CN103317525A - Improved structure of industrial mechanical arms - Google Patents
Improved structure of industrial mechanical arms Download PDFInfo
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- CN103317525A CN103317525A CN2013102496365A CN201310249636A CN103317525A CN 103317525 A CN103317525 A CN 103317525A CN 2013102496365 A CN2013102496365 A CN 2013102496365A CN 201310249636 A CN201310249636 A CN 201310249636A CN 103317525 A CN103317525 A CN 103317525A
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- industrial machinery
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Abstract
The invention relates to an improved structure of industrial mechanical arms. The structure comprises a clamping mechanism body (1) and clamping arms (6). A control mechanism used for controlling the clamping ends of the two clamping arms (6) to conduct clamping or loosening is arranged in the clamping mechanism body (1). Anti-skidding protruding grains are arranged on the end faces of the clamping ends of the clamping arms (6) in contact with a clamped object. By means of the structure, friction between the clamping ends of the mechanical arms and the clamped object can be increased, and the problem that the clamped object is prone to fall is well solved.
Description
Technical field
The present invention relates to a kind of improvement structure of industrial machinery arm.
Background technology
Be used for to reproduce staff the technique device of function be called manipulator.Manipulator is the part action of imitating staff, realizes the robot apparatus of automatic capturing, carrying or operation by preset sequence, track and requirement.The manipulator of using in industrial production is called as industry mechanical arm.Industry mechanical arm is a new technology that occurs in the automation field in modern age, and has become an important component part in the modern mechanical manufacturing production system, and this development of new techniques is very fast, becomes gradually an emerging subject---manipulator engineering.Manipulator relates to the scientific domains such as mechanics, mechanics, electrical equipment hydraulic technique, automatic control technology, sensor technology and computer technology, is a transsubject complex technology.
Industry mechanical arm is a kind of high-tech automatic producing device that grows up nearly decades.Industry mechanical arm also is an important branch of industrial robot.His characteristics are to finish by programming the operation of various expections, have people and machine advantage separately concurrently at structure and performance, especially are embodied in people's intelligence and adaptability.The ability that fulfils assignment in the accuracy of manipulator operation and the environment has widely development space in the national economy field.
The development of manipulator is because its positive role just is familiar with for people day by day: one, it can be partly the replacement manually-operated; Two, it can according to the requirement of production technology, follow transmission and the loading and unloading of finishing workpiece in certain program, time and position; Three, it can operate necessary facility and welds and assemble, thereby has improved greatly workman's working condition, has improved significantly labor productivity, accelerates to realize the paces of industrial production mechanization and automation.Thereby, be subject to the attention of a lot of countries, drop into a large amount of manpower and materials and study and use.Especially at high temperature, high pressure, dust, noise and with the occasion of radioactivity and pollution, application more extensive.In China faster development was arranged also in recent years, and obtained certain effect, be subject to the attention of mechanical industry.
Manipulator is a kind of control object that often runs in the field of industrial automatic control.Manipulator can be finished many work, as removes thing, assembling, cutting, spray-painting etc., uses very extensive.In modern industry, the automation in the production process has become outstanding theme.The automatization level of all trades and professions is more and more higher, and modernized job shop often is furnished with manipulator, to enhance productivity, finishes that the workman is difficult to finish or dangerous work.Clamping device is one of most important part of manipulator, by clamping device, and the operation that manipulator could grasp and move firmly, accurately.The mechanical gripper of manipulator mostly is two clutch types that refer to, the motion mode of grabbing by its hand can be divided into translating type and rotary type.The rotary type hand has been grabbed and can be divided into single fulcrum and two fulcrum rotary type, can be divided into external clamping and inner bearing type by method of clamping.But, in the existing clamping device, accurate not for the control of clamping framework bare terminal end.And bare terminal end the situation that gripped object comes off often occurs when clamping gripped object.
Summary of the invention
Technical problem to be solved by this invention provides a kind of improvement structure of industrial machinery arm, and this structure can increase the frictional force between mechanical hand bare terminal end and the gripped object, preferably resolves gripped object and holds caducous problem.
