CN205588292U - Rotatory flexible sucking disc formula gripper - Google Patents
Rotatory flexible sucking disc formula gripper Download PDFInfo
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- CN205588292U CN205588292U CN201620432278.0U CN201620432278U CN205588292U CN 205588292 U CN205588292 U CN 205588292U CN 201620432278 U CN201620432278 U CN 201620432278U CN 205588292 U CN205588292 U CN 205588292U
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Abstract
Rotatory flexible sucking disc formula gripper, including arm support, arm, flexible arm, sucking disc device with support the pneumatic cylinder, the tip passes through the fixed block and hinges on the arm support under the arm, the perpendicular fixed connection of tip under the first motor of fixed block side fixedly connected with, the pivot of first motor and arm, flexible arm includes hydro -cylinder and telescopic link, and telescopic link sliding seal connects in the hydro -cylinder, and the inlet port has been offered on the rear side upper portion of hydro -cylinder, and the oil outlet has been offered to the rear side lower part of hydro -cylinder, and tip and arm upper end are articulated behind the hydro -cylinder, the perpendicular fixed connection of tip behind the arm upper end side fixedly connected with second motor, the pivot of second motor and flexible arm. The utility model relates to a rationally, can be in the position of vertical direction and fore -and -aft direction regulation sucking disc, can adjust the flexible length of sucking disc and can conveniently control the absorption action of sucking disc and break away from the action.
Description
Technical field
This utility model belongs to industrial robot field, is specifically related to a kind of rotary extension sucked type gripper.
Background technology
Along with development and the progress of science and technology, all trades and professions all develop towards the direction of automatization, are used in the fields such as production, the disaster relief due to increasing industrial robot so that society's quickly development, the living standard of people improves constantly.Existing a large amount of mechanical hand to control to run attitude along with the motion of robot linkage due to end effector mechanism, therefore also also need to add actuator gesture stability motor in addition to each joint drive needs servomotor, cause control structure complicated, structure complexity can reduce the operation precision of mechanical hand after promoting, reduce the reliability of system simultaneously.This area need badly a kind of simple in construction, can be at the gripper that vertical direction and fore-and-aft direction regulate the position of gripper components and length can regulate.
Utility model content
The defect existed for prior art, this utility model provides a kind of rotary extension sucked type gripper, simple in construction, it is possible to regulate the position of sucker in vertical direction and fore-and-aft direction, the flexible length of sucker can be regulated and absorption action and the disengaging action of sucker can be controlled easily.
For solving above-mentioned technical problem, the technical scheme that this utility model is used is as follows: rotary extension sucked type gripper, including mechanical arm bearing, mechanical arm, telescopic arm, Acetabula device and supporting cylinder, mechanical arm bottom is hinged on mechanical arm bearing by fixed block, fixed block side is fixedly connected with the first motor, and fix vertical with mechanical arm bottom of the rotating shaft of the first motor is connected；Telescopic arm includes oil cylinder and expansion link, expansion link slipper seal is connected in oil cylinder, the upper back of oil cylinder offers fuel feed hole, the back lower of oil cylinder offers oil outlet, oil cylinder rearward end is hinged with mechanical arm upper end, side, mechanical arm upper end is fixedly connected with the second motor, and fix vertical with telescopic arm rearward end of the rotating shaft of the second motor is connected；The lower end of supporting cylinder is hinged on the upper surface edge of mechanical arm bearing, and the upper end thereof of supporting cylinder is in same plane in oil cylinder rearward end, the axis of supporting cylinder and the axis of mechanical arm；
Acetabula device includes sucker, piston cylinder and pressure regulation cylinder, one end that sucker is relatively large in diameter is arranged forward, one end that sucker diameter is less is fixedly connected on the outer wall of pressure regulation cylinder, sucker is stretched in the front end of pressure regulation cylinder, the rear portion fixed cover of pressure regulation cylinder is located on the outer wall of piston cylinder, and piston cylinder is fixed on the leading section of telescopic arm, and in piston cylinder, slipper seal connects piston rod, piston rod front end is fixedly connected with piston block, and piston block slipper seal is connected in pressure regulation cylinder.
First motor and the second motor are rotating reducing motor.
