CN208358833U - Adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm - Google Patents
Adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm Download PDFInfo
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- CN208358833U CN208358833U CN201820646071.2U CN201820646071U CN208358833U CN 208358833 U CN208358833 U CN 208358833U CN 201820646071 U CN201820646071 U CN 201820646071U CN 208358833 U CN208358833 U CN 208358833U
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- support rod
- steering engine
- driving support
- support plate
- fixed support
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Abstract
Adaptively with dynamic formula mechanical arm tail end executing agency, including fixed support plate, left driving support rod, right driving support rod, driven support rod, mechanical grip, height stand washer, height stand cushion block, the first cross rudder stock, the second cross rudder stock, steering engine shaft joint, steering engine, high recovery sponge on a kind of applied robot's arm.Using hinge parallel four-bar linkage the face of seizing on both sides by the arms during occlusion is remained vertically, and adapts to the crawl of different size, shaped objects by the different deformation of high recovery sponge.The utility model has the advantages that: can steady fast clamp material clamp precision is high in severe bad border, and structure is simple, and it is that can provide the larger power of seizing on both sides by the arms in the big object of clamping that gripper easy to process, which is dehisced greatly,.
Description
Technical field
The invention belongs to robot fields, and in particular to adaptively with dynamic formula mechanical arm end on a kind of applied robot's arm
Hold executing agency.
Background technique
Currently, China is in the crucial transition period strided forward from manufacture big country to manufacturing power, culture has innovation essence
The highly qualified professional of mind, cooperative spirit and the ability of practice becomes the urgent task for higher education, right current many institution of higher learning
Education system cannot adapt to the demand of society completely, and the outmoded, educational structure of educational thought unreasonable has resulted in student's
The ability of practice is insufficient, under this situation, it is intended to improve College students ' Comprehensive Ability quality, culture Creative Design Ability and work comprehensively
The mechanical contest of the journey ability of practice is come into being.
In numerous robot fields, it is desirable that gripper can the operation in severe bad border, such as narrow narrow slit is high
Air rescue needs to grab the object of different size, shape in the case where different occasions do not change structure.The present invention is just
It is that design of setting out is put based on this, so that this gripper clamping range is big, biggish chucking power can be generated, pass through parallel four side of hinge
Shape mechanism adapts to various objects using high recovery sponge so that mechanical grip face of seizing on both sides by the arms during occlusion remains vertically.
This gripper uses driving arm and gear integrated design simultaneously, and not only the processing is simple, more simplifies installation steps.
In existing robot field, such as the mechanical contest of university student of colleges and universities of country development, such as engineering training are competing
Mechanical subjects contest, the utility model such as match, mechanical contest are capable of providing effective gripper solution.
Summary of the invention
The design needs the case where grabbing object for existing robot field, and being capable of providing one kind can be in severe bad border
In steady fast clamp material, simple structure, the processing is simple, accurate, the low-cost gripper solution of crawl.
To achieve the above object, the invention adopts the following technical scheme: adaptive same on a kind of applied robot's arm
Dynamic formula mechanical arm tail end executing agency, including fixed support plate, left driving support rod, right driving support rod, driven support rod, machine
Tool clamping jaw, height stand washer, height stand cushion block, the first cross rudder stock, the second cross rudder stock, steering engine shaft joint, steering engine, height
Recovery sponge, it is characterised in that: the fixed support plate left end is provided with the rectangular slot for running through lower surface from upper surface, and rectangle is opened
Slot the right and left is respectively provided with a hole location, is provided with steering engine, the servo driving tooth below the fixed support plate rectangular slot
Wheel upward, is inserted into the fixed support plate rectangular slot connection cooperation from bottom to top, is provided with first above the steering engine gear
Cross rudder stock, opens in crosswise that there are five hole locations, and the first cross rudder stock and the steering engine on the first cross rudder stock
Between be provided with left driving support rod, open that there are three hole location, three hole locations and institutes on the right of the left driving support rod among gear
The three on the same line position stated on the first cross rudder stock matches, and the left driving support rod left side thin bar end is provided with
One hole location is each provided with a piece of mechanical grip above and below the hole location, and is provided between two panels mechanical grip a piece of
Height stand cushion block, described mechanical grip the right are provided with one piece of high recovery sponge, are provided with one on the right side of the fixed support plate
Fluting and a hole location, the hole location surface are provided with height stand washer, are provided with the right side above the height stand washer
Support rod is driven, thin bar end is provided with a hole location on the right of the right driving support rod, is respectively arranged above and below the hole location
There is a piece of mechanical grip, and is provided with a piece of height stand cushion block between two panels mechanical grip, the mechanical grip left side setting
There is one piece of high recovery sponge, the fixed support plate rear end opens that there are two hole locations, and two holes that fixed support plate rear end is provided with
It is provided with steering engine shaft joint on position, steering engine shaft joint rear end is provided with the second cross rudder stock, the fixed support plate front end
It opens there are two hole location, is each provided with a height stand washer above two hole locations that the fixed support plate front end is provided with,
It is each provided with a driven support rod above described two height stand washers, the steering engine electrically connects with external control system
It connects.