The present invention solves the problems of the technologies described above the technical scheme that adopts: the improvement structure of industrial machinery arm, comprise clamping device body, clamping arm, have the bare terminal end clamping of two clamping arms of control or the controlling organization that unclamps in the clamping device body, the end face that the bare terminal end of described clamping arm contacts with gripped object is provided with anti-skidding burr.The end face that this connection fruit fruit contacts with gripped object at bare terminal end is provided with anti-skidding burr, can increase the frictional force between mechanical hand bare terminal end and the gripped object, preferably resolves gripped object and holds caducous problem.In this programme, the bare terminal end clamping of two clamping arms of control or the controlling organization that unclamps adopt prior art to realize, anti-skidding burr is that end face that bare terminal end contacts with gripped object is set to concavo-convex alternate structure and gets final product, it can be the concavo-convex alternate shape of rule, such as waveform, zigzag etc., also can be various irregular shapes.
As a kind of mode that realizes this programme, described controlling organization comprises control lever, voussoir, rotation roller, rotation roller is installed in the clamping device body interior and can rotates along installation shaft, also be provided with through hole in the clamping device body, control lever one end passes through hole and is fixedly connected with voussoir, the other end is connected with driving mechanism, driving mechanism by the inclined-plane that drives control lever and move the control voussoir away from rotation roller or near and hold rotation roller and consist of controlling organization, clamping arm one end is fixedly connected with rotation roller, and the other end of clamping arm consists of bare terminal end.
Have on the outer wall of described control lever and protrude the limited block that consists of, limited block is between through hole and driving mechanism.
Described limited block is the circular ring structure that radially protrudes along on the outer wall of control lever, perhaps is that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block overlaps with the central shaft of through hole, and the end face of limited block outermost end to the control lever central shaft apart from the radius length of length greater than through hole.
The cross section of described voussoir is isosceles trapezoid, and control lever one end passes through hole and is fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir.
The angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 10 °-30 °.As preferably, the angle that consists of between the waist of isosceles trapezoid and the height of isosceles trapezoid is 18 °.
Described rotation roller, clamping arm are respectively 2 and be symmetricly set on the voussoir two ends.
Be provided with elastic mechanism between described two clamping arms.
Described elastic mechanism is spring or spring leaf.
The invention has the beneficial effects as follows:
1, structure of the present invention can increase the frictional force between mechanical hand bare terminal end and the gripped object, preferably resolves gripped object and holds caducous problem.
2, the present invention is long in order to prevent that driving mechanism from driving the distance that control lever advances, outer wall at control lever has the limited block that protrudes formation, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, so that control lever can not move on, more accurate to the control of clamping framework bare terminal end.
Description of drawings
Fig. 1 is structural representation of the present invention.
Parts title corresponding to number in the figure is: 1-clamping device body, 2-control lever, 3-limited block, 4-voussoir, 5-rotation roller, 6-clamping arm, 7-fastening bolt, 8-elastic mechanism, the anti-skidding burr of 9-.
The specific embodiment
As shown in Figure 1, the improvement structure of the industrial machinery arm of the present embodiment comprises clamping device body 1, control lever 2, limited block 3, voussoir 4, rotation roller 5, clamping arm 6, rotation roller 5 is installed in clamping device body 1 inside and can rotates along installation shaft, also be provided with through hole in the clamping device body 1, control lever 2 one ends pass through hole and are fixedly connected with voussoir 4, the other end is connected with driving mechanism, the inclined-plane that driving mechanism consists of control voussoir 4 away from rotation roller 5 or near and hold the controlling organization of rotation roller 5, and have on the outer wall of control lever and protrude the limited block 3 that consists of, clamping arm 6 one ends are fixedly connected with rotation roller 5, the other end of clamping arm 6 consists of bare terminal end, the end face that bare terminal end contacts with gripped object is provided with anti-skidding burr, anti-skidding burr is that end face that bare terminal end contacts with gripped object is set to concavo-convex alternate structure and gets final product, it can be the concavo-convex alternate shape of rule, such as waveform, zigzag etc. also can be various irregular shapes.
In the present embodiment, the cross section of described voussoir 4 is isosceles trapezoid, and control lever 2 one ends pass through hole and are fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir 4; Rotation roller 5, clamping arm 6 are respectively 2 and be symmetricly set on voussoir 4 two ends, from sectional view, rotation roller 5, clamping arm 6 are symmetricly set on the both sides of isosceles trapezoid, are provided with elastic mechanism 8 between two clamping arms 6, and elastic mechanism 8 is spring or spring leaf.Described limited block 3 is the circular ring structure that radially protrudes along on the outer wall of control lever, perhaps is that several are along radially protruding and equally distributed projection on the outer wall of control lever.Described limited block 3 overlaps with the central shaft of through hole, and the end face of limited block 3 outermost end to the control lever central shaft apart from the radius length of length greater than through hole.The angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid (being to indicate the angle shown in the camber line of angle among Fig. 1) is 10 °-30 °, is preferably 18 °.Test finds, when angle is 18 °, when driving mechanism drives control lever and advances, the most easily drives rotation roller 5 and rotate, and this moment driving mechanism power output minimum.Can play preferably control to mechanical hand.
The improvement structure of the industrial machinery arm of the present embodiment as shown in Figure 1, its course of work is as follows:
When driving mechanism drive control lever advances, inclined-plane by voussoir 4 contacts with rotation roller 5, driving mechanism drives control lever and moves on, the inclined-plane of voussoir 4 drives rotation roller 5 and rotates under the effect of frictional force, rotation roller 5 drives clamping arm 6 rotations also so that the close clamping of the bare terminal end of clamping arm 6, when voussoir 4 moves backward, the elastic force by elastic mechanism so that the bare terminal end of clamping arm 6 unclamp.Because be rolling friction between voussoir and the rotation roller, frictional force is little, and is less to the infringement of workpiece, and simple in structure, is convenient to control.Long in order to prevent that driving mechanism from driving the distance that control lever advances, outer wall at control lever has the limited block 3 that protrudes formation, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, so that control lever can not move on, more accurate to the control of clamping framework bare terminal end.
As mentioned above, can implement preferably the present invention.
Claims (10)
1. the improvement structure of industrial machinery arm, it is characterized in that, comprise clamping device body (1), clamping arm (6), have the bare terminal end clamping of two clamping arms of control (6) or the controlling organization that unclamps in the clamping device body (1), the end face that the bare terminal end of described clamping arm (6) contacts with gripped object is provided with anti-skidding burr.
2. the improvement structure of industrial machinery arm according to claim 1, it is characterized in that, described controlling organization comprises control lever (2), voussoir (4), rotation roller (5), rotation roller (5) is installed in clamping device body (1) inside and can rotates along installation shaft, the clamping device body also is provided with through hole in (1), control lever (2) one ends pass through hole and are fixedly connected with voussoir (4), the other end is connected with driving mechanism, driving mechanism by the inclined-plane that drives control lever and move control voussoir (4) away from rotation roller (5) or near and hold rotation roller (5) and consist of controlling organization, clamping arm (6) one ends are fixedly connected with rotation roller (5), and the other end of clamping arm (6) consists of bare terminal end.
3. the improvement structure of industrial machinery arm according to claim 2 is characterized in that, has on the outer wall of described control lever to protrude the limited block (3) that consists of, and limited block (3) is between through hole and driving mechanism.
4. the improvement structure of industrial machinery arm according to claim 3, it is characterized in that, described limited block (3) is the circular ring structure that radially protrudes along on the outer wall of control lever, perhaps is that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block (3) overlaps with the central shaft of through hole, and the end face of limited block (3) outermost end to the control lever central shaft apart from the radius length of length greater than through hole.
5. the improvement structure of industrial machinery arm according to claim 2 is characterized in that, the cross section of described voussoir (4) is isosceles trapezoid, and control lever (2) one ends pass through hole and are fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir (4).
6. the improvement structure of industrial machinery arm according to claim 5 is characterized in that, the angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 10 °-30 °.
7. the improvement structure of industrial machinery arm according to claim 6 is characterized in that, the angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 18 °.
8. according to claim 2 to the improvement structure of 7 each described industrial machinery arms, it is characterized in that, described rotation roller (5), clamping arm (6) are respectively 2 and be symmetricly set on voussoir (4) two ends.
9. the improvement structure of industrial machinery arm according to claim 6 is characterized in that, is provided with elastic mechanism (8) between described two clamping arms (6).
