CN205466287U - Mechanical arm clamping device - Google Patents
Mechanical arm clamping device Download PDFInfo
- Publication number
- CN205466287U CN205466287U CN201620067945.XU CN201620067945U CN205466287U CN 205466287 U CN205466287 U CN 205466287U CN 201620067945 U CN201620067945 U CN 201620067945U CN 205466287 U CN205466287 U CN 205466287U
- Authority
- CN
- China
- Prior art keywords
- holder
- line slideway
- movable block
- mechanical arm
- oblique chute
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model provides a mechanical arm clamping device, includes a linear guide, the 2nd linear guide, movable block, first holder, second holder, transfer line, actuating mechanism. The beneficial effects of the utility model are that: scheme more than adopting, actuating mechanism can drive the movable block and slide along the reciprocal of a linear guide, and the movable block can drive transfer line simultaneous movement, and two transfer lines then drive first holder respectively through an inclined sliding groove and the 2nd inclined sliding groove and do the tight motion of clamp and unclamp the motion with the second holder to realization mechanical arm clamping device's clamping function, simple structure, the centre gripping is convenient. Simultaneously, an inclined sliding groove and the 2nd inclined sliding groove along center line symmetry, so its clamping accuracy is all the time on the central line of first holder and second holder, so clamping accuracy is high.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of mechanical arm holder.
Background technology
Along with the development and progress of society, industrial robot occurs more and more and exhibits one's skill to the full.Robot is mainly made up of the arm of similar people, to replace people capture article by hands in routine work and operate.At present, there is a lot of form, such as clamp-type, holding type, absorbent-type in the clamp structure of robot crawl object.Fluid pressure type, pneumatic type, electrodynamic type etc. can be divided into by type of drive.Wherein the clamp-type clamp structure of pneumatic type is the most frequently used.
As Chinese patent CN203697022U discloses a kind of exquisite mechanical arm holder, double cog tooth bar action is promoted by cylinder, thus drive the first gear assembly and the work of the second gear assembly engaging connection, first gear assembly and the second gear assembly drive the first movable rack and the second movable rack to move the most respectively, thus realize the first gripper jaw and the clamping of the second gripper jaw or put down article.
But prior art precision is the highest and clamping dynamics is wayward, it is difficult to control the clipping operation of some precision parts.
Utility model content
In order to overcome the deficiency of background technology, this utility model provides one to be easily controlled and the higher mechanical arm holder of precision.
The technical scheme that this utility model is used: a kind of mechanical arm holder, including the first line slideway, the second line slideway, movable block, the first holder, the second holder, drive link, drive mechanism；Described first line slideway and the perpendicular layout of the second line slideway；Described movable block sliding is arranged on the first line slideway, and is connected with drive mechanism, and described drive mechanism can drive movable block along the first line slideway toward polyslip；Described first holder, the second holder sliding are arranged on the second line slideway, and described first holder is provided with the first oblique chute, and it is symmetrical that described second holder is provided with the second oblique chute, the described first oblique chute and the second oblique chute；Described drive link is provided with two, and parallel is fixed on movable block, and wherein a drive link inserts in the first oblique chute, in another root drive link insertion the second oblique chute.
Described drive mechanism includes driving motor, the first gear, tooth bar, and described tooth bar is fixed on movable block, and parallel with the first line slideway, drives the output shaft of motor to connect the first gear, the first wheel and rack engagement.
Being additionally provided with the second gear, described tooth bar is double cog tooth bar, and described tooth bar side is engaged with the first gear, opposite side and the engagement of the second gear.
Described drive mechanism is also associated with force transducer.
Also including that a gripper shoe, described first line slideway are fixed on gripper shoe side, described second line slideway is fixed on the opposite side of gripper shoe；Described movable block is rectangular box structure, and the inwall of described movable block wherein side sidewall and the first line slideway sliding coordinate, and opposite side sidewall corresponding thereto is fixing connects drive link.
Described first line slideway, the second line slideway are equipped with 2.
One end that described drive link and the first oblique chute or the second oblique chute coordinate is provided with ball bearing.
One end that described drive link is connected with movable block is cam structure, and described movable block is provided with the locating slot adaptive with cam structure.
The beneficial effects of the utility model are: use above scheme, drive mechanism can drive movable block along the past polyslip of the first line slideway, movable block can drive drive link to be synchronized with the movement, two drive links then drive the first holder and the second holder do clamping movement and unclamp motion by the first oblique chute and the second oblique chute respectively, thus realize the holding function of mechanical arm holder, simple in construction, clamping is convenient.Meanwhile, the first oblique chute and the second oblique chute are symmetrical along centrage, and therefore its clamp precision is all the time on the centrage of the first holder and the second holder, so clamp precision is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model embodiment.
Fig. 2 is the sectional view in Fig. 1 at A-A.
Fig. 3 is the structural representation of this utility model embodiment.
Fig. 4 is this utility model embodiment the first holder and the structural representation of the second holder.
Fig. 5 is the structural representation of this utility model embodiment movable block.
Fig. 6 is the structural representation of this utility model embodiment drive link.
1-the first line slideway in figure, 2-the second line slideway, 3-movable block, 31-locating slot, 4-the first holder, the oblique chute of 41-first, 5-the second holder, the oblique chute of 51-second, 6-drive link, 7-drives motor, 8-the first gear, 9-tooth bar, 10-the second gear, 11-gripper shoe, 12-ball bearing.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model embodiment is described further:
As it can be seen, a kind of mechanical arm holder, including first line slideway the 1, second line slideway 2, movable block the 3, first holder the 4, second holder 5, drive link 6, drive mechanism；Described first line slideway 1 and the second perpendicular layout of line slideway 2；The sliding of described movable block 3 is arranged on the first line slideway 1, and is connected with drive mechanism, and described drive mechanism can drive movable block 3 along the first line slideway 1 toward polyslip；Described first holder the 4, second holder 5 sliding is arranged on the second line slideway 2, described first holder 4 is provided with the first oblique chute 41, described second holder 5 is provided with the second oblique chute 51, and the described first oblique chute 41 is symmetrical with the second oblique chute 52；Described drive link 6 is provided with two, and parallel is fixed on movable block 3, and wherein a drive link 6 inserts in the first oblique chute 42, and another root drive link 6 inserts in the second oblique chute 52.
Drive mechanism can drive movable block 3 along the past polyslip of the first line slideway 1, movable block 3 can drive drive link 6 to be synchronized with the movement, two drive links 6 then drive the first holder 4 and the second holder 5 do clamping movement and unclamp motion by the first oblique chute 41 and the second oblique chute 52 respectively, thus realize the holding function of mechanical arm holder, simple in construction, clamping is convenient.Meanwhile, symmetrically, therefore its clamp precision is the center in the middle of the first holder 4 and the second holder 5 all the time, so clamp precision is high for the first oblique chute 41 and the second oblique chute 52.
Wherein, drive mechanism has a lot of mode, as it can be seen, described drive mechanism includes driving motor the 7, first gear the 8, second gear 10, tooth bar 9, described tooth bar 9 is double cog tooth bar, and be fixed on movable block 3, parallel with the first line slideway 1, described first gear 8 engages with the wherein side of tooth bar 9, and the second gear 10 then opposite side with tooth bar 9 engages, the output shaft driving motor 7 connects the first gear 8, drives the first gear 8 to rotate.When driving motor 7 to operate, the first gear 8 can be driven to rotate, the first gear 8 then band carry-over bar 9 moves, thus drives movable block 3 along the first line slideway 1 sliding.
Additionally, described drive mechanism is also associated with force transducer, when the first holder 4 and the second holder 5 clamp product, its active force can back transfer on force transducer, force transducer is capable of identify that the size of clamping force, thus feeds back, adjust in good time, controlling to drive motor 7, thus reach the accurate adjustment of clamping force, clamp precision is higher.
As it can be seen, also include a gripper shoe 11, described first line slideway 1 is fixed on gripper shoe 11 side, and described second line slideway 2 is fixed on the opposite side of gripper shoe 11；Described movable block 3 is rectangular box structure, and rectangular box is directly sleeved on outside, and on the downside of it, inwall the first line slideway 1 sliding of sidewall coordinates, and corresponding upside is then connected with drive link 6, structure more compact and reasonable.
As it can be seen, described first line slideway the 1, second line slideway 2 is equipped with 2, when movable block the 3, first holder 4 and the second holder 5 sliding, all simultaneously along 2 guide rail slidings, sliding is more stable, it is ensured that in high precision.
As shown in the figure, one end that described drive link 6 coordinates with the first oblique chute or the second oblique chute is provided with ball bearing 12, and coordinating between drive link 6 with the first oblique chute or the second oblique chute is more steady, reduces friction, not only increase service life, precision can be improved simultaneously.
As shown in the figure, one end that described drive link 6 is connected with movable block 3 is cam structure, described movable block 3 is provided with the locating slot 31 adaptive with cam structure, during installation, first by drive link 6 through locating slot 31, make that cam structure is circumferential with locating slot 31 spacing to be coordinated, then tooth bar 9 is fixed on above movable block 3, drive link 6 is then played the effect of axial limiting by tooth bar 9, rational in infrastructure, and convenient when installing.
