CN207824857U - A kind of industrial machine arm - Google Patents
A kind of industrial machine arm Download PDFInfo
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- CN207824857U CN207824857U CN201820200856.7U CN201820200856U CN207824857U CN 207824857 U CN207824857 U CN 207824857U CN 201820200856 U CN201820200856 U CN 201820200856U CN 207824857 U CN207824857 U CN 207824857U
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- sliding slot
- plate
- gripping
- industrial machine
- power plant
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Abstract
The utility model discloses a kind of industrial machine arms, it is related to Industrial Robot Technology field, existing machinery arm is solved when being captured there are the article of cambered surface for cylinder etc., existing crawl is unstable, it is easy to cause the problem of article falls damage, the utility model includes arm mechanism and handgrip mechanism, handgrip mechanism includes being internally provided with the headstock of power plant, sliding slot group there are four uniformly being opened up on power box body, it is both provided with the gripping body being connect with power plant in four sliding slot groups, gripping body include with by sliding slot group and power plant cooperation fixed plate and be hinged on the movable plates of fixed plate both sides, the gripping plate with elastic bendable is provided between the movable plate of both sides, it is connected with electric telescopic rod between gripping plate and fixed plate.
Description
Technical field
The utility model is related to Industrial Robot Technology fields, more particularly to a kind of industrial machine arm.
Background technology
With the development of social science and technology, in field of industrial production, hand labor is constantly by mechanized equipment institute's generation
It replaces, especially the appearance of industrial robot, further instead of hand labor even more in industrial process stream.Mechanical arm is
The automated machine of most broad practice is obtained in a type and Industrial Robot Technology field in industrial robot
Device can see it in fields such as industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations
Figure.Although their form is had nothing in common with each other, all there are one common features for they, are to receive instruction, accurately
Ground carries out positioning operation.
Existing mechanical arm is generally divided into arm segment and grip portion, the movement of arm segment control machinery arm,
Crawl of the grip portion control machinery arm to article, the handgrip on existing mechanical arm are typically mutual using two fixture blocks
It squeezes and generates frictional force with article surface to capture article.For the article of rectangle, existing handgrip can be very good to utilize fixture block
Frictional force between article plane realizes that article captures；But for cylindrical article, because there are arcs for article surface
Face can make crawl unstable, be likely to result in the problem of article falls damage so simply carrying out crawl using two fixture blocks.
Utility model content
The purpose of this utility model is that：In order to solve existing machinery arm there are the articles of cambered surface for cylinder etc.
When being captured, existing crawl is unstable, is easy to cause the problem of article falls damage, and the utility model provides a kind of industry
Use mechanical arm.
The utility model specifically uses following technical scheme to achieve the goals above：
A kind of industrial machine arm, including arm mechanism and handgrip mechanism, handgrip mechanism include being internally provided with power
The headstock of device uniformly opens up on power box body there are four sliding slot group, is both provided in four sliding slot groups and power fills
Set the gripping body of connection, gripping body include with by sliding slot group and power plant cooperation fixed plate and be hinged on fixation
The movable plate of plate both sides is provided with the gripping plate with elastic bendable between the movable plate of both sides, grips between plate and fixed plate
It is connected with electric telescopic rod.
Further, sliding slot group includes sliding slot a and is symmetrically opened in two sliding slot b of the both sides sliding slot a, two sliding slot b it
Between distance from headstock periphery to being gradually reduced on the direction at headstock center, fixed plate top by sliding slot a with it is dynamic
Power apparatus connects, and movable plate side top is coordinated by fixture block and sliding slot b.
Further, power plant includes driving motor and the power plate that is connect with driving motor, and power panel surface is set
The sliding block for being equipped with flat thread and coordinating with flat thread, sliding block are located in sliding slot a, and sliding block is connect with movable plate.
Further, gripping plate surface is provided with elastic anti-slip layer.
Further, one end that electric telescopic rod is connect with gripping plate is provided with pressure sensor, pressure sensor and electricity
Dynamic telescopic rod electrical connection.
Further, arm mechanism end is provided with chassis, and several idler wheel mechanisms are provided on chassis.
The beneficial effects of the utility model are as follows：
It, can simultaneously and cylindrical articles by the gripping body being uniformly arranged in handgrip mechanism 1. in the utility model
Surrounding carry out extruding contact, article can also be stablized while increasing frictional force between handgrip and article, and grip
Flexible gripping plate can be bent into certain radian in mechanism, so as to closely be pasted with the cylinder cambered surface of cylindrical objects
Close, further increasing frictional force prevents article from falling, while also tight article in the form of stablizing it in the process of grasping,
Prevent article occur unusual fluctuation cause to capture it is unstable.
2. power plant can drive fixed plate to move, to drive gripping body to be moved horizontally along sliding slot a, with suitable
The gripping demand of the cylindrical articles of different-diameter size is answered, while when the movable plate in gripping body is slided along sliding slot b, it can be with
Change the distance between both sides movable plate end, that is, changes the opening and closing degree of movable plate, to change the bending degree of gripping plate,
That is curvature, the different circumferential curvature of cylinder to adapt to different-diameter size.
3. driving motor can drive four sliding blocks to synchronize displacement simultaneously by the flat thread on power plate, also
It realizes while four gripping bodies being driven to be moved, cylindrical articles surrounding when ensure that stability and the crawl of crawl
Stress equilibrium, further preventing article to occur unusual fluctuation in the process of grasping causes article to fall damage.
4. the frictional force between elastic anti-slip layer increase gripping plate and article, further improves article in the process of grasping
Stability.
5. pressure sensor can detect gripping plate and squeeze generated pressure with article in real time, whether article is judged with this
It clamps, and electric telescopic rod can be operated according to testing result, if pressure is less than standard value, control electric expansion stretching
To increase clamping dynamics to increasing friction force, article is further prevented to slide.
6. idler wheel mechanism increases the flexibility of the present apparatus, device is allow to apply in different places.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the enlarged partial sectional view of grasping mechanism in Fig. 1；
Fig. 3 is the upward view of Fig. 2；
Fig. 4 is the partial enlarged view at A in Fig. 3；
Reference numeral：1- headstocks, 2- power plants, 2.1- sliding blocks, 2.2- power plates, 2.3- flat threads, 2.4- drive
Dynamic motor, 3- sliding slot groups, 3.1- sliding slots a, 3.2- sliding slot b, 4- gripping body, 4.1- fixed plates, 4.2- grip plate, 4.3- activities
Plate, 4.4- electric telescopic rods, 5- fixture blocks, 6- pressure sensors, 7- elastic anti-slip layers, 8- handgrip mechanisms, 9- arm mechanisms, 10-
Chassis, 11- idler wheel mechanisms.
Specific implementation mode
In order to which those skilled in the art are better understood from the utility model, below in conjunction with the accompanying drawings with following embodiment to this
Utility model is described in further detail.
Embodiment 1
A kind of industrial machine arm, including arm mechanism 9 and handgrip mechanism 8, handgrip mechanism 8 are dynamic including being internally provided with
The headstock 1 of power apparatus 2 uniformly opens up on 1 babinet of headstock there are four sliding slot group 3, be both provided in four sliding slot groups 3 with
The gripping body 4 that power plant 2 connects, gripping body 4 include and the fixed plate 4.1 by sliding slot group 3 and the cooperation of power plant 2
And it is hinged on the movable plate 4.3 of 4.1 both sides of fixed plate, it is provided with the folder with elastic bendable between both sides movable plate 4.3
Plate 4.2 is taken, grips and is connected with electric telescopic rod 4.4 between plate 4.2 and fixed plate 4.1.
Operation principle：Power plant 2 first in handgrip mechanism 8 controls gripping body 4 and opens, and subsequent arm mechanism 9 is controlled
Handgrip mechanism 8 processed moves down, and gripping body 4 is made to be located at the periphery of cylindrical articles, and power plant 2 controls gripping body
4 close up and clamp article, and arm mechanism 9 controls handgrip mechanism 8 and carries out mobile transfer article, in the process, in gripping body 4
Flexible gripping plate 4.2 and the circumference of cylindrical articles fit closely.
In the utility model, by the gripping body being uniformly arranged in handgrip mechanism, can simultaneously with cylindrical articles
Surrounding carries out extruding contact, can also stablize article, and catching device while increasing frictional force between handgrip and article
Flexible gripping plate can be bent into certain radian in structure, so as to be fitted closely with the cylinder cambered surface of cylindrical objects,
Further increasing frictional force prevents article from falling, while also tight article is prevented in the form of stablizing it in the process of grasping
Only article occur unusual fluctuation cause to capture it is unstable.
Embodiment 2
The present embodiment is improved on the basis of embodiment 1：
Sliding slot group 3 includes sliding slot a3.1 and two sliding slot b3.2 for being symmetrically opened in the both sides sliding slot a3.1, two sliding slots
The distance between b3.2 is gradually reduced on the direction from 1 periphery of headstock to 1 center of headstock, and 4.1 top of fixed plate passes through
Sliding slot a3.1 is connect with power plant 2, and 4.3 side top of movable plate is coordinated by fixture block 5 and sliding slot b3.2.
Operation principle：With the variation of cylindrical objects diameter, the curvature of circumference cambered surface can also change, so
When being captured to different size of cylindrical article, need to change the bending degree that plate 4.2 is gripped in gripping body 4, i.e. curvature,
To be bonded the circumference cambered surface of the cylindrical objects of different curvature size, by by between two sliding slot b3.2 in sliding slot group 3 away from
From being set as being gradually reduced on the direction from the periphery of headstock 1 to 1 center of headstock, the position with gripping body 4 is realized
In-migration changes the opening and closing degree of both sides movable plate 4.3, that is, realizes the bending degree and curvature for changing gripping plate 4.2.
The above advantage of improving is：Power plant can drive fixed plate to move, to drive gripping body along sliding slot a water
Translation is dynamic, and to adapt to the gripping demand of the cylindrical articles of different-diameter size, while the movable plate in gripping body is along sliding slot b
When sliding, thus it is possible to vary the distance between both sides movable plate end changes the opening and closing degree of movable plate, to change gripping plate
Bending degree, i.e. curvature, the different circumferential curvature of cylinder to adapt to different-diameter size.
Embodiment 3
The present embodiment is improved on the basis of embodiment 1：
Power plant 2 includes driving motor 2.4 and the power plate 2.2 being connect with driving motor 2.4,2.2 table of power plate
The sliding block 2.1 that face is provided with flat thread 2.3 and coordinates with flat thread 2.3, sliding block 2.1 are located in sliding slot a3.1, sliding block
2.1 connect with movable plate 4.3.
The above advantage of improving is：Driving motor by the flat thread on power plate can drive simultaneously four sliding blocks into
Row synchronous shift is also achieved that while four gripping bodies being driven to be moved, ensure that stability and the crawl of crawl
When cylindrical articles surrounding stress equilibrium, further preventing article to occur unusual fluctuation in the process of grasping causes article to fall damage
It is bad.
Embodiment 4
The present embodiment is improved on the basis of above example：
4.2 surface of gripping plate is provided with elastic anti-slip layer 7.
The above advantage of improving is：Frictional force between elastic anti-slip layer increase gripping plate and article, further improves
The stability of article in the process of grasping.
Embodiment 5
The present embodiment is improved on the basis of above example：
Electric telescopic rod 4.4 and one end for connecting of gripping plate 4.2 are provided with pressure sensor 6, pressure sensor 6 with it is electronic
Telescopic rod 4.4 is electrically connected.
The above advantage of improving is：Pressure sensor can detect gripping plate and squeeze generated pressure with article in real time,
Judge whether article clamps with this, and electric telescopic rod can be operated according to testing result, if pressure is less than standard value,
Control electric expansion is stretched out to increase clamping dynamics to increasing friction force, and article is further prevented to slide.
Embodiment 6
The present embodiment is improved on the basis of above example：
9 end of arm mechanism is provided with chassis 10, and several idler wheel mechanisms 11 are provided on chassis 10.
The above advantage of improving is：
Idler wheel mechanism increases the flexibility of the present apparatus, and device is allow to apply in different places.
The above, the only preferred embodiment of the utility model, are not intended to limit the utility model, the utility model
Scope of patent protection be subject to claims, it is equivalent made by every specification and accompanying drawing content with the utility model
Structure change similarly should be included in the scope of protection of the utility model.
Claims (6)
1. a kind of industrial machine arm, including arm mechanism (9) and handgrip mechanism (8), it is characterised in that：Handgrip mechanism (8)
Headstock (1) including being internally provided with power plant (2), uniformly opens up that there are four sliding slot groups on headstock (1) babinet
(3), it is both provided with the gripping body (4) being connect with power plant (2) on four sliding slot groups (3), gripping body (4) includes and leads to
It crosses the fixed plate (4.1) of sliding slot group (3) and power plant (2) cooperation and is hinged on the movable plate of fixed plate (4.1) both sides
(4.3), it is provided with the gripping plate (4.2) with elastic bendable between both sides movable plate (4.3), grips plate (4.2) and fixes
Electric telescopic rod (4.4) is connected between plate (4.1).
2. industrial machine arm according to claim 1, it is characterised in that：Sliding slot group (3) include sliding slot a (3.1) with
Symmetrical two sliding slot b (3.2) for being opened in sliding slot a (3.1) both sides, the distance between two sliding slot b (3.2) are from headstock
(1) it is gradually reduced on periphery to the direction at headstock (1) center, fixed plate (4.1) top is filled by sliding slot a (3.1) and power
(2) connection is set, movable plate (4.3) side top is coordinated by fixture block (5) and sliding slot b (3.2).
3. industrial machine arm according to claim 1, it is characterised in that：Power plant (2) includes driving motor
(2.4) and with driving motor (2.4) power plate (2.2) connecting, power plate (2.2) surface are provided with flat thread (2.3)
And the sliding block (2.1) with flat thread (2.3) cooperation, sliding block (2.1) are located in sliding slot a (3.1), sliding block (2.1) and fixation
Plate (4.1) connects.
4. according to any industrial machine arms of claim 1-3, it is characterised in that：Grip the setting of plate (4.2) surface
Flexible skid resistant course (7).
5. industrial machine arm according to claim 4, it is characterised in that：Electric telescopic rod (4.4) and gripping plate
(4.2) one end connected is provided with pressure sensor (6), and pressure sensor (6) is electrically connected with electric telescopic rod (4.4).
6. industrial machine arm according to claim 5, it is characterised in that：Arm mechanism (9) end is provided with chassis
(10), several idler wheel mechanisms (11) are provided on chassis (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820200856.7U CN207824857U (en) | 2018-02-06 | 2018-02-06 | A kind of industrial machine arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820200856.7U CN207824857U (en) | 2018-02-06 | 2018-02-06 | A kind of industrial machine arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207824857U true CN207824857U (en) | 2018-09-07 |
Family
ID=63397058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820200856.7U Active CN207824857U (en) | 2018-02-06 | 2018-02-06 | A kind of industrial machine arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207824857U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181501A (en) * | 2019-07-12 | 2019-08-30 | 嘉兴勤慎智能技术有限公司 | A kind of firm industrial robot of crawl |
| CN110482213A (en) * | 2019-09-06 | 2019-11-22 | 天通吉成机器技术有限公司 | Mechanism is closed up in code material equipment and its crawl |
| CN110682284A (en) * | 2019-09-30 | 2020-01-14 | 南京荧河谷科技有限公司 | Electric flexible grabbing robot |
-
2018
- 2018-02-06 CN CN201820200856.7U patent/CN207824857U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181501A (en) * | 2019-07-12 | 2019-08-30 | 嘉兴勤慎智能技术有限公司 | A kind of firm industrial robot of crawl |
| CN110482213A (en) * | 2019-09-06 | 2019-11-22 | 天通吉成机器技术有限公司 | Mechanism is closed up in code material equipment and its crawl |
| CN110682284A (en) * | 2019-09-30 | 2020-01-14 | 南京荧河谷科技有限公司 | Electric flexible grabbing robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 226000 Room 302, building 11, Xingfu new town, Chongchuan District, Nantong City, Jiangsu Province Patentee after: Jiangsu Zunshi Intelligent Technology Co.,Ltd. Address before: 450001 No. 1501, 15th floor, No. 7 A Block, Dongqing Street, Zhengzhou High-tech Industrial Development Zone, Henan Province Patentee before: ZHENGZHOU YINGBORUI ELECTRONIC TECHNOLOGY Co.,Ltd. |