10. the improvement structure of industrial machinery arm according to claim 7 is characterized in that, described elastic mechanism (8) is spring or spring leaf.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102496365A CN103317525A (en) | 2013-06-23 | 2013-06-23 | Improved structure of industrial mechanical arms |
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| CN2013102496365A CN103317525A (en) | 2013-06-23 | 2013-06-23 | Improved structure of industrial mechanical arms |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104651883A (en) * | 2015-02-11 | 2015-05-27 | 山西鑫普洋商贸有限公司 | Anti-falling device of tightening element of small box fastener for electrolytic aluminum multifunctional crown block |
| CN104760046A (en) * | 2015-03-19 | 2015-07-08 | 济南华天恒达科技有限公司 | Excrement detection card abandoning device |
| CN105598723A (en) * | 2016-01-08 | 2016-05-25 | 哈尔滨工业大学 | Centering type locking mechanism based on piezoelectric motor drive |
| CN113478447A (en) * | 2021-07-20 | 2021-10-08 | 贵州黔新哲米科技有限公司 | Electromechanical device troubleshooting device |
Citations (5)
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| SU1202881A1 (en) * | 1984-07-23 | 1986-01-07 | Одесский Филиал Всесоюзного Проектно-Конструкторского Технологического Института Строительного,Дорожного И Коммунального Машиностроения | Powered arm |
| CN102350704A (en) * | 2011-09-24 | 2012-02-15 | 李阳阳 | Novel pneumatic mechanical claw |
| CN202828684U (en) * | 2012-08-02 | 2013-03-27 | 攀枝花云钛实业有限公司 | Titanium and titanium alloy brinqueting batch carrying tool |
| CN103042532A (en) * | 2012-12-12 | 2013-04-17 | 重庆舰帏机械有限公司 | Work piece clamping device for feeding mechanism |
| CN203357466U (en) * | 2013-06-23 | 2013-12-25 | 四川海普工控技术有限公司 | Clamping end damping structure of robot arm |
-
2013
- 2013-06-23 CN CN2013102496365A patent/CN103317525A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1202881A1 (en) * | 1984-07-23 | 1986-01-07 | Одесский Филиал Всесоюзного Проектно-Конструкторского Технологического Института Строительного,Дорожного И Коммунального Машиностроения | Powered arm |
| CN102350704A (en) * | 2011-09-24 | 2012-02-15 | 李阳阳 | Novel pneumatic mechanical claw |
| CN202828684U (en) * | 2012-08-02 | 2013-03-27 | 攀枝花云钛实业有限公司 | Titanium and titanium alloy brinqueting batch carrying tool |
| CN103042532A (en) * | 2012-12-12 | 2013-04-17 | 重庆舰帏机械有限公司 | Work piece clamping device for feeding mechanism |
| CN203357466U (en) * | 2013-06-23 | 2013-12-25 | 四川海普工控技术有限公司 | Clamping end damping structure of robot arm |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104651883A (en) * | 2015-02-11 | 2015-05-27 | 山西鑫普洋商贸有限公司 | Anti-falling device of tightening element of small box fastener for electrolytic aluminum multifunctional crown block |
| CN104651883B (en) * | 2015-02-11 | 2017-10-20 | 广西百矿铝业有限公司 | Electrolytic aluminium multifunction crane small box fastener twists head part anti-drop device |
| CN104760046A (en) * | 2015-03-19 | 2015-07-08 | 济南华天恒达科技有限公司 | Excrement detection card abandoning device |
| CN105598723A (en) * | 2016-01-08 | 2016-05-25 | 哈尔滨工业大学 | Centering type locking mechanism based on piezoelectric motor drive |
| CN105598723B (en) * | 2016-01-08 | 2017-07-28 | 哈尔滨工业大学 | The centring type retaining mechanism driven based on piezo-electric motor |
| CN113478447A (en) * | 2021-07-20 | 2021-10-08 | 贵州黔新哲米科技有限公司 | Electromechanical device troubleshooting device |
| CN113478447B (en) * | 2021-07-20 | 2022-06-14 | 贵州黔新哲米科技有限公司 | Electromechanical device troubleshooting device |
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Application publication date: 20130925 |