CN207747065U - A kind of gripping executing agency on mechanical arm - Google Patents
A kind of gripping executing agency on mechanical arm Download PDFInfo
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- CN207747065U CN207747065U CN201721689685.0U CN201721689685U CN207747065U CN 207747065 U CN207747065 U CN 207747065U CN 201721689685 U CN201721689685 U CN 201721689685U CN 207747065 U CN207747065 U CN 207747065U
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- China
- Prior art keywords
- steering engine
- engagement wheel
- joint
- braced frame
- mechanical arm
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Abstract
The utility model discloses the gripping executing agency on a kind of mechanical arm, including machine human organism, mechanical arm and manipulator, the mechanical arm is installed on the machine human organism, and the manipulator is installed on the execution end of the mechanical arm：The manipulator includes the 6th steering engine, mechanical hand cradle, the first engagement wheel, the second engagement wheel, the first male arms, the second male arms, the first machine pawl, the second machine pawl, the first rocking bar and the second rocking bar；The machinery hand cradle is platy structure in the shape of a " convex "；The one side of the machinery hand cradle is symmetrically installed with the first engagement wheel and the second engagement wheel；The first engagement wheel and the second engagement wheel are partial gear structure, have teeth portion intermeshing connection between the first engagement wheel and the second engagement wheel；The utility model has the advantages of simple structure, using part engagement wheel construction with teeth, realizes the gripping that single steering engine can be achieved with manipulator, reduces the control difficulty of manipulator.
Description
Technical field
The utility model belongs to the gripping executing agency on robot field more particularly to a kind of mechanical arm.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, the behaviour such as folder drawing
Make, existing manipulator often also needs to a variety of driving mechanisms to coordinate jointly, structure is multiple when doing simple gripping action
Miscellaneous, implementation process is complicated, and control difficulty is big.
Utility model content
Purpose of utility model：In order to overcome the deficiencies in the prior art, the utility model, which provides, passes through a steering engine
The gripping executing agency on a kind of mechanical arm of gripping action can be realized.
Technical solution：To achieve the above object, the gripping executing agency on a kind of mechanical arm of the utility model, including machine
Tool arm and manipulator, the manipulator are installed on the execution end of the mechanical arm：
The manipulator includes the 6th steering engine, mechanical hand cradle, the first engagement wheel, the second engagement wheel, the first male arms, second convex
Arm, the first machine pawl, the second machine pawl, the first rocking bar and the second rocking bar；
The machinery hand cradle is platy structure in the shape of a " convex "；The one side of the machinery hand cradle is symmetrically installed with first
Engagement wheel and the second engagement are taken turns；It is described first engagement wheel and second engagement wheel be partial gear structure, it is described first engagement wheel and
There is teeth portion intermeshing connection between second engagement wheel；
The first male arms and the second male arms are also protruded respectively in the contoured wall of the first engagement wheel and the second engagement wheel, it is described
First male arms and the second male arms are opened at inverted "eight" shape upwards；
First rocking bar and the second rocking bar are symmetrical set, the lower end of first rocking bar and the second rocking bar respectively with it is described
Mechanical hand cradle is articulated and connected at the top of "convex" shaped；The upper end of first rocking bar and the second rocking bar respectively with first machine
The middle part of pawl and the second machine pawl is articulated and connected；The hypomere end of the first machine pawl and the second machine pawl respectively with the first male arms and
The end of two male arms is articulated and connected；The epimere of the first machine pawl and the second machine pawl is respectively the first gripping section and the second clamping
Section；
6th steering engine is installed on the another side of the mechanical hand cradle, and the 6th steering engine engages wheel with described second
It is drivingly connected, the 6th steering engine can drive the second engagement wheel to be rotated along axis, and by there is teeth portion to drive first engagement
Gear motion is taken turns, and then drives the clamping between the first gripping section and the second gripping section and opening.
Further, the end of first gripping section and the second gripping section is respectively provided with the first pull hook bent inwardly
With the second drag hook；When first gripping section and the second gripping section do pinching action, the end of the first pull hook and the second drag hook to
Inside folder is drawn.
