CN208663785U - Gravity mechanical hand - Google Patents

Abstract

The utility model discloses a kind of gravity mechanical hands, being intended to provide one kind has and can tively firm be mounted on truss, prolonged use not easily leads to the damage and damage of junction, the gravity mechanical hand for the advantages of avoiding mechanical hand injuryies, its key points of the technical solution are that, truss is connected between pedestal and ground, it is locked and is connected by bindiny mechanism between pedestal and truss, truss includes intermediate plate and is parallel to intermediate plate and is set to the sliding bar of its two sides, bindiny mechanism includes on pedestal for blocking the connector of intermediate plate, and the casing set on pedestal two sides, connector includes the holding tank being opened in pedestal, sliding is connected with fixed plate in holding tank, clamping bar is connected in fixed plate, clamping bar is corresponded on intermediate plate equipped with card tieholen, it is additionally provided in holding tank for pushing fixed plate towards one side slip of clamping slot Impeller, can largely promote the fastness of connection during installation.

Description

Gravity mechanical hand

Technical field

The utility model relates to industrial robot fields, and in particular to a kind of gravity mechanical hand.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.

Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

The application of mechanical arm also will be more and more extensive, manipulator be a kind of high-tech for growing up of recent decades from Move production equipment, the ability to fulfil assignment in the accuracy and environment of operation.One important branch of industry mechanical arm robot, Manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical by driving method.Feature is can be completed by programming respectively The advantage of people and robotics respectively is had concurrently in operation expected from kind, construction and performance.

Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape Formula, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations (swing), mobile or compound motion It realizes defined movement, changes by the position of grasping object and posture.

The self-movements mode, the referred to as freedom degree of manipulator such as the lifting of movement mechanism, flexible, rotation.In order to grab sky Between middle any position and orientation object, need to have 6 freedom degrees.Freedom degree is the key parameter of manipulator design.Freedom degree is got over More, the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.

General special manipulator has 2~3 freedom degrees.Control system is by the motor to each freedom degree of manipulator Control, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system The heart is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes wanted function by programming to it.

Currently, the Chinese patent of Publication No. CN108406747A discloses a kind of boosting manipulator, its arm is set thereon There is the first locking member；Adapter carries out hingedly, rotating arm to articulated shaft around X to articulated shaft by X with arm；Locking Mechanism is detachably mounted on adapter；

It is adjacent to adapter when arm is turned to around X to articulated shaft, retaining mechanism and the first locking member are sealed, make arm and turn Fitting is fixedly connected；Connector carries out hingedly, making the adapter being fixedly connected and arm by Z-direction articulated shaft with adapter It is rotated simultaneously around Z-direction articulated shaft；Lift drive mechanism is connect with the connector, is used for drive connection part, adapter and hand Arm is moved along Z-direction.

Although this boosting manipulator solves the transporting velocity and strength that are manually unable to control manipulator, quality is big, volume Equal workpiece is not difficult to the problem of loading and unloading, but since the weight of current gravity mechanical hand is larger, is merely able to be mounted on truss It is applied, and this manipulator is more difficult is mounted on truss, link position is easy the damage that crumbles after prolonged use, makes At the damage of manipulator.

Summary of the invention

The purpose of the utility model is to provide a kind of gravity mechanical hands, and truss can be tively firm mounted on by having On, prolonged use not easily leads to the damage and damage of junction, the advantages of avoiding mechanical hand injuryies.

The above-mentioned technical purpose of the utility model has the technical scheme that

A kind of gravity mechanical hand, including pedestal and the mechanical arm being connected on pedestal, mechanical arm includes mutually rotation The level-one arm and second level arm of connection, level-one arm are connect with pedestal, and second level arm end is equipped with and mechanical paw, between pedestal and ground It is connected with truss, is locked and is connected by bindiny mechanism between pedestal and truss, truss includes intermediate plate and is parallel to intermediate plate simultaneously Sliding bar set on its two sides, bindiny mechanism include being used to block the connector of intermediate plate on pedestal, and be set to pedestal The casing of two sides, connector include the holding tank being opened in pedestal, and sliding is connected with fixed plate in holding tank, connects in fixed plate It is connected to clamping bar, clamping bar is corresponded on intermediate plate and is equipped with card tieholen, is additionally provided in holding tank for pushing fixed plate towards clamping The impeller of one side slip of slot.

