CN208100366U - A kind of mechanical grip arm - Google Patents

A kind of mechanical grip arm Download PDF

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Publication number
CN208100366U
CN208100366U CN201721877693.8U CN201721877693U CN208100366U CN 208100366 U CN208100366 U CN 208100366U CN 201721877693 U CN201721877693 U CN 201721877693U CN 208100366 U CN208100366 U CN 208100366U
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China
Prior art keywords
arm
base
self
controller
link block
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Application number
CN201721877693.8U
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Chinese (zh)
Inventor
王丹
于小焱
任宇宏
张永乐
宋钢
凌云
何勇
黄田
杨学光
易茂丽
林发生
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China Jianzhong Nuclear Fuel Co Ltd
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China Jianzhong Nuclear Fuel Co Ltd
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Priority to CN201721877693.8U priority Critical patent/CN208100366U/en
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Abstract

The utility model belongs to nuclear fuel assembly design field, specially a kind of mechanical grip arm, including fixed base, the control arm being mounted on base, the self-adapting detecting fixture for being mounted on control arm end and the controller being mounted on base.Control arm can be realized along X-axis and Y-axis rotation, and self-adapting detecting fixture can make spinning motion, the accurate movement of manipulator and freely converting for locality thus may be implemented, to not only increase the rotation angle and working range of manipulator, and realize multi-faceted detection to workpiece, adaptive clamping limb energy adjust automatically angle is consistent with side surface of workpiece, to guarantee the orientation and angle that clamp to screen work.