As it is shown in figure 1, one end of described mechanical arm holder arranges single-revolution mechanism, this slew gear can use servomotor, can carry out 360 ° freely turn round by driving mechanical hands clamper.
Embodiment is not construed as the restriction to utility model, but any based on spirit improvements introduced of the present utility model, all should be within protection domain of the present utility model.
Claims (8)
1. a mechanical arm holder, it is characterised in that: include the first line slideway (1), the second line slideway (2), movable block (3), the first holder (4), the second holder (5), drive link (6), drive mechanism；
Described first line slideway (1) and the second line slideway (2) perpendicular layout；
Described movable block (3) sliding is arranged on the first line slideway (1), and is connected with drive mechanism, and described drive mechanism can drive movable block (3) along the first line slideway (1) toward polyslip；
Described first holder (4), the second holder (5) sliding are arranged on the second line slideway (2), described first holder (4) is provided with the first oblique chute (41), described second holder (5) is provided with the second oblique chute (51), and the described first oblique chute (41) is symmetrical with the second oblique chute (52)；
Described drive link (6) is provided with two, and parallel is fixed on movable block (3), and wherein a drive link (6) is inserted in the first oblique chute (42), and it is interior that another root drive link (6) inserts the second oblique chute (52).
Mechanical arm holder the most according to claim 1, it is characterized in that: described drive mechanism includes driving motor (7), the first gear (8), tooth bar (9), described tooth bar (9) is fixed on movable block (3), and it is parallel with the first line slideway (1), the output shaft driving motor (7) connects the first gear (8), and the first gear (8) engages with tooth bar (9).
Mechanical arm holder the most according to claim 2, it is characterised in that: being additionally provided with the second gear (10), described tooth bar (9) is double cog tooth bar, and described tooth bar (9) side is engaged with the first gear (8), opposite side and the second gear (10) engagement.
4. according to the mechanical arm holder described in Claims 2 or 3, it is characterised in that: described drive mechanism is also associated with force transducer.
Mechanical arm holder the most according to claim 1, it is characterised in that: also including that a gripper shoe (11), described first line slideway (1) are fixed on gripper shoe (11) side, described second line slideway (2) is fixed on the opposite side of gripper shoe (11)；Described movable block (3) is rectangular box structure, and the inwall of described movable block (3) wherein side sidewall and the first line slideway (1) sliding coordinate, and opposite side sidewall corresponding thereto is fixing connects drive link (6).
Mechanical arm holder the most according to claim 5, it is characterised in that: described first line slideway (1), the second line slideway (2) are equipped with 2.
Mechanical arm holder the most according to claim 5, it is characterised in that: one end that described drive link (6) coordinates with the first oblique chute or the second oblique chute is provided with ball bearing (12).
Mechanical arm holder the most according to claim 7, it is characterised in that: one end that described drive link (6) is connected with movable block (3) is cam structure, and described movable block (3) is provided with the locating slot (31) adaptive with cam structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620067945.XU CN205466287U (en) | 2016-01-25 | 2016-01-25 | Mechanical arm clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620067945.XU CN205466287U (en) | 2016-01-25 | 2016-01-25 | Mechanical arm clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466287U true CN205466287U (en) | 2016-08-17 |
Family
ID=56638471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620067945.XU Withdrawn - After Issue CN205466287U (en) | 2016-01-25 | 2016-01-25 | Mechanical arm clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466287U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500397A (en) * | 2016-01-25 | 2016-04-20 | 嘉兴川页奇精密自动化机电有限公司 | Clamping device of mechanical arm |
-
2016
- 2016-01-25 CN CN201620067945.XU patent/CN205466287U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500397A (en) * | 2016-01-25 | 2016-04-20 | 嘉兴川页奇精密自动化机电有限公司 | Clamping device of mechanical arm |
| CN105500397B (en) * | 2016-01-25 | 2018-03-27 | 嘉兴川页奇精密自动化机电有限公司 | Mechanical arm holder |
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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: Clamping device of mechanical arm Effective date of registration: 20170621 Granted publication date: 20160817 Pledgee: Zhejiang Wo Cheng rural commercial bank, Limited by Share Ltd, Xiuzhou branch Pledgor: The dynamo-electric Co., Ltd of the strange precise automatic of river, Jiaxing page Registration number: 2017330000056 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160817 Effective date of abandoning: 20180327 |
|
| AV01 | Patent right actively abandoned |