiary sucking port. The utility model discloses have: a snatch the thing, through the sense of touch piece, accurate control snatchs power, avoids snatching that power is too big leads to snatching thing damage, and the dynamics is snatched in the reinforcing of rethread adsorber for picking easy deformation to the thing that snatchs of being convenient for easily to deform has snatched, prevents the phenomenon that drops, and will snatch thing transportation to locality.
Description
Technical field
The utility model relates to manipulator; The field of containers of manipulation device is housed, particularly relates to mechanical arm.
Background technology
Mechanical arm is mainly used in crawl and carrying to capturing thing, in crawl and handling process, exists and captures shakiness, capture the problem that thing easily drops.The problems referred to above are mostly and capture hypodynamic reason and cause, and those skilled in the art are by increasing grasp force, or the shape changing mechanical arm gripping pawl solves the problems referred to above, avoid capturing in handling process and crawl process the problem that thing drops.But, when the easy deformation of crawl thing, increase grasp force and then can cause damage to crawl thing, cause capturing thing safely and carrying.
Utility model content
When the utility model is for the grasping body of mechanical arm for easy deformation, captures the unstable and problem easily dropped, a kind of mechanical arm that can capture safely above-mentioned crawl thing is provided.
In order to achieve the above object, the utility model provides following technical scheme: mechanical arm, comprise, gripping pawl, install sense of touch part and absorber inside described gripping pawl, described sense of touch part and described absorber interval are arranged alternately, described sense of touch part comprise arc-like sheet and with the shell be fixedly connected with inside described gripping pawl, arrange strain gauge in described shell, described strain gauge is connected by cylindrical spring with described arc-like sheet; The mouth body edge of described absorber arranges auxiliary adsorption orifice.
Wherein, described arc-like sheet attachment rubber antiskid layer.
Wherein, also comprise, mechanical wrist, described wrist is connected by rotating disk with described gripping pawl.
Wherein, also comprise, hydraulic jack, described oil cylinder arranges expansion link, and described expansion link is connected with described mechanical wrist.
Wherein, also comprise, be fixedly mounted on the control cabinet of described hydraulic jack end, described control cabinet inside arranges controller, and described controller is connected with described strain gauge and absorber respectively.
Wherein, also comprise sound capturing unit in described control cabinet, the signal output part of described sound capturing unit is connected with described controller signals input.
The utility model has: for capturing the crawl thing of easy deformation, by sense of touch part, accurate control grasp force, grasp force excessive causing is avoided to capture thing damage, crawl dynamics is strengthened again by absorber, thus be convenient to the crawl thing of easy deformation to capture, prevent the phenomenon that drops, and crawl thing is transported to locality.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model gripping pawl partial enlarged drawing;
Fig. 3 is sense of touch part structural representation of the present utility model;
Fig. 4 is the structural representation of the auxiliary adsorption orifice of absorber of the present utility model;
Fig. 5 is the structural representation of the utility model when gripping captures thing.
Detailed description of the invention
Below in conjunction with accompanying drawing of the present utility model, be clearly and completely described the technical solution of the utility model, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
According to Fig. 1-5, mechanical arm, comprises, hydraulic jack 1, hydraulic jack 1 arranges expansion link 2, controls expansion link 2 stretch by hydraulic jack 1, expansion link 2 is fixedly connected with by screw thread with mechanical wrist 3, is stretched by the flexible driving mechanical wrist 3 of expansion link 2.Mechanical wrist 3 is connected by a rotating disk 5 with gripping pawl 4.Gripping pawl 4 is made to complete rotational action.By the rotation of the flexible of expansion link 2 and rotating disk 5, gripping pawl 4 is moved to and captures near thing.
Install sense of touch part 6 and absorber 7 in the inner side of gripping pawl 4, sense of touch part 6 is for the stressing conditions between perception gripping pawl 4 and crawl thing.Sense of touch part 6 comprises arc-like sheet 601 and shell 602.Shell 602 is mounted by means of bolts on the inner side of gripping pawl 4.Mount stress sensor 603 in shell 602, strain gauge 603 is connected by cylindrical spring 604 with arc-like sheet 601.When gripping pawl 4 captures crawl thing, arc-like sheet 601 contacts with crawl thing, forced compression cylindrical spring 604, and make cylindrical spring send out 604 raw deformation, strain gauge 603 pairs of springs gather the stress that sensor 603 produces.Thus precise hard_drawn tuhes is carried out to grasp force, avoid grasp force excessive causing to capture thing deformation, make to capture thing damage.And cylindrical spring 604, owing to having characteristic that is compressible and integrally bending deformation, makes arc-like sheet more adapt to difform crawl thing, prevent capturing the situations such as thing drops and occur.When the stress that strain gauge 603 collects is 0, can learn that capturing thing has dropped or also do not captured, Application way can learn the situation whether thing occurring to capture in crawl process and drops, and is beneficial to carrying out in time of maintenance.
