CN205552530U - Wheel is grabbed by manipulator - Google Patents

Wheel is grabbed by manipulator Download PDF

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Publication number
CN205552530U
CN205552530U CN201620065842.XU CN201620065842U CN205552530U CN 205552530 U CN205552530 U CN 205552530U CN 201620065842 U CN201620065842 U CN 201620065842U CN 205552530 U CN205552530 U CN 205552530U
Authority
CN
China
Prior art keywords
rod
wheel
bearing
support
grabbed
Prior art date
Application number
CN201620065842.XU
Other languages
Chinese (zh)
Inventor
张良贵
瞿兆飞
向贤平
向贤渊
尹传华
石雅海
Original Assignee
马鞍山远荣机器人智能装备有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 马鞍山远荣机器人智能装备有限公司 filed Critical 马鞍山远荣机器人智能装备有限公司
Priority to CN201620065842.XU priority Critical patent/CN205552530U/en
Application granted granted Critical
Publication of CN205552530U publication Critical patent/CN205552530U/en

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Abstract

The utility model discloses a wheel is grabbed by manipulator, including support and pneumatic cylinder, pneumatic cylinder one end is connected in the support below, and the other end articulates there are two connecting rods, and two connecting rod other ends articulate respectively has the centre gripping arm, and centre gripping arm one end is articulated with the support, and the other end is equipped with the hand claw, the support top is equipped with down the connecting rod, and lower connecting rod has last connecting rod through joint bearing swing joint, goes up the connecting rod top and is equipped with the fixed plate, is connected with a plurality of telescopic cylinder between fixed plate and the support. The utility model discloses a setting up hydraulic cylinder drive, link drive, driving the centre gripping arm and press from both sides tightly, the clamp force is strong, snatch the wheel through setting up convex hand claw, the hand claw is good with the profile and the shape adaptability of tire, and closed precision is high, prevents that the tire from dropping, through setting up the activity of telescopic cylinder cooperation joint bearing, realize that the manipulator snatchs and stacks the multi -angle of wheel, the accuracy is high.