Further, the mechanical arm includes the second steering engine, the second steering engine braced frame, third steering engine, third steering engine branch
Support frame frame, the first joint, second joint, the 4th steering engine, the 4th steering engine braced frame and the 5th steering engine；
The second steering engine braced frame is installed on machine human organism, and second steering engine is vertically installed on described second
In steering engine braced frame；The third steering engine braced frame is located above the second steering engine braced frame, and second rudder
The steering engine shaft top of machine is fixedly connected with the third steering engine braced frame；Second steering engine can drive the third steering engine branch
Support frame frame rotates horizontally；The third steering engine is horizontally installed in the third steering engine braced frame；
First joint and second joint are U-shaped frame structure；First joint and the crossbeam portion of second joint are mutual
Connection is fixedly mounted, two curb girders in first joint are pivotally mounted to the third steering engine braced frame both sides, and described
Third steering engine and the curb girder in first joint are drivingly connected, and third steering engine can drive the first joint along the rudder of the third steering engine
Arbor rotates；
4th steering engine is rotatably mounted between two curb girders of the second joint, the steering engine axis of the 4th steering engine
It is drivingly connected with two curb girders of the second joint, the steering engine body of the 4th steering engine can rotate under the driving of the 4th steering engine；It is described
It is installed with the 4th steering engine braced frame on the steering engine body of 4th steering engine, is also installed in the 4th steering engine braced frame
There is the 5th steering engine；5th steering engine is connect with the robot drives, and manipulator is along steering engine described in the 5th servo driving
Axis rotates.
Further, the mechanical hand cradle bottom end is fixedly connected with the steering engine shaft end of the 5th steering engine；5th rudder
Machine can driving manipulator frame along steering engine axis rotate.
Further, the steering engine axis of the third steering engine is parallel with the steering engine axis of the 4th steering engine；4th steering engine
Steering engine axis it is vertical with the steering engine axis of the 5th steering engine.
Advantageous effect：The utility model has the advantages of simple structure, using part engagement wheel construction with teeth, realizes single steering engine
The gripping that can be achieved with manipulator reduces the control difficulty of manipulator, while the front end of the manipulator is arranged to symmetrical pull hook
Structure, in the case where realizing the function of gripping, moreover it is possible to realize the effect that folder is drawn.
Description of the drawings
Attached drawing 1 is robot manipulator structure schematic diagram；
Attached drawing 2 is mechanical arm structural schematic diagram.
Specific implementation mode
The utility model is further described below in conjunction with the accompanying drawings.
As shown in figure 1 and 2, the gripping executing agency on a kind of mechanical arm, including machine human organism 24, mechanical arm and machine
Tool hand 20, the mechanical arm are installed on the machine human organism 24, and the manipulator 20 is installed on the execution of the mechanical arm
End：Specific robot manipulator structure is hereafter discussed in detail；
It is convex that the manipulator 20 includes the 6th steering engine 93, the mechanical engagement of hand cradle 4, first wheel 72, second engages wheel 17, first
Arm 14, the second male arms 10, the first machine pawl 3, the second machine pawl 8, the first rocking bar 2 and the second rocking bar 9；
The machinery hand cradle 4 is platy structure in the shape of a " convex "；The one side of the machinery hand cradle 4 is symmetrically installed with the
One engagement wheel 72 and the second engagement wheel 17；The first engagement wheel 72 and the second engagement wheel 17 are partial gear structure, described the
There is the intermeshing connection of teeth portion 71 between one engagement wheel 72 and the second engagement wheel 17；Using there is 71 structure driven of teeth portion to make machinery
The gripping action of hand is more accurate, folds up freely.
It is convex that the first male arms 14 and second is also protruded respectively in the contoured wall of the first engagement wheel 72 and the second engagement wheel 17
Arm 10, first male arms, 14 and second male arms 10 are opened at inverted "eight" shape upwards；
First rocking bar 2 and the second rocking bar 9 are symmetrical set, the lower end of first rocking bar, 2 and second rocking bar 9 respectively with
The machinery hand cradle 4 is articulated and connected at the top of "convex" shaped；The upper end of first rocking bar, 2 and second rocking bar 9 respectively with institute
State the middle part articulated connection of the first machine pawl 3 and the second machine pawl 8；The hypomere end of the first machine pawl 3 and the second machine pawl 8 respectively with
The end of first male arms 14 and the second male arms 10 is articulated and connected；The epimere of the first machine pawl 3 and the second machine pawl 8 is respectively first
Gripping section 1 and the second gripping section 7；6th steering engine 93 is installed on the another side of the mechanical hand cradle 4, the 6th rudder
Machine 93 engages wheel 17 with described second and is drivingly connected, and the 6th steering engine 93 can drive the second engagement wheel 17 to be rotated along axis, and
By there is teeth portion 71 to drive the first engagement 72 gear motions of wheel, and then drive between the first gripping section 1 and the second gripping section 7
Clamping and opening, only need the i.e. controllable clamping of the positive and negative rotation of a steering engine and relieving action.