Description

A kind of mechanical grip arm
Technical field
The utility model belongs to nuclear fuel assembly design field, and in particular to a kind of mechanical grip arm.
Background technique
Metal works of the screen work as a kind of specific use in component, in order to meet weld strength, surface smoothness etc. It is required that screen work uses soldering processes, need to carry out weld seam detection to each grid of screen work.Due to the space of the grid of screen work Smaller, by the way of manually visualizing detection screen work solder joint quality, detection efficiency is extremely low, and detection workload is heavy, increases Production cost, phenomena such as being easy to appear false retrieval, missing inspection.
Mechanical clamping device in screen work appearance inspection device is required to the screen work of clamping automatic feed mechanism storage simultaneously The orientation and angle of clamped screen work can be converted, freely to guarantee the accurate positionin of detection efficiency and product to be detected, maximum limit The generation for avoiding missing inspection, erroneous detection of degree.
Summary of the invention
The purpose of the utility model is to provide a kind of mechanical grip arm, the orientation and angle of clamped screen work can be freely converted Degree guarantees the accurate positionin of detection efficiency and product to be detected.
The technical solution of the utility model is as follows:
A kind of mechanical grip arm including fixed base, the control arm being mounted on base, is mounted on control arm end Self-adapting detecting fixture and the controller being mounted on base.
The control arm includes connector, middle arm and forearm, and the connector is rotatablely connected with base and by controlling Spinning motion is made in device control in X-axis, and middle arm and connector are rotatablely connected and are swung in Y-axis by controller control, forearm and Middle arm rotation connection is simultaneously swung in Y-axis by controller control, and self-adapting detecting fixture is mounted on forearm by fixture link block End, self-adapting detecting fixture is controlled by controller on fixture link block makees spinning motion;
Self-adapting detecting fixture in the mechanical grip arm includes gripper cylinder, and is connect with gripper cylinder and phase To the fixed clamping arm and adaptive clamping limb of setting;Screen work is between fixed clamping arm and adaptive clamping limb, driving folder Cylinder is held, so that screen work is clamped.
The adaptive clamping limb includes clamping plate link block, intermediate adaptation bar, upper clip and lower clamping piece, the clamping plate Link block is L shape, and end panels are fixedly mounted on gripper cylinder slide head, is adapted among installation in the panel of the other end Bar, upper clip and lower clamping piece are separately mounted to intermediate adaptation bar both ends, and the intermediate bar middle part that adapts to is hinged with clamping plate link block, It is hinged that upper clip and lower clamping piece adapt to boom end with centre respectively.
It further include the support rod of fixed setting, the base is fixed on support rod.
The beneficial effects of the utility model are as follows:
Control arm in mechanical grip arm can be realized along X-axis and Y-axis rotation, and self-adapting detecting fixture can make rotation Movement, thus the accurate movement of manipulator and freely converting for locality may be implemented, to not only increase manipulator Angle and working range are rotated, and realizes the multi-faceted detection to workpiece.It is adaptive to press from both sides by the way that adaptive clamping limb is arranged Upper clip, lower clamping piece and intermediate adaptation bar are set in gripping arm, wherein upper clip and lower clamping piece and the intermediate bar that adapts to are to be rotatablely connected, Bar rotation can be all adapted to around centre;It is rotation connection that centre, which adapts to bar and clamping plate link block, can also be rotated around clamping plate link block;Cause This is when it is not right angle that screen work side surface of workpiece, which is not straight line or angle, adaptive clamping limb energy adjust automatically angle and workpiece Side is consistent.The present apparatus adapts to the foozle of screen work, the detection and localization suitable for screen work.
Detailed description of the invention
Fig. 1 is mechanical grip arm schematic diagram;
Fig. 2 is mechanical grip arm side view;
Fig. 3 is self-adapting detecting fixture schematic diagram;
Fig. 4 is adaptive clamping limb schematic diagram;
Fig. 5 is schematic diagram on rear side of adaptive clamping limb;
In figure:1. support rod;2. base;3. control arm;4. fixture;5. controller;6. connector;7. middle arm;8. forearm; 9. link block;401. gripper cylinder;402. fixed clamping arm;403. adaptive clamping limbs;404. clamping plate link blocks;405. intermediate Adapt to bar;406. upper clip;407. lower clamping piece.
Specific embodiment
Below by the drawings and the specific embodiments, the utility model is described in further detail.
As depicted in figs. 1 and 2, mechanical grip arm include the support rod 1 of fixed setting, base 2 fixed on support rod 1, The control arm 3 being mounted on base 2, the control for being mounted on the self-adapting detecting fixture 4 of 3 end of control arm and being mounted on base 2 Device 5 processed.
Above-mentioned control arm 3 includes connector 6, middle arm 7 and forearm 8.Connector 6 is rotatablely connected with base 2 and by controlling Spinning motion is made in the control of device 5 in X-axis, and middle arm 7 is rotatablely connected with connector 6 and is swung in Y-axis by the control of controller 5, preceding Arm 8 is rotatablely connected with middle arm 7 and is swung in Y-axis by the control of controller 5.Self-adapting detecting fixture 4 is pacified by fixture link block 8 Mounted in the end of above-mentioned forearm 8, make spinning motion on fixture link block 9 by the control of controller 5.
As shown in figure 3, self-adapting detecting fixture 4, including gripper cylinder 401, and it connect with gripper cylinder 401 and opposite The fixed clamping arm 402 and adaptive clamping limb 403 of setting;Screen work 1 is located at fixed clamping arm 402 and adaptive clamping limb 403, Gripper cylinder 401 is driven, so that screen work 1 is clamped.
As shown in Figure 4 and Figure 5, adaptive clamping limb 403 includes clamping plate link block 404, intermediate adaptation bar 405, upper clip 406 and lower clamping piece 407, the clamping plate link block 404 is L shape, and end panels are fixedly mounted on 401 slide head of gripper cylinder On, bar 405 is adapted among installation in the panel of the other end.Upper clip 406 and lower clamping piece 407 are separately mounted to intermediate adaptation bar 405 both ends, intermediate 405 middle part of bar that adapts to is hinged with clamping plate link block, upper clip 406 and lower clamping piece 407 respectively with centre It is hinged to adapt to 405 end of bar.
Intermediate adaptation bar 405, upper clip 406 and the lower clamping piece 407 of adaptive clamping limb 403 can be within a certain angle Horizontally rotate, when clamping irregular screen work, the intermediate of adaptive clamping limb 403 adapts to bar 405, upper clip 406 and lower folder Piece 407 can be relatively rotated to adapt to the shape of screen work according to the shape of screen work, to adapt to the foozle of different screen works.

Claims (3)

1. a kind of mechanical grip arm, it is characterised in that:Including fixed base (2), the control arm (3) being mounted on base (2), The controller (5) for being mounted on the self-adapting detecting fixture (4) of control arm (3) end and being mounted on base (2);
The self-adapting detecting fixture (4) includes gripper cylinder (401), and and gripper cylinder(401)It connects and sets in opposite directions The fixed clamping arm (402) and adaptive clamping limb (403) set;Screen work is located at fixed clamping arm (402) and adaptive clamping limb (403) it between, drives gripper cylinder (401), so that screen work is clamped;
The adaptive clamping limb (403) include clamping plate link block (404), it is intermediate adapt to bar (405), upper clip (406) and Lower clamping piece (407), the clamping plate link block (404) are L shape, and end panels are fixedly mounted on gripper cylinder (401) slide head On, bar (405) are adapted among installation in the panel of the other end, upper clip (406) and lower clamping piece (407) are separately mounted to centre Adapt to bar (405) both ends, upper clip (406) and lower clamping piece hinged with clamping plate link block in the middle part of intermediate adaptation bar (405) (407) hinged with centre adaptation bar (405) end respectively.
2. a kind of mechanical grip arm as described in claim 1, it is characterised in that:The control arm (3) includes connector (6), middle arm (7) and forearm (8), the connector (6) and base (2) are rotatablely connected and by controller (5) control in X-axis Make spinning motion, middle arm (7) is rotatablely connected with connector (6) and is swung in Y-axis by controller (5) control, and forearm (8) is in Arm (7) rotation connection is simultaneously swung in Y-axis by controller (5) control, and self-adapting detecting fixture (4) passes through fixture link block (9) It is mounted on the end of forearm (8), self-adapting detecting fixture (4) is controlled by controller (5) to be made on fixture link block (9) from transhipment It is dynamic.
3. a kind of mechanical grip arm as claimed in claim 1 or 2, it is characterised in that:It further include the support rod of fixed setting (1), the base (2) is fixed on support rod (1).
CN201721877693.8U 2017-12-28 2017-12-28 A kind of mechanical grip arm Active CN208100366U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721877693.8U CN208100366U (en) 2017-12-28 2017-12-28 A kind of mechanical grip arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721877693.8U CN208100366U (en) 2017-12-28 2017-12-28 A kind of mechanical grip arm

Publications (1)

Publication Number Publication Date
CN208100366U true CN208100366U (en) 2018-11-16

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CN201721877693.8U Active CN208100366U (en) 2017-12-28 2017-12-28 A kind of mechanical grip arm

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CN (1) CN208100366U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531554A (en) * 2018-12-28 2019-03-29 德是正(苏州)智能科技有限公司 A kind of planer-type palletizing mechanical arm
CN110108714A (en) * 2019-04-28 2019-08-09 浙江博拉自动化科技有限公司 A kind of auto parts and components appearance detection system and device
CN116673888A (en) * 2023-08-01 2023-09-01 通用技术集团沈阳机床有限责任公司 Floating clamp

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531554A (en) * 2018-12-28 2019-03-29 德是正(苏州)智能科技有限公司 A kind of planer-type palletizing mechanical arm
CN110108714A (en) * 2019-04-28 2019-08-09 浙江博拉自动化科技有限公司 A kind of auto parts and components appearance detection system and device
CN116673888A (en) * 2023-08-01 2023-09-01 通用技术集团沈阳机床有限责任公司 Floating clamp
CN116673888B (en) * 2023-08-01 2024-01-02 通用技术集团沈阳机床有限责任公司 Floating clamp

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