Description

A kind of wheel is grabbed by mechanical hand
Technical field
This utility model belongs to technical field of mechanical automation, relates to a kind of robot, specifically a kind of wheel Grab by mechanical hand.
Background technology
In recent years, along with developing rapidly of auto industry, the quantity of abandoned car also grows with each passing day.But it is domestic Abandoned car is disassembled industry and is started late, device for disassembling imperfection, the mode of disassembling that falls behind, original disassembles hands Section directly results in the waste of resource and the highly polluted of environment.Can abandoned car rationally process, and can resource Substantially effectively being utilized, demounting tool is it is critical that a link, the demounting tool skill of abandoned car Art, is increasingly becoming focus of attention in industry.
For the robot tool disassembled for wheel, it is to being grabbed the profile by wheel and the adaptability of shape And accuracy and the clamping force captured is to evaluate the peculiar criterion of robot tool, a kind of adaptability need to be provided What good, accuracy height, clamping force were strong grabs by mechanical hand, and this case thus produces.
Utility model content
The purpose of this utility model is to provide the wheel that a kind of adaptability is good, accuracy is high, clamping force is strong to grab By mechanical hand.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of wheel is grabbed by mechanical hand, and including bearing and hydraulic cylinder, described hydraulic cylinder one end is connected to bearing Lower section, the other end is hinged with two connecting rods, and two connecting rod other ends have been respectively articulated with clamping limb, described folder Gripping arm one end is hinged with bearing, and the other end is provided with paw;
Described bearing is arranged over lower connecting rod, and described lower connecting rod is connected with by oscillating bearing Upper connecting rod, described upper connecting rod top is provided with fixed plate, and being connected between described fixed plate and bearing has Several telescopic cylinders.
Further, described paw is circular arc clamping plate.
Further, described clamping limb and connecting rod junction have an obtuse angle bending.
The beneficial effects of the utility model: this utility model, by arranging Driven by Hydraulic Cylinder, link transmission, carries Dynamic clamping limb clamping, clamping force is strong;The profile of wheel, paw and tire is captured by arranging circular arc paw Good with shape adaptability, closure accuracy is high, prevents tire from dropping;Joint shaft is coordinated by arranging telescopic cylinder Hold activity, it is achieved the multi-angle of wheel is captured and stacks by mechanical hand, and accuracy is high.This practicality has suitable The advantages such as answering property is good, accuracy is high, clamping force is strong.
Accompanying drawing explanation
With specific embodiment, this utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is this utility model structural representation.
Detailed description of the invention
Grab by mechanical hand, including bearing 1, bearing 1 as it is shown in figure 1, this utility model provides a kind of wheel Lower section connects hydraulic cylinder 4, and there are two relative connecting rods 5 piston rod one end of hydraulic cylinder 4 by hinge, Two connecting rods 5 extend to hydraulic cylinder 4 both sides respectively, and the other end has clamping limb 2 by hinge respectively.
Clamping limb 2 and connecting rod 5 junction have an obtuse angle bending 3, make the more preferable stress of clamping limb 2.Folder Gripping arm 2 one end is hinged with bearing 1 by bearing pin, and the other end is provided with paw 6, and paw 6 is by connecting shaft and folder Gripping arm 2 is fixing to be connected.During work, hydraulic cylinder 4 drivening rod 5 one end moves upward, and is passed by connecting rod 5 Dynamic, drive clamping limb 2 to clamp, paw 6 captures wheel, and clamping force is strong, otherwise, hydraulic cylinder 4 drives even Bar 5 one end moves downward, and discharges wheel;Paw 6 is circular arc clamping plate, paw and the profile of tire and shape Shape adaptability is good, and closure accuracy is high, prevents tire from dropping.
Being positioned at bearing 1 and be arranged over lower connecting rod 7, lower connecting rod 7 is connected with by oscillating bearing 8 Connecting rod 9, upper connecting rod 9 and lower connecting rod 7 insert in axle housing hole and the support shaft of oscillating bearing 8 respectively, Upper connecting rod 9 top is provided with fixed plate 10, is connected and has four to be oppositely arranged between fixed plate 10 with bearing 1 Telescopic cylinder 11, movable by expansion fit oscillating bearings 8 one or more in four telescopic cylinders 11, Realizing mechanical hand capture the multi-angle of wheel and stack, accuracy is high.
This utility model, by arranging Driven by Hydraulic Cylinder, link transmission, drives clamping limb clamping, and clamping force is strong; Capturing wheel by arranging circular arc paw, paw is good with the profile of tire and shape adaptability, closure accuracy Height, prevents tire from dropping;Coordinate oscillating bearing movable by arranging telescopic cylinder, it is achieved mechanical hand is to wheel Multi-angle capture and stack, accuracy is high.This practicality has that adaptability is good, accuracy is high, clamping force The advantage such as strong.
Above content is only to this utility model structure example and explanation, affiliated the art Described specific embodiment is made various amendment or supplements or use similar mode to replace by technical staff In generation, without departing from the structure of utility model or surmount scope defined in the claims, all should belong to In protection domain of the present utility model.

Claims (3)

1. wheel is grabbed by a mechanical hand, including bearing (1) and hydraulic cylinder (4), it is characterised in that: institute Hydraulic cylinder (4) one end stated is connected to bearing (1) lower section, and the other end is hinged with two connecting rods (5), and two Individual connecting rod (5) other end has been respectively articulated with clamping limb (2), described clamping limb (2) one end and bearing (1) Hinged, the other end is provided with paw (6);
Described bearing (1) is arranged over lower connecting rod (7), and described lower connecting rod (7) passes through joint Bearing (8) is connected with upper connecting rod (9), and described upper connecting rod (9) top is provided with fixed plate (10), It is connected between described fixed plate (10) and bearing (1) and has several telescopic cylinders (11).
A kind of wheel the most according to claim 1 is grabbed by mechanical hand, it is characterised in that: described paw (6) it is circular arc clamping plate.
A kind of wheel the most according to claim 1 is grabbed by mechanical hand, it is characterised in that: described clamping Arm (2) and connecting rod (5) junction have obtuse angle bending (3).
CN201620065842.XU 2016-01-22 2016-01-22 Wheel is grabbed by manipulator CN205552530U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620065842.XU CN205552530U (en) 2016-01-22 2016-01-22 Wheel is grabbed by manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620065842.XU CN205552530U (en) 2016-01-22 2016-01-22 Wheel is grabbed by manipulator