This utility model has the advantages that
1, mechanical arm can do upper and lower rotary motion under the driving of the first motor, before and after telescopic arm can do under the driving of the second motor and mechanical arm, upper and lower rotary motion, also has the motive power that supporting cylinder offer is extra, both can ensure that mechanical arm and the telescopic arm accurate positioning when generation action, can ensure that again when mechanical arm and telescopic arm need the object capturing heavier mass, have enough power；
2, mechanical arm is hinged with mechanical arm bearing, and telescopic arm is hinged with mechanical arm, and supporting cylinder is hinged with telescopic arm and mechanical arm bearing respectively, makes whole mechanism, when running, action by a relatively large margin can occur, improves the suitability and safety；
3, telescopic arm have employed piston-cylinder mechanism, and load capacity is strong, and work process is safe and reliable；
4, mechanical hand have employed sucked type structure, is coordinated normal pressure and the negative pressure realizing suction cup interior with pressure regulation cylinder by piston rod, and it is big that sucking disc type mechanical hand is suitable for capturing following Area comparison, the object that surface ratio is more smooth.
In sum, this utility model is reasonable in design, mechanical arm passes through the first driven by motor generation action, telescopic arm passes through the second driven by motor generation action, also has the motive power that supporting cylinder offer is extra, mechanical hand have employed sucked type structure, is coordinated normal pressure and the negative pressure realizing suction cup interior with pressure regulation cylinder by piston rod.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the right view of Fig. 1.
Detailed description of the invention
This utility model is with the left-hand in Fig. 1 as forward direction.
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described in further detail:
As depicted in figs. 1 and 2, rotary extension sucked type gripper, including mechanical arm bearing 1, mechanical arm 2, telescopic arm, Acetabula device and supporting cylinder 3, mechanical arm 2 bottom is hinged on mechanical arm bearing 1 by fixed block 4, fixed block 4 side is fixedly connected with the first motor 5, and fix vertical with mechanical arm 2 bottom of the first rotating shaft 10 of the first motor 5 is connected；Telescopic arm includes oil cylinder 6 and expansion link 7, expansion link 7 slipper seal is connected in oil cylinder 6, the upper back of oil cylinder 6 offers fuel feed hole 8, the back lower of oil cylinder 6 offers oil outlet 16, oil cylinder 6 rearward end is hinged with mechanical arm 2 upper end, side, mechanical arm 2 upper end is fixedly connected with the second motor 9, and fix vertical with telescopic arm rearward end of the second rotating shaft 11 of the second motor 9 is connected；The lower end of supporting cylinder 3 is hinged on the upper surface edge of mechanical arm bearing 1, and the upper end thereof of supporting cylinder 3 is in same plane with the axis of mechanical arm 2 in oil cylinder 6 rearward end, the axis of supporting cylinder 3.
Acetabula device includes sucker 12, piston cylinder 13 and pressure regulation cylinder 14, one end that sucker 12 is relatively large in diameter is arranged forward, one end that sucker 12 diameter is less is fixedly connected on the outer wall of pressure regulation cylinder 14, sucker 12 is stretched in the front end of pressure regulation cylinder 14, the rear portion fixed cover of pressure regulation cylinder 14 is located on the outer wall of piston cylinder 13, piston cylinder 13 is fixed on the leading section of telescopic arm, in piston cylinder 13, slipper seal connects piston rod 15, piston rod 15 front end is fixedly connected with piston block 16, and piston block 16 slipper seal is connected in pressure regulation cylinder 14.
First motor 5 and the second motor 9 are rotating reducing motor.
Work process of the present utility model is as follows: during use, bearing 1 of the present utility model is fixed on the base of use occasion.First rotating shaft 10 of the first motor 5 is fixing with mechanical arm 2 to be connected, first motor 5 is rotated around the first rotating shaft 10 of the first motor 5 by the first rotating shaft 10 driving mechanical arm 2, second rotating shaft 11 of the second motor 9 is fixing with telescopic arm to be connected, second motor 9 drives telescopic arm to rotate around the second rotating shaft 11 of the second motor 9 by the second rotating shaft 11, and supporting cylinder 3 can do support with adjusting mechanical arm 2 and telescopic arm and rotate.Piston block 16 slipper seal of piston rod 15 front end is connected in pressure regulation cylinder 14.During work, sucker 12 is directed at the burnishing surface of object, piston block 16 slides backward suction air in pressure regulation cylinder 14, the air in sucker 12 is made to become negative pressure, sucker 12 tightly adsorbs workpiece, and when decontroling workpiece, piston block 16 pushes air in pressure regulation cylinder 14 slides forwards, making the air in sucker 12 be become normal pressure by negative pressure, sucker 12 device decontrols workpiece.
Shape of the present utility model, material, structure etc. are not made any pro forma restriction by the present embodiment; every any simple modification, equivalent variations and modification made above example according to technical spirit of the present utility model, belongs to the protection domain of technical solutions of the utility model.
Claims (2)
1. rotary extension sucked type gripper, it is characterized in that: include mechanical arm bearing, mechanical arm, telescopic arm, Acetabula device and supporting cylinder, mechanical arm bottom is hinged on mechanical arm bearing by fixed block, fixed block side is fixedly connected with the first motor, and fix vertical with mechanical arm bottom of the rotating shaft of the first motor is connected；Telescopic arm includes oil cylinder and expansion link, expansion link slipper seal is connected in oil cylinder, the upper back of oil cylinder offers fuel feed hole, the back lower of oil cylinder offers oil outlet, oil cylinder rearward end is hinged with mechanical arm upper end, side, mechanical arm upper end is fixedly connected with the second motor, and fix vertical with telescopic arm rearward end of the rotating shaft of the second motor is connected；The lower end of supporting cylinder is hinged on the upper surface edge of mechanical arm bearing, and the upper end thereof of supporting cylinder is in same plane in oil cylinder rearward end, the axis of supporting cylinder and the axis of mechanical arm；
Acetabula device includes sucker, piston cylinder and pressure regulation cylinder, one end that sucker is relatively large in diameter is arranged forward, one end that sucker diameter is less is fixedly connected on the outer wall of pressure regulation cylinder, sucker is stretched in the front end of pressure regulation cylinder, the rear portion fixed cover of pressure regulation cylinder is located on the outer wall of piston cylinder, and piston cylinder is fixed on the leading section of telescopic arm, and in piston cylinder, slipper seal connects piston rod, piston rod front end is fixedly connected with piston block, and piston block slipper seal is connected in pressure regulation cylinder.
Rotary extension sucked type gripper the most according to claim 1, it is characterised in that: the first motor and the second motor are rotating reducing motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620432278.0U CN205588292U (en) | 2016-05-14 | 2016-05-14 | Rotatory flexible sucking disc formula gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620432278.0U CN205588292U (en) | 2016-05-14 | 2016-05-14 | Rotatory flexible sucking disc formula gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205588292U true CN205588292U (en) | 2016-09-21 |
Family
ID=56931718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620432278.0U Expired - Fee Related CN205588292U (en) | 2016-05-14 | 2016-05-14 | Rotatory flexible sucking disc formula gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205588292U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127298A (en) * | 2017-12-25 | 2018-06-08 | 湖州默顿快速电梯有限公司 | Elevator welding sequence robot production line |
| CN110274795A (en) * | 2019-08-13 | 2019-09-24 | 赵健 | A kind of oil exploitation sample oil reservoir sampler |
| CN110548837A (en) * | 2019-10-10 | 2019-12-10 | 武汉中精金属制品有限公司 | Unlimited rotatory tongs |
| CN111512894A (en) * | 2020-05-21 | 2020-08-11 | 张一帆 | Mechanical arm end effector for mushroom flexible picking vehicle |
| CN112025695A (en) * | 2020-10-15 | 2020-12-04 | 辽宁工程技术大学 | Novel climbing deicing robot |
| CN112502365A (en) * | 2020-11-21 | 2021-03-16 | 天津通天科技有限公司 | Computer lab overhead window handle mounting hole glass crack control device that security performance is high |
-
2016
- 2016-05-14 CN CN201620432278.0U patent/CN205588292U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127298A (en) * | 2017-12-25 | 2018-06-08 | 湖州默顿快速电梯有限公司 | Elevator welding sequence robot production line |
| CN110274795A (en) * | 2019-08-13 | 2019-09-24 | 赵健 | A kind of oil exploitation sample oil reservoir sampler |
| CN110548837A (en) * | 2019-10-10 | 2019-12-10 | 武汉中精金属制品有限公司 | Unlimited rotatory tongs |
| CN110548837B (en) * | 2019-10-10 | 2024-02-23 | 武汉中精金属制品有限公司 | Infinitely rotating handle |
| CN111512894A (en) * | 2020-05-21 | 2020-08-11 | 张一帆 | Mechanical arm end effector for mushroom flexible picking vehicle |
| CN111512894B (en) * | 2020-05-21 | 2021-11-30 | 张一帆 | Mechanical arm end effector for mushroom flexible picking vehicle |
| CN112025695A (en) * | 2020-10-15 | 2020-12-04 | 辽宁工程技术大学 | Novel climbing deicing robot |
| CN112502365A (en) * | 2020-11-21 | 2021-03-16 | 天津通天科技有限公司 | Computer lab overhead window handle mounting hole glass crack control device that security performance is high |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160921 Termination date: 20170514 |