By using above-mentioned technical proposal, when operator needs for gravity mechanical hand to be mounted on truss, can incite somebody to action Casing is set on the sliding bar of truss, is then docked pedestal with intermediate plate, is restarted impeller, and the fixation in holding tank is made Plate slides downwards, so that clamping bar be made to be arranged in clamping slot, such one side casing can be set on sliding bar, carry out compared with Firmly to connect, on the other hand slides bar and be arranged in card tieholen, be also able to ascend the fastness of connection, while intermediate card Tight bar and the casing of two sides cooperate, and are also able to ascend stability, prevent gravity mechanical hand from turning on one's side.

The fastness of connection so can be largely promoted during installation, even if a clamping bar fracture, other cards Tight bar is also able to use, it will be able to and prolonged normal operation is kept, prolonged use is prevented and leads to the damage of junction, Avoid the damage and economic loss of manipulator.

Further setting: being equipped with the pushing plate for being parallel to fixed plate in holding tank, pushing plate and fixed plate pass through connecting rod Fixed, connecting rod is equipped with several around fixed plate central point, and impeller is able to drive pushing plate sliding.

Further setting: impeller includes the motor reducer for being parallel to horizontal plane and being fixed on holding tank top surface, motor Driving lead screw is connected with by bevel gear on the output shaft of retarder, driving screw rod penetrates pushing plate and connects with pushing plate screw thread It connects, and the end of lead screw is driven to be integrally formed with limited block, the diameter of limited block is greater than the diameter of driving lead screw.

By using above-mentioned technical proposal, motor reducer drives driving lead screw rotation, passes through driving lead screw and pushing plate Between screw thread, it will be able to drive pushing plate to slide up and down, simultaneously because the setting of limited block, it will be able to prevent driving lead screw de- It integrally topples from caused by pushing plate.

Further setting: impeller includes the scissors type elevating part being connected between pushing plate and holding tank roof, scissor The side of formula lifters is hinged with pushing plate and holding tank roof respectively, and the other side slides be connected to pushing plate and holding tank respectively On roof, impeller further includes the pusher cylinder being fixed on holding tank roof, the output shaft and scissors type elevating of pusher cylinder The side of part sliding connection is hinged.

Further setting: scissors type elevating part includes two groups of lifting groups disposed in parallel, and lifting group includes cross-articulation First hinge bar and the second hinge bar pass through several pin shaft rotation connections between the first hinge bar and the second hinge bar.

By using above-mentioned technical proposal, the output shaft of pusher cylinder pushes the first hinge bar, the first hinge bar and second Hinge bar is rotated relative to intermediate hinge joint, it will be able to change the angle between the first hinge bar and the second hinge bar, thus Change the bearing height of scissors type elevating part, to realize the purpose that pushing plate and fixed plate are released to holding tank.

Further setting: be rotatablely connected between level-one arm pedestal, and by the first rotary electric machine control rotation, second level arm with It is rotatablely connected between level-one arm, level-one arm is equipped with rotating disc and the second rotary electric machine for driving rotation disc spins, rotation One second level arm end of disk passes through hinged telescopic rod connection thereon.

By using above-mentioned technical proposal, the first rotary electric machine rotation, it will be able to change and the folder between horn and pedestal The axial-rotation of mechanical arm is realized at angle, likewise, the second rotary electric machine rotational energy changes the folder between second level arm and level-one arm Angle promotes the freedom degree of entire manipulator.

Further setting: second level arm end is rotatably connected to mechanical paw and the third for controlling mechanical paw rotation turns Motor is moved, several mechanical fingers are rotatably connected on mechanical paw, mechanical finger is arranged around the center of mechanical paw, and by setting Actuator in mechanical paw drives rotation.

