CN205058058U - Electric machine hand auxiliary device - Google Patents
Electric machine hand auxiliary device Download PDFInfo
- Publication number
- CN205058058U CN205058058U CN201520797150.XU CN201520797150U CN205058058U CN 205058058 U CN205058058 U CN 205058058U CN 201520797150 U CN201520797150 U CN 201520797150U CN 205058058 U CN205058058 U CN 205058058U
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- CN
- China
- Prior art keywords
- motor
- mechanical
- piezoelectric transducer
- mechanical gripper
- wrist
- 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 an electric machine hand auxiliary device, including mechanical gripper, mechanical sleeve, hand claw motor, wrist motor and piezoelectric sensor, the machinery sleeve is inside to be fixed with the wrist motor through the motor fixed block, and fixed connection pulls out and inserts on the output shaft of wrist motor, pulls out and installs hand claw motor in inserting, and hand claw motor output passes through the linear robotic arm of connection of stopper, robotic arm end connection mechanical gripper, and robotic arm and mechanical gripper junction are equipped with piezoelectric sensor, and the piezoelectric sensor front end passes through spring coupling mechanical gripper, and piezoelectric sensor passes through the rear end transmission line robotic arm 2, an electric machine hand auxiliary device, realizes mechanical gripper's centre gripping and rotation, has improved the accurate stability of material location, has ensured the clamping -force of the invariant of mechanical gripper production, has reduced the disability rate of material, has saved manufacturing cost.
Description
Technical field
The utility model relates to manipulator technical field, specifically a kind of electric manipulator servicing unit.
Background technology
The elemental motion of mechanical arm grasps object to carry, and usually uses the manipulator with the structure being clamped object by multiple finger section, grasp object.When grasping object by finger section, likely object is broken into pieces when the grasping force of finger section is too large, or likely object falls in course of conveying when too little, therefore need the weight according to object, hardness suitably can adjust the manipulator of the grasping force of finger section.
Mechanical arm complete manipulator grasp action after need to transfer to the next actions such as conveying, the crawl position of robot is relatively fixing, require very accurate to the putting position of tubular materials, this just has higher requirement to the crawl location technology of tubular materials and allowable error, need manipulator can apish hand motion, realize, to the action of the metastable crawl of tube essence, carrying and operation, effectively improve production efficiency.
Utility model content
The purpose of this utility model is to provide a kind of electric manipulator servicing unit, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the utility model provides following technical scheme:
A kind of electric manipulator servicing unit, comprise mechanical paw, machinery sleeve, gripper motor, wrist motor and piezoelectric transducer, described mechanical sleeve inner is fixed with wrist motor by motor fixed block, the output shaft of wrist motor is fixedly connected with plug, in plug, gripper motor is installed, drawn cup needle roller bearing is equipped with in machinery sleeve, the spring collar limiting its axial rotation is equipped with in drawn cup needle roller bearing end, drawn cup needle roller bearing and spring collar are set in gripper motor output, gripper motor output is by brake linearly connected mechanical arm, mechanical arm end connects mechanical paw, mechanical arm and mechanical paw junction are provided with piezoelectric transducer, piezoelectric transducer front end connects mechanical paw by spring, piezoelectric transducer rear end is by transmission line connection control device.
As further program of the utility model: be provided with arc positioning groove inside described mechanical paw.
As further program of the utility model: described piezoelectric transducer is fixed in mechanical arm.
As further program of the utility model: described controller connects gripper motor, wrist motor and brake by wire.
Compared with prior art, the beneficial effects of the utility model are: described a kind of electric manipulator servicing unit, utilize gripper motor and the quick feature flexibly of wrist motor action, realize clamping and the rotation of mechanical paw, and arc positioning groove is beneficial to tubular materials quick and precisely locates, improves the accurate stability of material location, piezoelectric transducer ensure that the constant chucking power that mechanical paw produces, avoid damage clamping material, reduce the scrappage of material, save production cost.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of piezoelectric transducer in the utility model.
In figure: 1-mechanical paw, 2-arc positioning groove, 3-controller, 4-machinery sleeve, 5-drawn cup needle roller bearing, 6-gripper motor, 7-wrist motor, 8-motor fixed block, 9-plug, 10-spring collar, 11-brake, 12-mechanical arm, 13-piezoelectric transducer, 14-transmission line, 15-spring.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, 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.
Refer to Fig. 1 ~ 2, in the utility model embodiment, a kind of electric manipulator servicing unit, comprise mechanical paw 1, machinery sleeve 4, gripper motor 6, wrist motor 7 and piezoelectric transducer 13, described mechanical sleeve 4 inside is fixed with wrist motor 7 by motor fixed block 8, the output shaft of wrist motor 7 is fixedly connected with plug 9, gripper motor 6 is installed in plug 9, gripper motor 6 matches with plug 9 and carries out moment of torsion transmission, drawn cup needle roller bearing 5 is equipped with in machinery sleeve 4, the spring collar 10 limiting its axial rotation is equipped with in drawn cup needle roller bearing 5 end, drawn cup needle roller bearing 5 and spring collar 10 are set in gripper motor 6 output, gripper motor 6 output is by brake 11 linearly connected mechanical arm 12, gripper motor 6 moves by Linear Driving machinery arm 12 on-off action realizing mechanical arm 12, mechanical arm 12 end connects mechanical paw 1, arc positioning groove 2 is provided with inside mechanical paw 1.
