CN106426261A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106426261A CN106426261A CN201610989958.7A CN201610989958A CN106426261A CN 106426261 A CN106426261 A CN 106426261A CN 201610989958 A CN201610989958 A CN 201610989958A CN 106426261 A CN106426261 A CN 106426261A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- roller
- screw
- roller guide
- paw arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator. The manipulator is characterized by comprising a base, a bottom cover, a manipulator claw arm, small gears, a motor, a large gear, rollers and a roller lead screw, wherein the motor drives the large gear to rotate and drives a plurality of small gears to perform matched driving so that the roller lead screw can vertically move and drives a row of rollers to move in sliding grooves, and the manipulator claw arm can rotate around a fixed rod and achieve a grabbing action. The problems of structure complexity, low grabbing stability and the like in the common prior art can be solved, accordingly the grabbing precision of the manipulator is improved, and the complexity of the manipulator is reduced.
Description
Technical field
The present invention relates to plant equipment design field, especially design a mechanism handss.
Background technology
With social progress, development of manufacturing is swift and violent, and automatization, mechanization require more and more higher.In commercial production system
In making, the development of mechanical hand is particularly rapid.Mechanical hand is mainly used in carrying, loading and unloading, the function such as power-assisted.At present, all kinds of machineries
The invention of handss a lot, but the complex structure compared with multi-robot, during crawl, stationarity is general, high for some required precisions
Apparatus, the crawl of instrument have also been short of.
Content of the invention
The present invention is the weak point overcoming prior art to exist, and provides a kind of mechanical hand, commonly current to solving
Complex structure in technology, crawl stationarity relatively low the problems such as, thus improving the crawl precision of mechanical hand, reduce mechanical hand complexity
Degree.
To achieve the above object of the invention, the present invention adopts the following technical scheme that：
A kind of feature of mechanical hand of the present invention includes：Pedestal, bottom, mechanical paw arm；Center in described pedestal
Place is provided with motor, on the axle of described motor, and is in the top of described pedestal and is provided with gear wheel；In described gear wheel
Surrounding is provided with several meshed little gears and ring flange II, and described ring flange II is integrated knot with little gear
Structure, and be fixed on described pedestal；The inner ring helicitic texture of several little gears described is connected with roller guide-screw respectively, and institute
State roller guide-screw and run through described pedestal；It is provided with row's roller being in the roller guide-screw side below described pedestal；Described one
Row's roller is matched with the chute of described mechanical paw arm one side；Described mechanical paw arm another side setting fixed pedestal II and
Fix bar；The bottom of described bottom is provided with groove, a pair of bearing and fixed pedestal I；Described mechanical paw arm passes through institute
State groove, and the crawl structure formed below in described bottom；Described fix bar is fixed on the pair of bearing block, and in institute
The two ends stating fix bar are provided with bearing；Limited location limit spring is set between described fixed pedestal II and described fixed pedestal I；
Described mechanical hand is with bull gear drive described in described Motor drive, and drives several pinion fits described to turn
Move so that described roller guide-screw can move up and down, and drive described row's roller to move in described chute, so that described
Mechanical paw arm can rotate around described fix bar, and realizes grasping movement.
A kind of feature of mechanical hand of the present invention lies also in, the outer tangent line difference of each roller in described row's roller
Parallel with the movement locus in described mechanical paw arm upper hopper chute place face.
One top cover is provided with described pedestal, the inner chamber of described top cover is provided with several circular holes, and respectively with described
Roller guide-screw matches；Ring flange I is provided with described top cover；Described mechanical hand is by described ring flange I and outside machine
Body phase connects.
Compared with the prior art, beneficial effects of the present invention are embodied in：
1st, the present invention is mainly formed with four groups of grasping mechanisms and drive mechanism, and being equipped with a motor can operate；Whole
Body is simple and compact for structure, reduces the quality of mechanical hand, decreases energy consumption, meanwhile, when the minimizing processing of material, assembling more
Convenient；
2nd, in the drive mechanism of the present invention, gear drive and roller guide-screw transmission are the high drive mechanism of stability,
Roller guide-screw bottom has the roller structure of aligned transfer so that mechanical paw arm is during rotating, the chute of its side
Preferably tangent with roller, it is to avoid the mutation of power in transmission process；Additionally, the circular hole of top cover setting limits roller guide-screw and removes
Other degree of freedom outside Y-axis movement, rotation, finally coordinate the restriction to mechanical paw arm for the limit spring, so that mechanical hand is completed
There is during grasping movement higher stability；
3rd, driving means of the present invention relatively fewer it is only necessary to motor driven gear rotates, decrease the multiple motors of needs
When driving collaborative work, issuable paw does the asynchronism of grasping movement.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation concealing internal drive and gripping portion after shell of the present invention；
Fig. 3 is the structural representation of the pinion portion in the drive mechanism of the present invention and roller guide-screw；
Fig. 4 is the drive mechanism the latter half structural representation of the present invention；
Fig. 5 is the structural representation of part on the mechanical paw arm of the present invention；
Fig. 6 is the structural representation of the top cover of the present invention.