By using above-mentioned technical proposal, when clamping high-precision part, can be carried out more by sharp finger tip It accurately clamps, part can be also bonded by the inclined-plane of triangle finger tip, further promotes the fastness and essence of integral retaining Accuracy, to be not easy the case where causing part to fall off during pickup

In conclusion the utility model has the following beneficial effects:

The fastness of connection can be largely promoted during installation, even if a clamping bar fracture, other clamping bars Also it is able to use, it will be able to keep prolonged normal operation, prevent prolonged use and lead to the damage of junction, avoid Cause the damage and economic loss of manipulator.

Detailed description of the invention

The present invention will be further described with reference to the accompanying drawing.

Fig. 1 is the structural schematic diagram of embodiment 1；

Fig. 2 is in embodiment 1 for showing the schematic diagram of impeller；

Fig. 3 is in embodiment 1 for showing the schematic diagram of mechanical paw；

Fig. 4 is in embodiment 2 for showing the schematic diagram of impeller.

In figure, 1, pedestal；2, mechanical arm；21, level-one arm；22, second level arm；23, mechanical paw；24, the first rotation electricity Machine；25, the second rotary electric machine；26, rotating disc；27, telescopic rod；28, third rotary electric machine；3, truss；31, intermediate plate；32, sliding Move bar；4, bindiny mechanism；41, connector；411, holding tank；412, fixed plate；413, clamping bar；414, card tieholen；42, it covers Pipe；5, impeller；51, pushing plate；52, connecting rod；53, motor reducer；54, lead screw is driven；55, limited block；6, scissor-type Lifters；61, pusher cylinder；62, lifting group；63, the first hinge bar；64, the second hinge bar；7, mechanical finger；71, pawl seat；72, Interconnecting piece；721, horizon bar；722, first connecting rod；723, second connecting rod；724, intermediate connecting rod；725, third connecting rod；726, Double leval jib；727, non-slip texture；728, protective cover；73, finger tip；8, actuator；81, drive disk；82, motion bar；83, it drives Axis；84, driving wheel；85, accommodating groove；86, drawstring.

Specific embodiment

Specific embodiments of the utility model will be further explained with reference to the accompanying drawing.

The technical scheme adopted by the utility model is

Embodiment 1, a kind of gravity mechanical hand, as shown in Figure 1, including pedestal 1 and the mechanical arm 2 being connected on pedestal 1, Mechanical arm 2 includes the level-one arm 21 and second level arm 22 being mutually rotatablely connected, and level-one arm 21 is connect with pedestal 1,22 end of second level arm End is equipped with and mechanical paw 23, and truss 3 is connected between the pedestal 1 and ground, passes through connection machine between pedestal 1 and truss 3 The locking connection of structure 4.

As shown in Figure 1, being rotatablely connected between 21 pedestal 1 of level-one arm, and pass through the control rotation of the first rotary electric machine 24, second level Be rotatablely connected between arm 22 and level-one arm 21, level-one arm 21 be equipped with rotating disc 26 and for drive rotating disc 26 rotate second Rotary electric machine 25,26 1 second level arm of rotating disc, 22 end are connected by hinged telescopic rod 27 thereon.22 end of second level arm turns It is dynamic to be connected with mechanical paw 23 and the third rotary electric machine 28 for controlling the rotation of mechanical paw 23, the company of rotation on mechanical paw 23 Several mechanical fingers 7 are connected to, mechanical finger 7 is arranged around the center of mechanical paw 23, and the drive by being set in mechanical paw 23 Moving part 8 drives rotation.

As shown in Figure 1, truss 3 includes intermediate plate 31 and is parallel to intermediate plate 31 and is set to the sliding bar 32 of its two sides, even Connection mechanism 4 includes for blocking the connector 41 of intermediate plate 31, and the casing 42 set on 1 two sides of pedestal on pedestal 1, even Fitting 41 includes the holding tank 411 being opened in pedestal 1, slides in holding tank 411 and is connected with fixed plate 412, in fixed plate 412 It is connected with clamping bar 413, clamping bar 413 is corresponded on intermediate plate 31 and is not shown in the figure equipped with card tieholen 414(), in holding tank 411 It is additionally provided with the impeller 5 for pushing fixed plate 412 towards one side slip of clamping slot.