Publications (1)

Publication Number Publication Date
CN205552530U true CN205552530U (en) 2016-09-07

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620065842.XU CN205552530U (en) 2016-01-22 2016-01-22 Wheel is grabbed by manipulator

Country Status (1)

Country Link
CN (1) CN205552530U (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272505A (en) * 2016-09-13 2017-01-04 上汽通用五菱汽车股份有限公司 A kind of clamping device
CN106737783A (en) * 2016-12-30 2017-05-31 安徽清水岩生态科技有限公司 A kind of steel pipe fitting clamping tooling
CN106862267A (en) * 2017-02-28 2017-06-20 蚌埠市华鼎机械科技有限公司 A kind of lead pig decontamination preforming device of automatic charging
CN107314881A (en) * 2017-06-23 2017-11-03 南京理工大学 A kind of packing case fall-down test clamping device
CN107318385A (en) * 2017-07-24 2017-11-07 合肥雄川机械销售有限公司 A kind of crawl retracting device and its operating method for agricultural cutter afterbody
CN107962472A (en) * 2017-11-15 2018-04-27 嘉善东顺塑料五金制品厂(普通合伙) A kind of workpiece fixation kit
CN108091507A (en) * 2017-12-26 2018-05-29 安徽开诚电器有限公司 Appliance switch element processing manipulator
CN108581871A (en) * 2018-03-20 2018-09-28 马鞍山远荣机器人智能装备有限公司 A kind of industrial robot intelligent operating system
CN109855016A (en) * 2019-03-26 2019-06-07 安徽艳阳电气集团有限公司 A kind of lifting folding type LED light falsework and its adjusting method
CN110027898A (en) * 2018-09-05 2019-07-19 浙江树人学院 A kind of transfer robot of highly effective

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272505A (en) * 2016-09-13 2017-01-04 上汽通用五菱汽车股份有限公司 A kind of clamping device
CN106737783A (en) * 2016-12-30 2017-05-31 安徽清水岩生态科技有限公司 A kind of steel pipe fitting clamping tooling
CN106862267A (en) * 2017-02-28 2017-06-20 蚌埠市华鼎机械科技有限公司 A kind of lead pig decontamination preforming device of automatic charging
CN107314881A (en) * 2017-06-23 2017-11-03 南京理工大学 A kind of packing case fall-down test clamping device
CN107318385A (en) * 2017-07-24 2017-11-07 合肥雄川机械销售有限公司 A kind of crawl retracting device and its operating method for agricultural cutter afterbody
CN107962472A (en) * 2017-11-15 2018-04-27 嘉善东顺塑料五金制品厂(普通合伙) A kind of workpiece fixation kit
CN108091507A (en) * 2017-12-26 2018-05-29 安徽开诚电器有限公司 Appliance switch element processing manipulator
CN108581871A (en) * 2018-03-20 2018-09-28 马鞍山远荣机器人智能装备有限公司 A kind of industrial robot intelligent operating system
CN110027898A (en) * 2018-09-05 2019-07-19 浙江树人学院 A kind of transfer robot of highly effective
CN109855016A (en) * 2019-03-26 2019-06-07 安徽艳阳电气集团有限公司 A kind of lifting folding type LED light falsework and its adjusting method
CN109855016B (en) * 2019-03-26 2021-02-09 安徽艳阳电气集团有限公司 Lifting folding type LED lamp working frame and adjusting method thereof

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160907

Termination date: 20170122