Preferably, referring to attached drawing 3 and attached drawing 4, the face steering engine shaft joint A open there are four hole location to cross rudder stock 2
It is fixedly connected by screw；The steering engine shaft joint is designed using H-type card slot, and B is opened in face there are four hole location, fixed support plate
It is inserted into steering engine shaft joint card slot, is fixedly connected by cross recess fillister head screw.
Preferably, the steering engine (14) is fixedly connected with fixed support plate (15) by cross recess fillister head screw.
Preferably, left driving support rod (6) is mounted on the left of fixed support plate (15), right driving support rod (12), installation
On the right side of fixed support plate (15), the left driving support rod (6) and the intermeshing of right driving support rod (12).
Preferably, described two mechanical grips (2) mutually fix structure by screw and nut with a height stand cushion block (3)
At clamping apparatus, amount to two clamping apparatus.
Preferably, it there are two the driving support rod is arranged altogether, is separately mounted to above fixed support plate (15) front end.
Preferably, two fixations of left driving support rod (6) and driven support rod (5) on fixed support plate (15)
Hole location forms hinge parallelogram mechanism with two fixed hole positions in mechanical grip root, seizes the face beginning on both sides by the arms during occlusion
It keeps eventually vertical.
Preferably, the polyether polyol that the high recovery sponge (16) blocks using EO, polyethers activity is larger, production
Sponge foaming pore diameter size mixed distribution out, skeleton thickness is different, there is very big percent opening, can be in not similar shape when being pressurized
The bounce of different support forces is generated under change state.Different size, shape are adapted to by the different deformation of high recovery sponge (16)
The crawl of shape object.
The invention has the advantages that can in severe bad border steady fast clamp material clamp precision it is high, and structure letter
Single, gripper easy to process is dehisced greatly, can provide the larger power of seizing on both sides by the arms using this design clamping big object.
Detailed description of the invention
Fig. 1 is structural blast schematic diagram of the invention；
Fig. 2 is assembling schematic diagram of the invention；
Fig. 3 is the three-view diagram of steering engine connecting shaft and fixed support plate cooperation；
Fig. 4 is the structural schematic diagram of steering engine connecting shaft；
In Fig. 1: 1-M3 hexagonal locking nut, 2- mechanical grip, 3- height stand cushion block, hexagonal cylindrical head spiral shell in 4- concave head
Nail, the driven support rod of 5-, the left driving support rod of 6-, the first cross of 7- rudder stock, 8- cross recess fillister head screw, six in 9- concave head
Angle fillister head screw, the second cross of 10- rudder stock, 11- steering engine shaft joint, the right driving support rod of 12-, 13- height stand washer,
14- steering engine, 15- fixed support plate, 16- high recovery sponge.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
Attached drawing 1-4 is please referred to, the present invention provides a kind of technical solution: adaptive same dynamic formula on a kind of applied robot's arm
Mechanical arm tail end executing agency, including fixed support plate 15, left driving support rod 6, right driving support rod 12, driven support rod 5,
Mechanical grip 2, height stand washer 13, height stand cushion block 3, the first cross rudder stock 7, the second cross rudder stock 10, steering engine connecting shaft
Device 11, steering engine 14, high recovery sponge 16, the rectangle that 15 left end of fixed support plate is provided with from upper surface through lower surface are opened
Slot, rectangular slot the right and left are respectively provided with a hole location, are provided with steering engine 14 below the rectangular slot of the fixed support plate 15,
The steering engine 14 drives gear upward, and steering engine 14 is inserted into rectangular slot from bottom to top and connect cooperation with rectangular slot, described
It is provided with the first cross rudder stock 7 above 14 gear of steering engine, is in hole location there are five crosswise is opened on the first cross rudder stock 7, and
Left driving support rod 6, left 6 the right tooth of driving support rod are provided between the first cross rudder stock 7 and the steering engine 14
Wheel is intermediate to be opened there are three hole location, and three hole locations are matched with the three on the same line position on the first cross rudder stock 7,
6 left side thin bar end of left driving support rod is provided with a hole location, is each provided with a piece of machinery above and below the hole location
Clamping jaw 2, and a piece of height stand cushion block 3 is provided between two panels mechanical grip 2, one piece is provided on the right of the mechanical grip 2
High recovery sponge 16 is provided with a fluting and a hole location on the right side of the fixed support plate 15, is provided with right above the hole location
Height stand washer 13 is provided with right driving support rod 12, the right driving support rod 12 above the height stand washer 13
The right thin bar end is provided with a hole location, a piece of mechanical grip 2 is each provided with above and below the hole location, and two panels machinery presss from both sides
A piece of height stand cushion block 3 is provided between pawl 2,2 left side of mechanical grip is provided with one piece high recovery sponge 16, described solid
Determine 15 rear end of support plate to open there are two hole location, and is provided with steering engine shaft joint in two hole locations being provided with of 15 rear end of fixed support plate
11,11 rear end of steering engine shaft joint is provided with the second cross rudder stock 10.15 front end of fixed support plate is opened there are two hole location,
A height stand washer 13 is each provided with above two hole locations that 15 front end of fixed support plate is provided with, it is described two high
A driven support rod 5 is each provided with above degree supporting bead 13, the steering engine 14 is electrically connected with external control system.
Steering engine 14 in the present invention is digital rudder controller, PWM wave can be known as accurate to control rotation angle by changing a kind of wave
Degree.
The working principle of the invention and process for using: the present invention after the installation is completed, the second cross rudder stock 10 and external machine
Device is fixedly connected, and steering engine 14 drives left driving support rod 6 to rotate under PWM wave driving, left 6 right end gear of driving support rod and the right side
The engagement of driving 12 left end of support rod rotates backward right drive rod 12, and the left driving of driving support rod 6 is distinguished by two panels mechanical grip 2
It is moved inward above with each a piece of mechanical clamping device with a piece of height stand cushion block 3 in centre composition in lower section, right driving
The driving of support rod 12 by two panels mechanical grip 2 respectively above with lower section it is each it is a piece of with a piece of height stand cushion block 3 in middle groups
At opposite direction mechanical clamping device move inward, driven support rod 5 connects mechanical clamping device and fixed support plate 15, left and right
Both sides mechanical clamping device level clamps object.
The foregoing is merely preferred embodiments of the invention, not carry out range restriction to the present invention, are not departing from this hair
Under bright principle and design spirit, this field ordinary engineering and technical personnel is to any modification of the invention made, equivalent replacement and changes
Into etc., it should all be included in the protection scope of the present invention.