In figure is numbered：1：Pedestal, 2：Top cover, 3：Ring flange I, 4：Bottom, 5：Mechanical paw arm, 6：Roller guide-screw, 7：
Little gear, 8：Ring flange II, 9：Screw, 10：Gear wheel, 11：Motor, 12：Roller, 13：Fixed pedestal I, 14：Bearing block, 15：
Groove, 16：Chute, 17：Limit spring, 18：Fixed pedestal II, 19：Fix bar, 20：Bearing, 21：Circular hole.
Specific embodiment
Below in conjunction with the accompanying drawings, by embodiment, the present invention is further illustrated.
Referring to Fig. 1, a kind of mechanical hand of the present embodiment, including：Pedestal 1, top cover 2, ring flange I 3, bottom 4, mechanical paw
Arm 5；Totally 4 primary structures, pedestal 1 are top cover 2, and pedestal is for 1 time bottom 4 and mechanical paw part.It is provided with pedestal 1
Multiple screwed holes and light-operated, in order to be attached fixing with miscellaneous part.
Referring to Fig. 2, Fig. 3, a kind of mechanical hand of the present embodiment, the center position of pedestal 1 is provided with motor 11, motor
11 position is located at below pedestal 1；The axle of motor 11 passes through pedestal 1, on its axle, and is in the top of pedestal 1 and is provided with greatly
Gear 10；It is provided with several meshed little gears 7 and ring flange II 8 around gear wheel 10, and ring flange II 8
It is structure as a whole with little gear 7, several screwed holes that this structure is passed through on ring flange II 8 are fixed on pedestal 1 by screw 9
On；Note, the accuracy of big little gear engagement will be ensured during big little gear is installed, first gear wheel 10 is installed, then according to
Secondary installation little gear 7.The inner ring helicitic texture of several little gears 7 is connected with roller guide-screw 6 respectively, and roller guide-screw 6 passes through
Wear pedestal 1, need when mounted to align the chute 16 of roller guide-screw 6 and mechanical paw arm 5 side, it is to avoid alignment error herein
The friction causing, reduces grasp stability；Roller guide-screw 6 side being in below pedestal 1 is provided with row's roller 12；One row
Roller 12 is matched with the chute 16 of mechanical paw arm 5 one side；In one row's roller 12 the outer tangent line of each roller respectively with machinery
The movement locus in paw arm 5 upper hopper chute 16 place face are parallel.
Referring to Fig. 4, Fig. 5, a kind of mechanical hand of this example, the another side setting fixed pedestal II 18 of mechanical paw arm 5 and
Fix bar 19；The bottom of bottom 4 is provided with groove 15, a pair of bearing 14 and fixed pedestal I 13；Mechanical paw arm 5 passes through
Groove 15, and the crawl structure formed below in bottom 4；Fix bar 19 is fixed in a pair of bearing 14, and in fix bar 19
Two ends be provided with bearing 20；Limited location limit spring 17 is set between fixed pedestal II 18 and fixed pedestal I 13；Limit spring
17 setting can make mechanical paw arm 5 more steady when rotating around bearing block 14, and mechanical paw arm 5 held by spring simultaneously,
Serve position-limiting action.
Referring to Fig. 6, a kind of mechanical hand of this example, the top cover 2 of setting on pedestal 1, the inner chamber of top cover 2 is provided with several
Circular hole 21, and match with roller guide-screw 6 respectively；Ring flange I 3 is provided with top cover 2；Mechanical hand be by ring flange I 3 with
External engine body is connected.
The workflow of the present embodiment is as follows：
Referring to Fig. 2, Fig. 4, when needing to carry out capturing article, motor 11 main story, drive gear wheel 10 to rotate counterclockwise, and
Several little gears 7 are driven to rotate clockwise, little gear 7 inner ring coordinates with roller guide-screw 6 so that roller guide-screw 6 moves down,
One row's roller 12 of roller guide-screw 6 lower section rolls in chute 16 simultaneously, and produce downward thrust so that gripper arm 5 around
Bearing block 14 is rotated；When mechanical paw arm 5 top half is perpendicular to pedestal, motor stalls, mechanical hand forms and grabs
Take action；When needing placing articles, motor reversal, being reversed above-mentioned action can place article.
