CN205870538U - Full automated machine tongs - Google Patents
Full automated machine tongs Download PDFInfo
- Publication number
- CN205870538U CN205870538U CN201620729939.6U CN201620729939U CN205870538U CN 205870538 U CN205870538 U CN 205870538U CN 201620729939 U CN201620729939 U CN 201620729939U CN 205870538 U CN205870538 U CN 205870538U
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- China
- Prior art keywords
- joint
- motor
- forearm
- wrist
- arm
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Abstract
The utility model discloses a full automated machine tongs, the reciprocating impact tunnel drilling machine comprises a machine body, big arm, forearm and hand, the fuselage bottom is equipped with the base joint, be equipped with a step motor in the base joint, be equipped with the shoulder joint between fuselage and the big arm, be equipped with the 2nd step motor in the shoulder joint, be equipped with the elbow joint between big arm and the forearm, be equipped with the 3rd step motor in the elbow joint, be equipped with a wrist between forearm and the hand, the joint is swung by the wrist to the wrist, the crooked joint of arm rotary joint and wrist constitutes, the forearm rear end is equipped with fourth step motor, be equipped with the 5th step motor in the forearm, still be equipped with the 6th step motor in the forearm, still include a PLC controlling means, PLC controlling means is by a control terminal, a main singlechip and six follow single -chip microcomputer. The utility model discloses can accomplish mechatronic automated production, improve holistic control performance and flexibility, reasonable in design has, control simple, the flexibility is strong, degree of automation is high and commonality characteristics such as strong.
Description
Technical field
This utility model relates to technical field of automation equipment, particularly to a kind of full-automatic mechanical gripper.
Background technology
Mechanical hand is mainly made up of hand, motion and control system three parts.Hand be used to grasp workpiece or
The parts of instrument, have various structures form, such as folder according to by the grasping shape of object, size, weight, material and job requirements
Hold type, holding type and absorbent-type etc..Motion, make hand complete various rotation, swing, mobile or compound motion realizes rule
Fixed action, changes by self-movement modes such as the grasping position of object and posture, the lifting of motion, flexible, rotations, claims
Degree of freedom for mechanical hand.In order to capture optional position and the object in orientation in space, need to there be 6 degree of freedom.Degree of freedom is machine
The key parameter of tool hands design, degree of freedom is the most, and the motility of mechanical hand is the biggest, and versatility is the widest, and its structure is the most complicated.Control
System processed is the control of the motor by degree of freedom each to mechanical hand, completes specific action.
Utility model content
The purpose of this utility model is to solve above-mentioned deficiency, it is provided that a kind of full-automatic mechanical gripper, has design and closes
Reason, manipulation is simple, motility is strong, automaticity is high and the feature such as highly versatile.
This utility model is solved the technical problem that to realize by the following technical solutions:
A kind of full-automatic mechanical gripper, including fuselage, large arm, forearm and hand, described fuselage bottom is provided with pedestal and closes
Joint, described pedestal intraarticular is provided with the first motor and rotates for controlling fuselage, is provided with between described fuselage and described large arm
Shoulder joint, is provided with the second motor and rotates for controlling large arm, set between described large arm and described forearm in described shoulder joint
There is elbow joint, be provided with the 3rd motor in described elbow joint and rotate for controlling forearm, between described forearm and described hand
Being provided with a wrist, described wrist is made up of wrist swinging joint, arm rotary joint and wrist bending joint, and described forearm rear end is provided with
Four motors are used for controlling forearm and rotate, and are provided with the 5th motor for controlling described wrist swinging joint pendulum in described forearm
Dynamic, it is additionally provided with the 6th motor in described forearm and rotates for controlling described wrist bending joint, described forearm is by 16Mn steel plate
Material is bent into the rectangular tube of square-section and makes, described forearm arm thickness of the shell a size of 2.2mm, also includes that a PLC controls dress
Putting, described PLC controls device and is made up of from single-chip microcomputer, from list described in six a control terminal, a host scm and six
Sheet machine respectively with the first motor, the second motor, the 3rd motor, the 4th motor, the 5th motor and
6th motor electrical connection, is connected from single-chip microcomputer described in described host scm and six, and described control terminal is with described
Host scm is connected.
It is sequentially connected with between described 4th motor and forearm and is provided with shaft coupling and angular contact ball bearing.
Also including a wrist pendulum frame, described wrist pendulum frame is connected by the first Timing Belt between described 5th motor, institute
State wrist pendulum frame and be connected installation with described wrist swinging joint.
Also include a bevel gear pair, between described bevel gear pair and described 6th motor by the second Timing Belt even
Connecing, described bevel gear pair is connected installation with described wrist bending joint.
Described hand is grabbed end by hands and hand interface end is constituted, and described hand interface end is corresponding with described wrist installs.
Described control terminal is PC computer, smart mobile phone or panel computer.
This utility model compared with prior art has following outstanding advantages and effect: this utility model is by optimizing machinery
Joints of hand parts so that it is possess six joint actions and a handgrip action, optimize wrist design so that it is have 3 degree of freedom,
Improve the motility of entirety, it is possible to achieve the action that arm turns, wrist is put and hands turns, use PLC to control device and control joint type machine
Tool hands, utilizes three grades of distributed control modes, can complete electromechanical integration automated production, improve overall control performance and
Motility, have reasonable in design, manipulation is simple, motility is strong, automaticity is high and the feature such as highly versatile.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of this utility model embodiment；
Fig. 2 is that the forearm of this utility model embodiment installs sectional structure schematic diagram with hand；
Fig. 3 is that the PLC of this utility model embodiment controls device control structure schematic diagram.
Detailed description of the invention
For the technological means making this utility model realize, creation characteristic, reach purpose and be easy to understand with effect, under
Face combines and is specifically illustrating, and this utility model is expanded on further.
As shown in Figure 1 to Figure 3, a kind of full-automatic mechanical gripper that this utility model provides, including fuselage 7, large arm 1,
Forearm 4 and hand 6, be provided with pedestal joint 8 bottom fuselage 7, is provided with the first motor 81 for controlling fuselage in pedestal joint 8
7 rotate, and make fuselage 7 can complete 360 ° of revolutions, facilitate simultaneously and install with mobile parts or fixed component, convenient and other device
Combination is installed and used, and is provided with shoulder joint 2 between fuselage 7 and large arm 1, is provided with the second motor 21 for controlling in shoulder joint 2
Large arm 1 rotates, and large arm 1 plays main support effect, and the linking before and after formation is provided with elbow joint 3, elbow between large arm 1 and forearm 4
Being provided with the 3rd motor 31 in joint 3 to rotate for controlling forearm 4, forearm 4 is main execution unit, forearm 4 and hand 6
Between be provided with a wrist 5, hand 6 is grabbed end 61 by hands and hand interface end 62 is constituted, and hands grabs end 61 for capturing, hand interface end
62 installations corresponding with wrist 5, are convenient for changing different hand 6, improve and use universal performance, and wrist 5 is by wrist swinging joint 53, arm rotation
Turn joint 52 and wrist bending joint 51 is constituted, form three degree of freedom so that it is there is independent degree structure, rotation can be completed
Turn, swing and hands turn, improve entirety use motility, forearm 4 rear end is provided with the 4th motor 46 and revolves for controlling forearm 4
Turn, be sequentially connected with between the 4th motor 46 and forearm 4 and be provided with shaft coupling 45 and angular contact ball bearing 44, set in forearm 4
There is the 5th motor 43 to swing for controlling wrist swinging joint 53, also include a wrist pendulum frame 41, wrist pendulum frame 41 and the 5th stepping
Being connected by the first Timing Belt 42 between motor 43, wrist pendulum frame 41 is connected installation with wrist swinging joint 53, is additionally provided with the in forearm 4
Six motors 49 are used for controlling wrist bending joint 51 and rotate, and also include a bevel gear pair 47, bevel gear pair 47 and the 6th stepping
Being connected by the second Timing Belt 48 between motor 49, bevel gear pair 47 is connected installation with wrist bending joint 51, and forearm 4 is by 16Mn steel
Panel material is bent into the rectangular tube of square-section and makes, forearm 4 arm thickness of the shell a size of 2.2mm, improves intensity, strengthens inside portion
Part protective value, also include one PLC control device 9, PLC control device 9 by one control 91, host scm 92 of terminal and
Six are constituted from single-chip microcomputer 93, control terminal 91 be PC computer, smart mobile phone or panel computer, six from single-chip microcomputer 93 respectively with
First motor the 81, second motor the 21, the 3rd motor the 31, the 4th motor the 46, the 5th motor 43 and
6th motor 49 electrically connects, and host scm 92 is connected from single-chip microcomputer 93 with six, controls terminal 91 and host scm
92 are connected, and utilize hierarchical control step by step, improve overall control performance, facilitate automation mechanized operation.
This utility model is by optimizing manipulator joint parts so that it is possess six joint actions and a handgrip action,
Optimize wrist 5 to design so that it is there are 3 degree of freedom, improve the motility of entirety, it is possible to achieve arm turns, wrist is put and hands turns
Action, uses PLC to control device 9 and controls articulated robot, utilize three grades of distributed control modes, can complete electromechanical
Change automated production, improve overall control performance and motility, have reasonable in design, manipulation is simple, motility is strong, automatization
The features such as degree height and highly versatile.
As known by the technical knowledge, this utility model can be by other essence without departing from its spirit or the reality of essential feature
The scheme of executing realizes.Therefore, embodiment disclosed above, for each side, all it is merely illustrative, is not only
's.All in the range of this utility model or be equal to the change in the range of this utility model all by this utility model bag
Contain.
Claims (6)
1. a full-automatic mechanical gripper, including fuselage, large arm, forearm and hand, it is characterised in that: described fuselage bottom sets
Have pedestal joint, described pedestal intraarticular to be provided with the first motor to rotate for controlling fuselage, described fuselage and described large arm
Between be provided with shoulder joint, be provided with in described shoulder joint the second motor for control large arm rotate, described large arm is little with described
Being provided with elbow joint between arm, be provided with the 3rd motor and rotate for controlling forearm in described elbow joint, described forearm is with described
Being provided with a wrist between hand, described wrist is made up of wrist swinging joint, arm rotary joint and wrist bending joint, after described forearm
End is provided with the 4th motor and rotates for controlling forearm, is provided with the 5th motor for controlling described wrist pendulum in described forearm
Movable joint swing, be additionally provided with in described forearm the 6th motor for control described wrist bending joint rotate, described forearm by
16Mn steel plate materials is bent into the rectangular tube of square-section and makes, described forearm arm thickness of the shell a size of 2.2mm, also includes one
PLC controls device, and described PLC controls device and is made up of from single-chip microcomputer a control terminal, a host scm and six, six
Described from single-chip microcomputer respectively with the first motor, the second motor, the 3rd motor, the 4th motor, the 5th step
Enter motor and the 6th motor electrical connection, described host scm with six described in be connected from single-chip microcomputer, described control end
End is connected with described host scm.
A kind of full-automatic mechanical gripper the most according to claim 1, it is characterised in that: described 4th motor is with little
It is sequentially connected with between arm and is provided with shaft coupling and angular contact ball bearing.
A kind of full-automatic mechanical gripper the most according to claim 1, it is characterised in that: also include a wrist pendulum frame, described
Wrist pendulum frame is connected by the first Timing Belt between described 5th motor, and described wrist pendulum frame is connected with described wrist swinging joint
Install.
A kind of full-automatic mechanical gripper the most according to claim 1, it is characterised in that: also include a bevel gear pair, institute
Stating and be connected by the second Timing Belt between bevel gear pair with described 6th motor, described bevel gear pair closes with the bending of described wrist
Joint connects to be installed.
A kind of full-automatic mechanical gripper the most according to claim 1, it is characterised in that: described hand is grabbed end and hands by hands
Portion's interface end is constituted, and described hand interface end is corresponding with described wrist installs.
A kind of full-automatic mechanical gripper the most according to claim 1, it is characterised in that: described control terminal is PC electricity
Brain, smart mobile phone or panel computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620729939.6U CN205870538U (en) | 2016-07-01 | 2016-07-01 | Full automated machine tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620729939.6U CN205870538U (en) | 2016-07-01 | 2016-07-01 | Full automated machine tongs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870538U true CN205870538U (en) | 2017-01-11 |
Family
ID=57696263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620729939.6U Expired - Fee Related CN205870538U (en) | 2016-07-01 | 2016-07-01 | Full automated machine tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205870538U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108246846A (en) * | 2018-01-25 | 2018-07-06 | 河南城建学院 | A kind of efficient damping building bender with mechanical arm |
| CN108393885A (en) * | 2018-01-19 | 2018-08-14 | 华南理工大学 | A kind of system and method for mobile phone terminal wireless control mechanical arm |
-
2016
- 2016-07-01 CN CN201620729939.6U patent/CN205870538U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393885A (en) * | 2018-01-19 | 2018-08-14 | 华南理工大学 | A kind of system and method for mobile phone terminal wireless control mechanical arm |
| CN108246846A (en) * | 2018-01-25 | 2018-07-06 | 河南城建学院 | A kind of efficient damping building bender with mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20170111 Termination date: 20170701 |