Drop to prevent capturing thing further, absorber 7 is set with sense of touch part 6 alternate intervals.Absorber 7 can negative inspiratory pressure or jet.When negative inspiratory pressure, increase grasp force, crawl thing is carried out negative-pressure adsorption, avoid capturing thing and drop.When needs carry out jet, be beneficial to and crawl thing is put, prevent some from capturing thing and paste on gripping pawl 4, cannot put smoothly.And jet setting, also can play the effect that cleaning captures thing dust.The mouth body edge of absorber 7 arranges auxiliary adsorption orifice 701.Increase its absorption affinity, prevent from further capturing dropping of thing.Also comprise, be fixedly mounted on the control cabinet 8 of hydraulic jack 1 end, control cabinet 8 inside arranges controller 9, and controller 9 is connected with strain gauge 603 and absorber 7 respectively.The computing of data transmitted for proof stress sensor and the running of control absorber and strain gauge.
In a kind of optional embodiment, arc-like sheet 601 mounts rubber antiskid layer, prevents crawl thing from dropping by increasing frictional force.
In a kind of optional embodiment, sound capturing unit 10 is also comprised in control cabinet 8, sound capturing unit 10 can obtain the voice data that object drops, the signal output part of sound capturing unit 10 is connected with described controller 9 signal input part, the audio data transmitting of acquisition is delivered to controller 9, carry out analyzing, processing, prevent the generation of dropping.Accomplish timely process.
The above; be only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; change can be expected easily or replace, all should be encompassed within protection domain of the present utility model.Therefore, protection domain of the present utility model should described be as the criterion with the protection domain of claim.
Claims (6)
1. mechanical arm, comprise, gripping pawl, it is characterized in that, install sense of touch part and absorber inside described gripping pawl, described sense of touch part and described absorber interval are arranged alternately, described sense of touch part comprise arc-like sheet and with the shell be fixedly connected with inside described gripping pawl, arrange strain gauge in described shell, described strain gauge is connected by cylindrical spring with described arc-like sheet; The mouth body edge of described absorber arranges auxiliary adsorption orifice.
2. mechanical arm according to claim 1, is characterized in that, described arc-like sheet attachment rubber antiskid layer.
3. mechanical arm according to claim 2, is characterized in that, also comprises, mechanical wrist, and described wrist is connected by rotating disk with described gripping pawl.
4. mechanical arm according to claim 3, its characteristic is, also comprises, hydraulic jack, and described oil cylinder arranges expansion link, and described expansion link is connected with described mechanical wrist.
5. mechanical arm according to claim 4, its characteristic is, also comprises, and is fixedly mounted on the control cabinet of described hydraulic jack end, and described control cabinet inside arranges controller, and described controller is connected with described strain gauge and absorber respectively.
6. mechanical arm according to claim 5, its characteristic is, also comprises sound capturing unit in described control cabinet, and the signal output part of described sound capturing unit is connected with described controller signals input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520824314.3U CN205043798U (en) | 2015-10-20 | 2015-10-20 | Robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520824314.3U CN205043798U (en) | 2015-10-20 | 2015-10-20 | Robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205043798U true CN205043798U (en) | 2016-02-24 |
Family
ID=55337411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520824314.3U Expired - Fee Related CN205043798U (en) | 2015-10-20 | 2015-10-20 | Robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205043798U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
| CN107214689A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator |
-
2015
- 2015-10-20 CN CN201520824314.3U patent/CN205043798U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
| CN107214689A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Fastening box, mechanical arm and technological equipment Effective date of registration: 20161227 Granted publication date: 20160224 Pledgee: Chuzhou credit Company limited by guarantee Pledgor: ANHUI HONGSENG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: 2016340000133 |
|
| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| PM01 | Change of the registration of the contract for pledge of patent right |
Change date: 20180326 Registration number: 2016340000133 Pledgee after: Chuzhou financing Company limited by guarantee Pledgee before: Chuzhou credit Company limited by guarantee |
|
| PM01 | Change of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20180402 Granted publication date: 20160224 Pledgee: Chuzhou financing Company limited by guarantee Pledgor: ANHUI HONGSENG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: 2016340000133 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Fastening box, mechanical arm and technological equipment Effective date of registration: 20180410 Granted publication date: 20160224 Pledgee: Chuzhou financing Company limited by guarantee Pledgor: ANHUI HONGSENG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: 2018340000104 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 Termination date: 20211020 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |