CN206568150U - Two grades of governor motions of mechanical handing system gripper position - Google Patents
Two grades of governor motions of mechanical handing system gripper position Download PDFInfo
- Publication number
- CN206568150U CN206568150U CN201720197046.6U CN201720197046U CN206568150U CN 206568150 U CN206568150 U CN 206568150U CN 201720197046 U CN201720197046 U CN 201720197046U CN 206568150 U CN206568150 U CN 206568150U
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- China
- Prior art keywords
- support arm
- hinged
- mounting blocks
- grades
- pull bar
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Abstract
The utility model discloses one kind is simple in construction, stable two grades of governor motions of mechanical handing system gripper position in angle of inclination in clamper height adjustment are ensure that.Two grades of governor motions, including base, support, support arm, mounting blocks, connecting rod, pull bar；Described support one end is arranged on base, and the other end is provided with contiguous block；Support arm one end is hinged with mounting blocks, and the other end is hinged with contiguous block；Connecting rod one end is hinged with mounting blocks, and the other end is hinged with pull bar；Close to being hinged the position of one end with pull bar and contiguous block is hinged on connecting rod；The support arm, connecting rod, mounting blocks and contiguous block formation are hinged parallel-crank mechanism；It is provided with the base in device of rotation driving, the rotating shaft that the rotation drive shaft has and is provided with spill spin block；Described pull bar one end is hinged with spill spin block；The spill spin block, pull bar and support arm formation crank and rocker mechanism.Using two grades of governor motions, the stability of regulation can be heightened, it is to avoid article drops.
Description
Technical field
The utility model is related to a kind of apparatus for adjusting position of clamper on mechanical arm, especially a kind of mechanical handing system
System two grades of governor motions of gripper position.
Background technology
It is known：When carrying some dangerous goods, in order to avoid dangerous goods are damaged to workman, typically all use
Mechanical arm is carried.Then position of the terminal of existing common handling machinery arm clamping article in clamping process is adjusted
Section.It is adjusted by each structure on mechanical arm.Such as in order to adjust height, the lifting dress on vertical direction is set
Put, in order to adjust the retractor device in horizontal range setting horizontal direction.Terminal location is clamped on existing mechanical arm to adjust
Nodule structure is required to by multiple mechanisms while adjusting realization.But the inclination angle of clamper is often resulted in during regulation
The change of degree, so as to cause coming off for article.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of simple in construction, ensure that clamper is highly adjusted
During the stable two grades of governor motions of mechanical handing system gripper position in angle of inclination.
The utility model solves the technical scheme that its technical problem used：Two grades of mechanical handing system gripper position
Governor motion, including base, support, support arm, mounting blocks, connecting rod, pull bar；
Described support one end is arranged on base, and the other end is provided with contiguous block；Cut with scissors with mounting blocks described support arm one end
Connect, the other end is hinged with contiguous block；Described connecting rod one end is hinged with mounting blocks, and the other end is hinged with pull bar；Leaned on the connecting rod
Closely the position of one end is hinged with pull bar and contiguous block is hinged；The support arm, connecting rod, mounting blocks and contiguous block formation are hinged flat
Row quadrangular mechanism；
It is provided with the base in device of rotation driving, the rotating shaft that the device of rotation driving has and is provided with rotation
Block；Described pull bar one end is hinged with spill spin block；The spill spin block, pull bar and support arm formation crank and rocker mechanism.
Further, the length of the support arm is scalable；The support arm include the first support arm, the second support arm and
Connect support arm；Described first support arm one end is hinged with base, and the other end is provided with the slot with being connected support arm matching, institute
State second support arm one end to be hinged with mounting blocks, the other end is provided with the slot with being connected support arm matching, the connection support
The slot that arm one end is inserted on the first support arm is slidably connected with the first support arm, the slot that the other end is inserted on the second support arm
It is slidably connected with the second support arm, flexible dress is provided between one end of first support arm and one end of the second support arm
Put；The retractor device is located at the outside of connection support arm.
It is preferred that, the retractor device uses hydraulic cylinder.
It is preferred that, the device of rotation driving uses reducing motor.
The beneficial effects of the utility model are：Two grades of regulations of mechanical handing system gripper position described in the utility model
Mechanism, because the formation of the support arm, connecting rod, mounting blocks and contiguous block is hinged parallel-crank mechanism；The spill spin block, drawing
Bar and support arm formation crank and rocker mechanism；Therefore parallel-crank mechanism and crank and rocker mechanism will be hinged by support arm
Combine, by being hinged parallel-crank mechanism by fortune of the conversion of motion of crank and rocker mechanism for regulation mounting blocks position
It is dynamic；And parallel-crank mechanism is hinged by the formation of support arm, connecting rod, mounting blocks and contiguous block, so as to ensure mounting blocks
Level angle in height adjustment.Therefore two grades of regulations of the mechanical handing system gripper position shown in the utility model
Mechanism ensure that the stability of clamper mounting blocks horizontal direction inclination angle during tile height is installed in regulation, from
And the stability of the clamper on mounting blocks is ensure that in application process, it is to avoid clamper angle change causes article
Drop.
Brief description of the drawings
Fig. 1 is the stereogram of mechanical handing system two grades of governor motions of gripper position in the utility model embodiment；
Fig. 2 is the front view of mechanical handing system two grades of governor motions of gripper position in the utility model embodiment；
Fig. 3 is the top view of mechanical handing system two grades of governor motions of gripper position in the utility model embodiment；
Indicated in figure：1- bases, 2- supports, 3- support arms, the support arms of 31- first, the support arms of 32- second, 33- connections branch
Brace, 34- retractor devices, 4- connecting rods, 5- spill spin blocks, 6- pull bars, 7- mounting blocks, 8- device of rotation driving, 9- contiguous blocks, 71-
Mounting surface.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
As shown in Figure 1 to Figure 3, two grades of governor motions of mechanical handing system gripper position described in the utility model, bag
Include base 1, support 2, support arm 3, mounting blocks 7, connecting rod 4, pull bar 6；
Described one end of support 2 is arranged on base 1, and the other end is provided with contiguous block 9；Described one end of support arm 3 is with installing
Block 7 is hinged, and the other end is hinged with contiguous block 9；Described one end of connecting rod 4 is hinged with mounting blocks 7, and the other end is hinged with pull bar 6；Institute
State on connecting rod 4 close to being hinged the position of one end with pull bar 6 and contiguous block 9 is hinged；The support arm 3, connecting rod 4, mounting blocks 7 and
The formation of contiguous block 9 is hinged parallel-crank mechanism；
It is provided with the base 1 in device of rotation driving 8, the rotating shaft that the device of rotation driving 8 has and is provided with rotation
Switch block 5；Described one end of pull bar 6 is hinged with spill spin block 5；The spill spin block 5, pull bar 6 and the formation crank rocker machine of support arm 3
Structure.
Two grades of governor motions of mechanical handing system gripper position described in the utility model, due to the support arm 3, even
Bar 4, mounting blocks 7 and the formation of contiguous block 9 are hinged parallel-crank mechanism；The spill spin block 5, pull bar 6 and support arm 3 are formed
Crank and rocker mechanism.Therefore parallel-crank mechanism will be hinged by support arm 3 and crank and rocker mechanism combines, and pass through hinge
Parallel-crank mechanism is connect by motion of the conversion of motion of crank and rocker mechanism for regulation mounting blocks position；And pass through the branch
Brace 3, connecting rod 4, mounting blocks 7 and the formation of contiguous block 9 are hinged parallel-crank mechanism so that mounting blocks are in height adjustment
In level angle.
In summary, two grades of governor motions of mechanical handing system gripper position shown in the utility model are high in mounting blocks
The stability of mounting blocks horizontal direction inclination angle is ensure that during degree, so as to ensure that peace in application process
The stability of clamper on mounting blocks, it is to avoid clamper angle change causes coming off for article.
As shown in Fig. 2 in order to realize the regulation to the angle of mounting surface 71 on mounting blocks 7, further, the support arm 3
Length it is scalable；The support arm 3 can be accomplished in several ways flexible, such as Telescopic rod structure, in order that must support
Arm can bear larger weight, it is preferred that the support arm 3 includes the first support arm 31, the second support arm 32 and connection branch
Brace 33；Described one end of first support arm 31 is hinged with base, and the other end is provided with the slot with being connected the matching of support arm 33, institute
State the one end of the second support arm 32 to be hinged with mounting blocks 7, the other end is provided with the slot with being connected the matching of support arm 33, the connection
The slot that the one end of support arm 33 is inserted on the first support arm 31 is slidably connected with the first support arm 31, and other end insertion second is supported
Slot on arm 32 is slidably connected with the second support arm 32, one end of first support arm 31 and one end of the second support arm 32
Between be provided with retractor device 34；The retractor device 34 is located at the outside of connection support arm 33.Due to 33 liang of support arm of connection
End is respectively inserted into the first support arm 31 and the second support arm 32, hence in so that entirely flexible support arm 3 can bear compared with
Big load.
The retractor device 34 can use mechanical-stretching bar or screw mandrel retractor device.For the ease of control, and drop
Low manufacturing cost；It is preferred that, the retractor device 34 uses hydraulic cylinder.
The device of rotation driving 3 can use rotating disk, pass through manual drive, it would however also be possible to employ motor, for the ease of control
System, it is preferred that the device of rotation driving 3 uses reducing motor.
Claims (4)
1. two grades of governor motions of mechanical handing system gripper position, it is characterised in that：Including base (1), support (2), support
Arm (3), mounting blocks (7), connecting rod (4), pull bar (6)；
Described support (2) one end is arranged on base (1), and the other end is provided with contiguous block (9)；Described support arm (3) one end with
Mounting blocks (7) are hinged, and the other end is hinged with contiguous block (9)；Described connecting rod (4) one end is hinged with mounting blocks (7), and the other end is with drawing
Bar (6) is hinged；Close to being hinged the position of one end with pull bar (6) and contiguous block (9) is hinged on the connecting rod (4)；The support arm
(3), connecting rod (4), mounting blocks (7) and contiguous block (9) formation are hinged parallel-crank mechanism；
It is provided with device of rotation driving (8), the rotating shaft that the device of rotation driving (8) has and is provided with the base (1)
Spill spin block (5)；Described pull bar (6) one end is hinged with spill spin block (5)；The spill spin block (5), pull bar (6) and support arm (3) shape
Into crank and rocker mechanism.
2. two grades of governor motions of mechanical handing system gripper position as claimed in claim 1, it is characterised in that：The support
The length of arm (3) is scalable；The support arm (3) includes the first support arm (31), the second support arm (32) and connection support arm
(33)；Described first support arm (31) one end is hinged with base, and the other end is provided with the slot with being connected support arm (33) matching,
Described second support arm (32) one end is hinged with mounting blocks (7), and the other end is provided with the slot with being connected support arm (33) matching,
The slot that described connection support arm (33) one end is inserted on the first support arm (31) is slidably connected with the first support arm (31), another
Slot on end the second support arm of insertion (32) is slidably connected with the second support arm (32), one end of first support arm (31)
Retractor device (34) is provided between one end of the second support arm (32)；The retractor device (34) is located at connection support arm
(33) outside.
3. two grades of governor motions of mechanical handing system gripper position as claimed in claim 2, it is characterised in that：It is described flexible
Device (34) uses hydraulic cylinder.
4. two grades of governor motions of mechanical handing system gripper position as claimed in claim 1, it is characterised in that：It is described to rotate
Drive device (8) uses reducing motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720197046.6U CN206568150U (en) | 2017-03-02 | 2017-03-02 | Two grades of governor motions of mechanical handing system gripper position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720197046.6U CN206568150U (en) | 2017-03-02 | 2017-03-02 | Two grades of governor motions of mechanical handing system gripper position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206568150U true CN206568150U (en) | 2017-10-20 |
Family
ID=60056286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720197046.6U Expired - Fee Related CN206568150U (en) | 2017-03-02 | 2017-03-02 | Two grades of governor motions of mechanical handing system gripper position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206568150U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571409A (en) * | 2018-12-29 | 2019-04-05 | 重庆大学 | A kind of mechanically moving arm assembly |
| CN110181548A (en) * | 2019-06-29 | 2019-08-30 | 南京奥灵克物联网科技有限公司 | A kind of multi-functional handgrip of robot for Internet of Things |
| CN113442156A (en) * | 2021-05-26 | 2021-09-28 | 武汉理工大学 | Flexible clamp holder based on novel two-finger robot hand |
-
2017
- 2017-03-02 CN CN201720197046.6U patent/CN206568150U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571409A (en) * | 2018-12-29 | 2019-04-05 | 重庆大学 | A kind of mechanically moving arm assembly |
| CN110181548A (en) * | 2019-06-29 | 2019-08-30 | 南京奥灵克物联网科技有限公司 | A kind of multi-functional handgrip of robot for Internet of Things |
| CN113442156A (en) * | 2021-05-26 | 2021-09-28 | 武汉理工大学 | Flexible clamp holder based on novel two-finger robot hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171020 Termination date: 20180302 |