Claims (3)
1. a kind of mechanical hand, its feature includes：Pedestal (1), bottom (4), mechanical paw arm (5)；Center in described pedestal (1)
It is provided with motor (11) at position, on the axle of described motor (11), and be in the top of described pedestal (1) and be provided with gear wheel
(10)；It is provided with meshed several little gears (7) and ring flange II (8) around described gear wheel (10), and
Described ring flange II (8) and little gear (7) are structure as a whole, and are fixed on described pedestal (1)；Several little gears described
(7) inner ring helicitic texture is connected with roller guide-screw (6) respectively, and described roller guide-screw (6) runs through described pedestal (1)；?
It is in roller guide-screw (6) side below described pedestal (1) and be provided with row's roller (12)；Described row's roller (12) with described
The chute (16) of mechanical paw arm (5) one side matches；The another side setting fixed pedestal II (18) of described mechanical paw arm (5)
And fix bar (19)；The bottom of described bottom (4) is provided with groove (15), a pair of bearing (14) and fixed pedestal I (13)；
Described mechanical paw arm (5) passes through described groove (15), and the crawl structure formed below in described bottom (4)；Described fixation
Bar (19) is fixed on the pair of bearing block (14), and the two ends of described fix bar (19) are provided with bearing 20；Described solid
Determine setting limited location limit spring (17) between pedestal II (18) and described fixed pedestal I (13)；
Described mechanical hand is to drive described gear wheel (10) to rotate with described motor (11), and drives several little gears described
(7) cooperation rotates so that described roller guide-screw (6) can move up and down, and drives described row's roller (12) in described chute
(16) move in, so that described mechanical paw arm (5) can rotate around described fix bar (19), and realize grasping movement.
2. a kind of mechanical hand according to claim 1, is characterized in that, in described row's roller (12), each roller is circumscribed
Line is paralleled with the movement locus in described mechanical paw arm (5) upper hopper chute (16) place face respectively.
3. a kind of mechanical hand according to claim 1, is characterized in that, is provided with a top cover (2) on described pedestal (1),
The inner chamber of described top cover (2) is provided with several circular holes (21), and matches with described roller guide-screw (6) respectively；On described top
It is provided with ring flange I (3) on lid (2)；Described mechanical hand is to be connected with external engine body by described ring flange I (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989958.7A CN106426261B (en) | 2016-11-10 | 2016-11-10 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989958.7A CN106426261B (en) | 2016-11-10 | 2016-11-10 | A kind of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426261A true CN106426261A (en) | 2017-02-22 |
| CN106426261B CN106426261B (en) | 2019-04-23 |
Family
ID=58207338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610989958.7A Active CN106426261B (en) | 2016-11-10 | 2016-11-10 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426261B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127637A (en) * | 2017-12-29 | 2018-06-08 | 信利（惠州）智能显示有限公司 | Manipulator |
| CN110466640A (en) * | 2019-09-25 | 2019-11-19 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of flexible disc type pawl thorn for climbing robot |
| CN113387178A (en) * | 2021-07-23 | 2021-09-14 | 力行亲和机器人科技(西安) 有限公司 | Mechanical arm tail end executing mechanism with self-locking mechanism |
| CN113681586A (en) * | 2021-09-28 | 2021-11-23 | 江苏电子信息职业学院 | Based on industrial robot anchor clamps of intelligent manufacturing |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011050112A2 (en) * | 2009-10-20 | 2011-04-28 | Nexus Biosystems, Inc. | Gripper apparatus and method for containers of different sizes |
| CN203003903U (en) * | 2012-11-29 | 2013-06-19 | 安徽惊天液压智控股份有限公司 | Hydraulic under-actuated claw |
| CN103963067A (en) * | 2014-05-06 | 2014-08-06 | 东华大学 | Flexible gripper for gripping cone yarn and working method thereof |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
-
2016
- 2016-11-10 CN CN201610989958.7A patent/CN106426261B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011050112A2 (en) * | 2009-10-20 | 2011-04-28 | Nexus Biosystems, Inc. | Gripper apparatus and method for containers of different sizes |
| CN203003903U (en) * | 2012-11-29 | 2013-06-19 | 安徽惊天液压智控股份有限公司 | Hydraulic under-actuated claw |
| CN103963067A (en) * | 2014-05-06 | 2014-08-06 | 东华大学 | Flexible gripper for gripping cone yarn and working method thereof |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127637A (en) * | 2017-12-29 | 2018-06-08 | 信利（惠州）智能显示有限公司 | Manipulator |
| CN110466640A (en) * | 2019-09-25 | 2019-11-19 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of flexible disc type pawl thorn for climbing robot |
| CN113387178A (en) * | 2021-07-23 | 2021-09-14 | 力行亲和机器人科技(西安) 有限公司 | Mechanical arm tail end executing mechanism with self-locking mechanism |
| CN113681586A (en) * | 2021-09-28 | 2021-11-23 | 江苏电子信息职业学院 | Based on industrial robot anchor clamps of intelligent manufacturing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426261B (en) | 2019-04-23 |
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