The end of first gripping section, 1 and second gripping section 7 is respectively provided with the first pull hook 5 and second bent inwardly
Drag hook 6；When first gripping section, 1 and second gripping section 7 does pinching action, the end of the first pull hook 5 and the second drag hook 6 is inside
Side folder is drawn, and the cooperation of first pull hook 5 and the second drag hook 6 makes manipulator in the case where having the function of flexibly gripping, machine
Tool hand front end can also play the effect that folder is drawn, and improve the application scenario of manipulator.
The mechanical arm includes the second steering engine 21, the second steering engine braced frame 18, third steering engine 23, third steering engine support frame
Frame 22, the first joint 63, second joint 73, the 4th steering engine 83, the 4th steering engine braced frame 19 and the 5th steering engine 13；Described
Two steering engine braced frames 18 are installed on machine human organism 24, and second steering engine 21 is vertically installed on the second steering engine support
In frame 18；The third steering engine braced frame 22 is located at 18 top of the second steering engine braced frame, and second steering engine
21 steering engine shaft top is fixedly connected with the third steering engine braced frame 22；Second steering engine 21 can drive the third rudder
Machine braced frame 22 rotates horizontally；It is horizontally installed with the third steering engine 23 in the third steering engine braced frame 22；Described
One joint 63 and second joint 73 are U-shaped frame structure；First joint 63 and the crossbeam portion 93.1 of second joint 73 are mutually solid
Dingan County's load connects, and two curb girders in first joint 63 are pivotally mounted to 22 both sides of third steering engine braced frame, and institute
The curb girder for stating third steering engine 23 and first joint 63 is drivingly connected, and third steering engine 23 can drive the first joint 63 along described the
The steering engine shaft rotation of three steering engines 23 is dynamic；4th steering engine 83 is rotatably mounted between two curb girders of the second joint 73, institute
It states the steering engine axis of the 4th steering engine 83 and two curb girders of the second joint 73 is drivingly connected, the steering engine body of the 4th steering engine 83 can be the
It is rotated under the driving of four steering engines 83；It is installed with the 4th steering engine braced frame on the steering engine body of 4th steering engine 83
19, the 5th steering engine 13 is also equipped in the 4th steering engine braced frame 19；5th steering engine 13 and the manipulator
20 are drivingly connected, and the 5th steering engine 13 drives the manipulator 20 to be rotated along steering engine axis；4 bottom end of the machinery hand cradle is fixedly connected with institute
State the steering engine shaft end of the 5th steering engine 13；5th steering engine 13 can driving manipulator frame 4 along steering engine axis rotate；The third rudder
The steering engine axis of machine 23 is parallel with the steering engine axis of the 4th steering engine 83；The steering engine axis of 4th steering engine 83 and the 5th steering engine
13 steering engine axis is vertical；Mechanical arm posture is adjusted by the second steering engine of remote control 21, third steering engine 23 and the 4th steering engine 83,
And then make the operation of manipulator 20 to specified position and posture.
The above is only the preferred embodiment of the utility model, it should be pointed out that：For the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (5)
1. the gripping executing agency on a kind of mechanical arm, it is characterised in that：Including mechanical arm and manipulator (20), the manipulator
(20) it is installed on the execution end of the mechanical arm：
The manipulator (20) include the 6th steering engine (93), mechanical hand cradle (4), the first engagement wheel (72), the second engagement wheel (17),
First male arms (14), the second male arms (10), the first machine pawl (3), the second machine pawl (8), the first rocking bar (2) and the second rocking bar (9)；
The machinery hand cradle (4) is platy structure in the shape of a " convex "；The one side of the machinery hand cradle (4) is symmetrically installed with the
One engagement wheel (72) and the second engagement wheel (17)；The first engagement wheel (72) and the second engagement wheel (17) are partial gear knot
Structure has teeth portion (71) intermeshing connection between the first engagement wheel (72) and the second engagement wheel (17)；
The first male arms (14) and second are also protruded respectively in the contoured wall of the first engagement wheel (72) and the second engagement wheel (17)
Male arms (10), first male arms (14) and the second male arms (10) are opened at inverted "eight" shape upwards；
First rocking bar (2) and the second rocking bar (9) are symmetrical set, the lower end point of first rocking bar (2) and the second rocking bar (9)
It is not articulated and connected at the top of "convex" shaped with the mechanical hand cradle (4)；First rocking bar (2) and the second rocking bar (9) it is upper
End is articulated and connected with the middle part of the first machine pawl (3) and the second machine pawl (8) respectively；The first machine pawl (3) and the second machine pawl
(8) hypomere end is articulated and connected with the end of the first male arms (14) and the second male arms (10) respectively；The first machine pawl (3) and
The epimere of second machine pawl (8) is respectively the first gripping section (1) and the second gripping section (7)；6th steering engine (93) is installed on institute
The another side of mechanical hand cradle (4) is stated, the 6th steering engine (93) is engaged wheel (17) with described second and is drivingly connected.
2. the gripping executing agency on a kind of mechanical arm according to claim 1, it is characterised in that：First gripping section
(1) and the end of the second gripping section (7) is respectively provided with the first pull hook (5) bent inwardly and the second drag hook (6)；Described first
When gripping section (1) and the second gripping section (7) do pinching action, the end of the first pull hook (5) and the second drag hook (6) presss from both sides inwardly
It draws.
3. the gripping executing agency on a kind of mechanical arm according to claim 1, it is characterised in that：The mechanical arm includes
Second steering engine (21), the second steering engine braced frame (18), third steering engine (23), third steering engine braced frame (22), the first joint
(63), second joint (73), the 4th steering engine (83), the 4th steering engine braced frame (19) and the 5th steering engine (13)；
The second steering engine braced frame (18) is installed on machine human organism (24), and second steering engine (21) is vertically installed on
In the second steering engine braced frame (18)；The third steering engine braced frame (22) is located at the second steering engine braced frame
(18) top, and the steering engine shaft top of second steering engine (21) is fixedly connected with the third steering engine braced frame (22)；Institute
Stating the second steering engine (21) can drive the third steering engine braced frame (22) to rotate horizontally；The third steering engine braced frame (22)
In be horizontally installed with the third steering engine (23)；
First joint (63) and second joint (73) are U-shaped frame structure；First joint (63) and second joint (73)
Crossbeam portion (93.1) be fixed to each other installation connection, two curb girders of first joint (63) are pivotally mounted to the third rudder
Machine braced frame (22) both sides, and the third steering engine (23) and the curb girder of first joint (63) are drivingly connected, third rudder
Machine (23) can drive the first joint (63) dynamic along the steering engine shaft rotation of the third steering engine (23)；
4th steering engine (83) is rotatably mounted between two curb girders of the second joint (73), the 4th steering engine (83)
Two curb girders of steering engine axis and the second joint (73) be drivingly connected, the steering engine body of the 4th steering engine (83) can be in the 4th steering engine
(83) it is rotated under driving；It is installed with the 4th steering engine braced frame on the steering engine body of 4th steering engine (83)
(19), it is also equipped with the 5th steering engine (13) on the 4th steering engine braced frame (19)；5th steering engine (13) and institute
Manipulator (20) drive connection is stated, the 5th steering engine (13) drives the manipulator (20) to be rotated along steering engine axis.
4. the gripping executing agency on a kind of mechanical arm according to claim 3, it is characterised in that：The machinery hand cradle
(4) bottom end is fixedly connected with the steering engine shaft end of the 5th steering engine (13)；5th steering engine (13) can driving manipulator frame (4)
It is rotated along steering engine axis.
5. the gripping executing agency on a kind of mechanical arm according to claim 3, it is characterised in that：The third steering engine
(23) steering engine axis is parallel with the steering engine axis of the 4th steering engine (83)；The steering engine axis and the described 5th of 4th steering engine (83)
The steering engine axis of steering engine (13) is vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721689685.0U CN207747065U (en) | 2017-12-07 | 2017-12-07 | A kind of gripping executing agency on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721689685.0U CN207747065U (en) | 2017-12-07 | 2017-12-07 | A kind of gripping executing agency on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207747065U true CN207747065U (en) | 2018-08-21 |
Family
ID=63148903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721689685.0U Expired - Fee Related CN207747065U (en) | 2017-12-07 | 2017-12-07 | A kind of gripping executing agency on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207747065U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877495A (en) * | 2017-12-07 | 2018-04-06 | 西安工业大学 | A kind of clamp-type manipulator of robot |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
-
2017
- 2017-12-07 CN CN201721689685.0U patent/CN207747065U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877495A (en) * | 2017-12-07 | 2018-04-06 | 西安工业大学 | A kind of clamp-type manipulator of robot |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
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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 |
Granted publication date: 20180821 Termination date: 20191207 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |