CN207014395U - A kind of new mechanical arm - Google Patents
A kind of new mechanical arm Download PDFInfo
- Publication number
- CN207014395U CN207014395U CN201720938496.6U CN201720938496U CN207014395U CN 207014395 U CN207014395 U CN 207014395U CN 201720938496 U CN201720938496 U CN 201720938496U CN 207014395 U CN207014395 U CN 207014395U
- Authority
- CN
- China
- Prior art keywords
- tong
- finger joint
- manipulator
- rotary shaft
- auxiliary
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of new mechanical arm, including auxiliary, one end of the auxiliary is provided with manipulator swinging axle, one end away from auxiliary is provided with manipulator rotary shaft on the manipulator swinging axle, tong finger joint is provided with below the manipulator rotary shaft, one end of the tong finger joint is provided with tong, slipmat is provided with the inside of the tong, sucker is provided with below the tong finger joint, one end away from manipulator swinging axle on the auxiliary is provided with auxiliary rotary shaft, one end away from principal arm is provided with principal arm controller in the auxiliary rotary shaft；By designing tong and finger joint under manipulator rotary shaft, it can grip manipulator more firm during material, when solving former manipulator and gripping material, phenomenon that material drops；By designing the slipmat in tong, by increasing capacitance it is possible to increase the frictional force between tong and material, solve the problems, such as material shakiness during former tong folder material.
Description
Technical field
The utility model belongs to manipulator technical field, and in particular to a kind of new mechanical arm.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently each, manipulator are the industrial robots occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Existing manipulator work when, tong be not when grip material very closely, and mobile material when
Wait, the problem of material easily drops from tong, be this it is proposed that a kind of new mechanical arm.
Utility model content
The purpose of this utility model is to provide a kind of new mechanical arm, to solve to propose manipulator in above-mentioned background technology
When work, tong is not very close when gripping material, and when mobile material, material easily falls from tong
The problem of falling.
To achieve the above object, the utility model provides following technical scheme：A kind of new mechanical arm, including auxiliary, institute
The one end for stating auxiliary is provided with manipulator swinging axle, and one end away from auxiliary is provided with manipulator rotation on the manipulator swinging axle
Rotating shaft, tong finger joint is provided with below the manipulator rotary shaft, one end of the tong finger joint is provided with tong, the folder
Slipmat is provided with the inside of hand, is provided with sucker below the tong finger joint, away from manipulator swinging axle on the auxiliary
One end be provided with auxiliary rotary shaft, the side of the auxiliary rotary shaft is provided with principal arm, away from main in the auxiliary rotary shaft
One end of arm is provided with principal arm controller, and one end away from auxiliary rotary shaft is provided with principal arm rotary shaft on the principal arm, described
Base is provided with below principal arm rotary shaft, the side of the base is provided with vacuum machine, and one end of the vacuum machine is provided with
Vacuum machine airway tube, one end of the tong are provided with tong connector, and one end of the tong finger joint is provided with finger joint connection
Device, the side away from tong is provided with tong controller on the tong connector, and the finger joint connector is away from tong finger joint
Side be provided with finger joint controller, one end away from tong connector on the tong controller is provided with controller and fixed
Axle.
Preferably, one end of the tong controller and finger joint controller is separately provided with controller fixing axle.
Preferably, the tong is fixedly connected with tong finger joint by rotary shaft.
Preferably, the tong connector is screwed with tong controller is connected.
Preferably, the sucker is connected with vacuum machine by vacuum machine airway tube.
Compared with prior art, the beneficial effects of the utility model are：
（1）By designing tong and finger joint under manipulator rotary shaft, it can grip manipulator more firm during material,
When solving former manipulator gripping material, phenomenon that material drops；
（2）By designing the slipmat in tong, by increasing capacitance it is possible to increase the frictional force between tong and material, solve with fore-clamp
When hand presss from both sides material the problem of material shakiness；
（3）By designing sucker below finger joint, material can be adsorbed, solve manipulator material special in the past without
The problem of method grips.
Brief description of the drawings
Fig. 1 is robot manipulator structure schematic diagram of the present utility model；
Fig. 2 is manipulator tong control structure schematic diagram of the present utility model；
In figure：1- slipmat, 2- tongs, 3- suckers, 4- finger joints, 5- manipulators rotary shaft, 6- manipulators swinging axle, 7- pairs
Arm, 8- vacuum machines airway tube, 9- auxiliarys rotary shaft, 10- principal arms, 11- principal arms controller, 12- principal arms rotary shaft, 13- bases,
14- vacuum machines, 15- tongs connector, 16- finger joints connector, 17- controllers fixing axle, 18- tongs controller, 19- finger joint controls
Device processed.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 and Fig. 2 are referred to, the utility model provides a kind of technical scheme：A kind of new mechanical arm, including auxiliary 7, it is secondary
One end of arm 7 is provided with manipulator swinging axle 6, and one end away from auxiliary 7 is provided with manipulator rotary shaft on manipulator swinging axle 6
5, the lower section of manipulator rotary shaft 5 is provided with finger joint 4, and one end of finger joint 4 is provided with tong 2, and the inner side of tong 2 is provided with anti-skidding
Pad 1, the lower section of finger joint 4 are provided with sucker 3, and one end away from manipulator swinging axle 6 is provided with auxiliary rotary shaft 9 on auxiliary 7, secondary
The side of arm rotary shaft 9 is provided with principal arm 10, and one end away from principal arm 10 is provided with principal arm controller 11 in auxiliary rotary shaft 9,
One end away from auxiliary rotary shaft 9 on principal arm 10 is provided with principal arm rotary shaft 12, and the lower section of principal arm rotary shaft 12 is provided with base
13, the side of base 13 is provided with vacuum machine 14, and one end of vacuum machine 14 is provided with vacuum machine airway tube 8, and one end of tong 2 is set
It is equipped with tong connector 15, one end of finger joint 4 is provided with finger joint connector 16, the side away from tong 2 on tong connector 15
Tong controller 18 is provided with, side of the finger joint connector 16 away from finger joint 4 is provided with finger joint controller 19, tong controller 18
Upper one end away from tong connector 15 is provided with controller fixing axle 17.
In order that tong connector 15 and finger joint connector 16 can realize independent control, and in the present embodiment, preferable folder
One end of hand controls 18 and finger joint controller 19 is separately provided with controller fixing axle 17.
In order that tong 2 and the activity of finger joint 4 are convenient, in the present embodiment, preferable tong 2 is consolidated with finger joint 4 by rotary shaft
Fixed connection.
In order that tong connector 15 and the stable connection of tong controller 18, in the present embodiment, preferable tong connector
15 are screwed with tong controller 18 and are connected.
In order that even closer during the absorption material of sucker 3, in the present embodiment, preferable sucker 3 is with vacuum machine 14 by true
Empty machine airway tube 8 connects.
Operation principle and process for using of the present utility model：After the utility model installs, switch on power, according to material
Form the size that manipulator is dehisced is adjusted by tong controller 18 and finger joint controller 19, then according to material with machinery
The distance controlling principal arm rotary shaft 12 of hand and principal arm controller 11 are above Mechanical Moving to material, then control auxiliary 7 to make machinery
Subordinate's drop, the air in sucker is suctioned out using vacuum machine 14 when sucker 3 encounters material, lift the adsorption capacity of sucker, then
The closure of tong 2 is picked up material.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of new mechanical arm, including auxiliary（7）, it is characterised in that：The auxiliary（7）One end be provided with manipulator swing
Axle（6）, the manipulator swinging axle（6）Upper remote auxiliary（7）One end be provided with manipulator rotary shaft（5）, the manipulator
Rotary shaft（5）Lower section be provided with finger joint（4）, the finger joint（4）One end be provided with tong（2）, the tong（2）Inner side
It is provided with slipmat（1）, the finger joint（4）Lower section be provided with sucker（3）, the auxiliary（7）Upper remote manipulator swinging axle
（6）One end be provided with auxiliary rotary shaft（9）, the auxiliary rotary shaft（9）Side be provided with principal arm（10）, the auxiliary turn
Moving axis（9）Upper remote principal arm（10）One end be provided with principal arm controller（11）, the principal arm（10）Upper remote auxiliary rotary shaft
（9）One end be provided with principal arm rotary shaft（12）, the principal arm rotary shaft（12）Lower section be provided with base（13）, the base
（13）Side be provided with vacuum machine（14）, the vacuum machine（14）One end be provided with vacuum machine airway tube（8）, the tong
（2）One end be provided with tong connector（15）, the finger joint（4）One end be provided with finger joint connector（16）, the tong
Connector（15）Upper remote tong（2）Side be provided with tong controller（18）, the finger joint connector（16）Away from finger joint
（4）Side be provided with finger joint controller（19）, the tong controller（18）Upper remote tong connector（15）One end set
It is equipped with controller fixing axle（17）.
A kind of 2. new mechanical arm according to claim 1, it is characterised in that：The tong controller（18）With finger joint control
Device processed（19）One end be separately provided with controller fixing axle（17）.
A kind of 3. new mechanical arm according to claim 1, it is characterised in that：The tong（2）With finger joint（4）By turning
Moving axis is fixedly connected.
A kind of 4. new mechanical arm according to claim 1, it is characterised in that：The tong connector（15）With tong control
Device processed（18）It is screwed connection.
A kind of 5. new mechanical arm according to claim 1, it is characterised in that：The sucker（3）With vacuum machine（14）It is logical
Cross vacuum machine airway tube（8）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720938496.6U CN207014395U (en) | 2017-07-31 | 2017-07-31 | A kind of new mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720938496.6U CN207014395U (en) | 2017-07-31 | 2017-07-31 | A kind of new mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207014395U true CN207014395U (en) | 2018-02-16 |
Family
ID=61482034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720938496.6U Expired - Fee Related CN207014395U (en) | 2017-07-31 | 2017-07-31 | A kind of new mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207014395U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109778639A (en) * | 2019-03-09 | 2019-05-21 | 边兵兵 | A kind of road roller |
-
2017
- 2017-07-31 CN CN201720938496.6U patent/CN207014395U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109778639A (en) * | 2019-03-09 | 2019-05-21 | 边兵兵 | A kind of road roller |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190530 Address after: 215000 No. 255 Huajin Road, Tongan Town, Suzhou High-tech Zone, Jiangsu Province Patentee after: SUZHOU METALWORKING PML PRECISION MECHANISM Ltd. Address before: 325000 Room 204, West Hall, two floor, technology and research building, Wenzhou Vocational and Technical College, Ouhai District, Wenzhou, Zhejiang Patentee before: WENZHOU BEIJIAFU AUTOMATION TECHNOLOGY Co.,Ltd. |
|
| 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: 20180216 Termination date: 20210731 |