Claims (6)
1. adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm, it is characterised in that: including fixation
Support plate (15), left driving support rod (6), right driving support rod (12), driven support rod (5), mechanical grip (2), height are propped up
Stake pad circle (13), height stand cushion block (3), the first cross rudder stock (7), the second cross rudder stock (10), steering engine shaft joint (11), rudder
Machine (14), high recovery sponge (16), fixed support plate (15) left end are provided with the rectangular slot for running through lower surface from upper surface,
Rectangular slot the right and left is respectively provided with a hole location, is provided with steering engine below the rectangular slot of the fixed support plate (15)
(14), upward, steering engine (14) is inserted into rectangular slot from bottom to top and connect with rectangular slot steering engine (14) the driving gear
Cooperation, steering engine (14) the gear top are provided with the first cross rudder stock (7), are in crosswise on the first cross rudder stock (7)
Hole location there are five opening, and left driving support rod (6), institute are provided between the first cross rudder stock (7) and the steering engine (14)
It states and is opened among gear on the right of left driving support rod (6) there are three hole location, left three hole locations driven on support rod (6) and setting exist
Three hole locations on same straight line on the first cross rudder stock (7) match, left driving support rod (6) left side thin bar
End is provided with a hole location, is each provided with a piece of mechanical grip above and below the hole location on left driving support rod (6)
(2), it and between two panels mechanical grip (2) is provided with a piece of height stand cushion block (3), is provided on the right of the mechanical grip (2)
One piece high recovery sponge (16), fixed support plate (15) right side are provided with a fluting and a hole location, the fixed support
It is provided with height stand washer (13) right above hole location on plate (15), is provided with right drive above the height stand washer (13)
Dynamic support rod (12), right driving support rod (12) the right thin bar end are provided with a hole location, the right driving support rod
(12) it is each provided with a piece of mechanical grip (2), and is provided between two panels mechanical grip (2) a piece of above and below the hole location on
Height stand cushion block (3), mechanical grip (2) left side are provided with one piece high recovery sponge (16), the fixed support plate
(15) rear end is opened there are two hole location, and is provided with steering engine shaft joint in two hole locations being provided with of fixed support plate (15) rear end
(11), steering engine shaft joint (11) rear end is provided with the second cross rudder stock (10), and fixed support plate (15) front end is provided with
Two hole locations are each provided with a height stand washer above two hole locations that fixed support plate (15) front end is provided with
(13), a driven support rod (5), the steering engine (14) and outside are each provided with above described two height stand washers (13)
Control system is electrically connected.
2. adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm according to claim 1,
It is characterized by: steering engine shaft joint (11) face A is opened, there are four hole locations and the second cross rudder stock (10) to connect by the way that screw is fixed
It connects；The steering engine shaft joint (11) is designed using H-type card slot, and steering engine shaft joint (11) face B is opened there are four hole location, fixed branch
Fagging (15) is inserted into the card slot of steering engine shaft joint (11) and is fixedly connected by cross recess fillister head screw.
3. adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm according to claim 1,
It is characterized by: the steering engine (14) is fixedly connected with fixed support plate (15) by cross recess fillister head screw.
4. one kind according to claim 1 is applied to adaptively execute machine with dynamic formula mechanical arm tail end on robot arm
Structure, it is characterised in that: left driving support rod (6) is mounted on the left of fixed support plate (15), and right driving support rod (12) is mounted on
On the right side of fixed support plate (15), the left driving support rod (6) and the intermeshing of right driving support rod (12).
5. adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm according to claim 1,
It is characterized by: the polyether polyol that the high recovery sponge (16) blocks using EO, passes through high recovery sponge (16)
Different deformation adapts to the crawl of different size, shaped objects.
6. adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm according to claim 1,
It is characterized by: the left driving support rod (6), right driving support rod (12) and driven support rod (5) are in fixed support plate
(15) two fixed hole positions on form parallel hinges four-bar mechanism with two fixed hole positions in mechanical grip (2) root,
The face of seizing on both sides by the arms remains vertical during occlusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820646071.2U CN208358833U (en) | 2018-05-03 | 2018-05-03 | Adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820646071.2U CN208358833U (en) | 2018-05-03 | 2018-05-03 | Adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm |
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| Publication Number | Publication Date |
|---|---|
| CN208358833U true CN208358833U (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820646071.2U Expired - Fee Related CN208358833U (en) | 2018-05-03 | 2018-05-03 | Adaptively with dynamic formula mechanical arm tail end executing agency on a kind of applied robot's arm |
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| CN (1) | CN208358833U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168692A (en) * | 2020-01-17 | 2020-05-19 | 深圳信息职业技术学院 | Multifunctional science and education robot |
| CN115122384A (en) * | 2022-07-05 | 2022-09-30 | 北京工业大学 | Pickup device and pickup arm mechanism |
-
2018
- 2018-05-03 CN CN201820646071.2U patent/CN208358833U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168692A (en) * | 2020-01-17 | 2020-05-19 | 深圳信息职业技术学院 | Multifunctional science and education robot |
| CN115122384A (en) * | 2022-07-05 | 2022-09-30 | 北京工业大学 | Pickup device and pickup arm mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190111 Termination date: 20200503 |
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| CF01 | Termination of patent right due to non-payment of annual fee |