As shown in Figure 1, being equipped with the pushing plate 51 for being parallel to fixed plate 412, pushing plate 51 and fixed plate in holding tank 411 412 is fixed by connecting rod 52, and connecting rod 52 is equipped with several around 412 central point of fixed plate, and impeller 5 is able to drive promotion Plate 51 slides.Impeller 5 includes being parallel to the motor reducer 53 that horizontal plane is fixed on 411 top surface of holding tank, decelerating through motor On the output shaft of device 53 by bevel gear be connected with driving lead screw 54, driving screw rod penetrate pushing plate 51 and with 51 screw thread of pushing plate Connection, and the end of lead screw 54 is driven to be integrally formed with limited block 55, the diameter of limited block 55 is greater than the diameter of driving lead screw 54.

As shown in Figure 1, mechanical paw 23 includes that the pawl seat 71 being fixed on second level arm 22 and several are rotatably connected on Mechanical finger 7 in pawl seat 71, the whole setting hemispherical of pawl seat 71, mechanical finger 7 around pawl seat 71 the center of circle and with 71 turns of pawl seat Dynamic connection, the setting of 71 central hollow of pawl seat, bottom are equipped with for driving several mechanical fingers 7 while synchronizing to 71 center of pawl seat The actuator 8 of rotation, mechanical finger 7 include the interconnecting piece 72 connecting with pawl seat 71 and the finger tip for being rotatably connected on 72 end of interconnecting piece 73, the cross section of finger tip 73 setting triangular in shape, sharp one end is arranged towards the center of pawl seat 71.

As shown in Figure 1, interconnecting piece 72 includes the horizon bar 721 being hinged in pawl seat 71,721 middle position of horizon bar and pawl Seat 71 connects, and first connecting rod 722 and second connecting rod 723,723 end of first connecting rod 722 and second connecting rod are hinged on horizon bar 721 End is equipped with horizontally disposed intermediate connecting rod 724, is hinged with third connecting rod 725 and fourth link 726, third on intermediate connecting rod 724 Connecting rod 725 and 726 end of fourth link and between it is hinged.First connecting rod 722 and between be all provided with towards the side at 71 center of pawl seat There is non-slip texture 727, and is connected with protective cover 728 on 727 position of non-slip texture, non-slip texture 727 is set in tooth installing, in Between one end for being located in pawl seat 71 of bar be connected on actuator 8.

As shown in Figure 1, actuator 8 includes the drive disk 81 set on 71 middle position of pawl seat, drive disk 81 and several machines Tool, which refers to, to be linked between 7 by motion bar 82, and motion bar 82 is arranged around drive disk 81,82 both ends of motion bar respectively with mechanical finger 7 It is hinged with drive disk 81.Actuator 8 includes being rotatably connected on the drive shaft 83 and driving wheel 84 of 71 bottom of pawl seat, on driving wheel 84 It is arranged with drawstring 86,86 one end of drawstring is fixed on driving wheel 84, and the other end is fixed on 81 bottom center position of drive disk, driving Axis 83 is rotated by motor driven.84 outer rim of driving wheel offers the accommodating groove 85 around the setting of 84 outer rim of driving wheel, for receiving Hold winding drawstring 86 thereon, the outer fringe position of driving wheel 84 is located on 71 center line of pawl seat, the central axes of drive disk 81 and Driving wheel 84 is tangent.

Embodiment 2, a kind of gravity mechanical hand, as shown in Figure 1, difference from example 1 is that, impeller 5 includes The scissors type elevating part 6 being connected between 411 roof of pushing plate 51 and holding tank, the side of scissors type elevating part 6 respectively with push away Movable plate 51 and 411 roof of holding tank are hinged, and the other side slides respectively to be connected on pushing plate 51 and 411 roof of holding tank, push Part 5 further includes the pusher cylinder 61 being fixed on 411 roof of holding tank, the output shaft and scissors type elevating part 6 of pusher cylinder 61 The side for sliding connection is hinged.

Scissors type elevating part 6 includes two groups of lifting groups 62 disposed in parallel, and lifting group 62 includes the first hinge of cross-articulation Extension bar 63 and the second hinge bar 64 pass through several pin shaft rotation connections between first hinge bar 63 and the second hinge bar 64.

It is the preferred embodiment of the utility model above, does not impose any limitation on the present invention, All foundation the technical essence of the utility model any simple modification, equivalent change and modification made to the above embodiment, Belong in the range of utility model technical solution.

Claims (7)

1. a kind of gravity mechanical hand, including pedestal (1) and the mechanical arm (2) being connected on pedestal (1), mechanical arm (2) packet The level-one arm (21) and second level arm (22) being mutually rotatablely connected are included, level-one arm (21) is connect with pedestal (1), second level arm (22) end Equipped with mechanical paw (23), it is characterised in that: be connected with truss (3) between the pedestal (1) and ground, pedestal (1) and purlin By bindiny mechanism (4) locking connection between frame (3), truss (3) includes intermediate plate (31) and is parallel to intermediate plate (31) and sets Sliding bar (32) in its two sides, bindiny mechanism (4) include being set on pedestal (1) for blocking the connector of intermediate plate (31) (41), and the casing (42) set on pedestal (1) two sides, connector (41) include the holding tank being opened in pedestal (1) (411), sliding is connected with fixed plate (412) in holding tank (411), is connected in fixed plate (412) clamping bar (413), intermediate Clamping bar (413) are corresponded on plate (31) and are equipped with card tieholen (414), are additionally provided in holding tank (411) for pushing fixed plate (412) Towards the impeller (5) of one side slip of clamping slot.

2. gravity mechanical hand according to claim 1, it is characterised in that: be equipped with and be parallel to admittedly in the holding tank (411) The pushing plate (51) of fixed board (412), pushing plate (51) and fixed plate (412) are fixed by connecting rod (52), connecting rod (52) ring Several are equipped with around fixed plate (412) central point, impeller (5) is able to drive pushing plate (51) sliding.

3. gravity mechanical hand according to claim 2, it is characterised in that: the impeller (5) includes being parallel to horizontal plane The motor reducer (53) being fixed on holding tank (411) top surface passes through bevel gear on the output shaft of motor reducer (53) and connects It is connected to driving lead screw (54), driving screw rod penetrates pushing plate (51) and is threadedly coupled with pushing plate (51), and drives lead screw (54) End be integrally formed with limited block (55), the diameter of limited block (55) is greater than the diameter of driving lead screw (54).

4. gravity mechanical hand according to claim 2, it is characterised in that: the impeller (5) includes being connected to pushing plate (51) the scissors type elevating part (6) between holding tank (411) roof, the side of scissors type elevating part (6) respectively with pushing plate (51) and holding tank (411) roof is hinged, and the other side slides respectively to be connected on pushing plate (51) and holding tank (411) roof, Impeller (5) further includes the pusher cylinder (61) being fixed on holding tank (411) roof, the output shaft of pusher cylinder (61) with cut The side of fork elevating part (6) sliding connection is hinged.

5. gravity mechanical hand according to claim 4, it is characterised in that: the scissors type elevating part (6) includes two groups flat The lifting group (62) of row setting, lifting group (62) includes the first hinge bar (63) and the second hinge bar (64) of cross-articulation, the Pass through several pin shaft rotation connections between one hinge bar (63) and the second hinge bar (64).

6. gravity mechanical hand according to claim 1, it is characterised in that: rotated between level-one arm (21) pedestal (1) Connection, and by the first rotary electric machine (24) control rotation, it is rotatablely connected between second level arm (22) and level-one arm (21), level-one arm (21) rotating disc (26) and the second rotary electric machine (25) for driving rotating disc (26) to rotate, rotating disc (26) one or two are equipped with Grade arm (22) end passes through hinged telescopic rod (27) connection thereon.

7. gravity mechanical hand according to claim 6, it is characterised in that: second level arm (22) the end rotation connection is organic Tool gripper (23) and the third rotary electric machine (28) rotated for controlling mechanical paw (23), mechanical paw are rotatablely connected on (23) There are several mechanical fingers (7), mechanical finger (7) is arranged around the center of mechanical paw (23), and by being set to mechanical paw (23) In actuator (8) drive rotation.