Described mechanical arm 12 is provided with piezoelectric transducer 13 with mechanical paw 1 junction, piezoelectric transducer 13 is fixed in mechanical arm 12, piezoelectric transducer 13 front end connects mechanical paw 1 by spring 15, piezoelectric transducer 13 rear end is by transmission line 14 connection control device 3, and controller 3 connects gripper motor 6, wrist motor 7 and brake 11 by wire.
During use, wrist motor 7 is utilized to drive plug 9 to rotate, plug 9 is connected with gripper motor 6, thus the mechanical arm 12 driving gripper motor 6 to connect and mechanical paw 1 realize rotating, gripper motor 6 driving device arm 12 and mechanical paw 1 realize opening and closing pinching action simultaneously, when gripper motor 6 driving device arm 12 and mechanical paw 1 clamp, arc positioning groove 2 inside mechanical paw 1 is beneficial to the accurate stable holding of tubular materials, the piezoelectric transducer 13 arranged between mechanical arm 12 and mechanical paw 1 can the clamping dynamics of inspecting manipuator pawl 1, and send feedback pulse signal, and reach in controller 3 by transmission line 14, controller 3 controls the stable holding that gripper motor 6 and brake 11 realize mechanical paw 1, avoid causing damage to material.
Operation principle of the present utility model is: described a kind of electric manipulator servicing unit, utilize gripper motor 6 and the quick feature flexibly of wrist motor 7 action, realize clamping and the rotation of mechanical paw 1, and arc positioning groove 2 is beneficial to tubular materials quick and precisely locates, improve the accurate stability of material location, piezoelectric transducer 13 ensure that the constant chucking power that mechanical paw 1 produces, and avoids damage clamping material, reduce the scrappage of material, save production cost.
To those skilled in the art, obvious the utility model is not limited to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present utility model or essential characteristic, can realize the utility model in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the utility model.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (4)
1. an electric manipulator servicing unit, comprise mechanical paw, machinery sleeve, gripper motor, wrist motor and piezoelectric transducer, it is characterized in that, described mechanical sleeve inner is fixed with wrist motor by motor fixed block, the output shaft of wrist motor is fixedly connected with plug, in plug, gripper motor is installed, drawn cup needle roller bearing is equipped with in machinery sleeve, the spring collar limiting its axial rotation is equipped with in drawn cup needle roller bearing end, drawn cup needle roller bearing and spring collar are set in gripper motor output, gripper motor output is by brake linearly connected mechanical arm, mechanical arm end connects mechanical paw, mechanical arm and mechanical paw junction are provided with piezoelectric transducer, piezoelectric transducer front end connects mechanical paw by spring, piezoelectric transducer rear end is by transmission line connection control device.
2. a kind of electric manipulator servicing unit according to claim 1, is characterized in that, be provided with arc positioning groove inside described mechanical paw.
3. a kind of electric manipulator servicing unit according to claim 1, it is characterized in that, described piezoelectric transducer is fixed in mechanical arm.
4. a kind of electric manipulator servicing unit according to claim 1, is characterized in that, described controller connects gripper motor, wrist motor and brake by wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520797150.XU CN205058058U (en) | 2015-10-16 | 2015-10-16 | Electric machine hand auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520797150.XU CN205058058U (en) | 2015-10-16 | 2015-10-16 | Electric machine hand auxiliary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205058058U true CN205058058U (en) | 2016-03-02 |
Family
ID=55384659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520797150.XU Expired - Fee Related CN205058058U (en) | 2015-10-16 | 2015-10-16 | Electric machine hand auxiliary device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205058058U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426257A (en) * | 2016-12-27 | 2017-02-22 | 江苏宜达新材料科技股份有限公司 | Automatically produced intelligent mechanical arm for reflector cup |
| CN107053241A (en) * | 2017-06-21 | 2017-08-18 | 太仓望虞机械科技有限公司 | A kind of mechanical arm of structural strengthening |
| CN108580780A (en) * | 2018-07-12 | 2018-09-28 | 江苏超人智能科技有限公司 | A kind of metal forming machinery hand preventing dislocation |
-
2015
- 2015-10-16 CN CN201520797150.XU patent/CN205058058U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426257A (en) * | 2016-12-27 | 2017-02-22 | 江苏宜达新材料科技股份有限公司 | Automatically produced intelligent mechanical arm for reflector cup |
| CN107053241A (en) * | 2017-06-21 | 2017-08-18 | 太仓望虞机械科技有限公司 | A kind of mechanical arm of structural strengthening |
| CN108580780A (en) * | 2018-07-12 | 2018-09-28 | 江苏超人智能科技有限公司 | A kind of metal forming machinery hand preventing dislocation |
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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: 20160302 Termination date: 20161016 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |