CN106737809A - Multiplex articulated robot arm hand grabs structure - Google Patents
Multiplex articulated robot arm hand grabs structure Download PDFInfo
- Publication number
- CN106737809A CN106737809A CN201710029023.9A CN201710029023A CN106737809A CN 106737809 A CN106737809 A CN 106737809A CN 201710029023 A CN201710029023 A CN 201710029023A CN 106737809 A CN106737809 A CN 106737809A
- Authority
- CN
- China
- Prior art keywords
- supporting plate
- cylinder
- linkage board
- pawl arm
- upset supporting
- 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.)
- Pending
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of multiplex articulated robot arm hand and grabs structure, unit is grabbed including pedestal, controller and two groups of hands being oppositely arranged, hand grabs unit includes pawl arm, cylinder, upset supporting plate and linkage board, the bottom surface of pawl arm has the groove through pawl arm two sides, upset supporting plate is located in groove, the two ends on upset supporting plate with rotating shaft, rotating shaft are rotatably connected with the madial wall of groove respectively；The lateral edges that overturning the back side of supporting plate has linkage board, linkage board are fixed on upset supporting plate, and relative another lateral edges extend towards oblique upper；Cylinder is fixed on the back side of pawl arm, and downward, the end of connecting rod is rotatably connected the interlinking lever end on cylinder with the upper surface of linkage board；Controller is electrically connected with cylinder.The beneficial effects of the invention are as follows the workpiece grabbing for being applicable to the various structures such as plane, sphere, simple structure is cheap.
Description
Technical field
Structure is grabbed the present invention relates to a kind of multiplex articulated robot arm hand and the mechanical arm of structure is grabbed with the hand.
Background technology
Robot arm needs targetedly opponent for the crawl of different surfaces shaped article in existing technology
Grab structure to be designed, the complex structural designs that commercially available multi-purpose type hand is grabbed, cost is high.
The content of the invention
The problem to be solved in the present invention is to provide a kind of multiplex articulated robot arm hand and grabs structure, overcomes in the prior art
Deficiency.
In order to solve the above technical problems, the technical solution adopted by the present invention is：Multiplex articulated robot arm hand grabs structure, bag
Include pedestal, controller and two groups of hands being oppositely arranged and grab unit, the hand grabs unit includes pawl arm, cylinder, upset supporting plate and connection
Dynamic plate, the bottom surface of the pawl arm has the groove through the pawl arm two sides, and the upset supporting plate is located in the groove, described to turn over
Asking has rotating shaft on plate, and the madial wall of the two ends of the rotating shaft respectively rotatably with the groove is connected；
The lateral edges that the back side of the upset supporting plate has linkage board, the linkage board are fixed on the upset supporting plate
On, relative another lateral edges extend towards oblique upper；
The cylinder is fixed on the back side of the pawl arm, the interlinking lever end on the cylinder downward, the connecting rod
End is rotatably connected with the upper surface of the linkage board；
The controller is electrically connected with the cylinder.
Further, there is switch contact, the switch contact and the cylinder, institute on the front medium position of the pawl arm
State controller electrical connection.
There is two groups of energy move toward one anothers the invention further relates to a kind of mechanical arm that structure is grabbed with the hand, on the mechanical arm
The multiplex articulated robot arm hand grabs structure.
The present invention has the advantages and positive effects that：Due to using above-mentioned technical proposal, plane, sphere etc. are applicable to
The workpiece grabbing of various structures, simple structure is cheap.
Brief description of the drawings
Fig. 1 is the overall structure diagram that hand grabs unit in the present invention；
Fig. 2 is the overall structure diagram of another angle of Fig. 1；
In figure：1- pawl arms；2- cylinders；3- connecting rods；4- overturns supporting plate；5- switch contacts；6- linkage boards；7- connecting plates；8-
Connecting shaft.
Specific embodiment
As shown in Figure 1, 2, the present invention provides a kind of multiplex articulated robot arm hand and grabs structure, including pedestal is (in figure not
Show), controller (not shown) and two groups of hands being oppositely arranged grab unit, hand grabs unit includes pawl arm 1, cylinder 2, upset supporting plate
4 and linkage board 6, the bottom surface of pawl arm 1 has the groove through the two sides of pawl arm 1, and upset supporting plate 4 is located in groove, has on upset supporting plate 4
The two ends for having rotating shaft, rotating shaft are rotatably connected with the madial wall of groove respectively；
The lateral edges that overturning the back side of supporting plate 4 has linkage board 6, linkage board 6 are fixed on upset supporting plate 4, relative
Another lateral edges extend towards oblique upper；
Cylinder 2 is fixed on the back side of pawl arm 1, the end of connecting rod 3 on cylinder 2 downward, the end of connecting rod 3 and linkage board
6 upper surface rotatably connects；
Controller is electrically connected with cylinder 2.
The course of work that the hand grabs structure is：When the workpiece that surface is plane is captured, cylinder 2 is not turned on, and two groups of hands are grabbed
Unit move toward one another by Workpiece clamping, so as to reach the purpose of crawl；When the workpiece that surface is sphere is captured, controller is opened
Cylinder 2, after the move toward one another of pawl arm 1 clamps workpiece, the connecting rod 3 on cylinder 2 pushes down on linkage board 6, now overturns supporting plate 4 and exists
Rotated towards the inner side of pawl arm 1 under the drive of rotating shaft, upset supporting plate 4 has a certain degree with the front shape of pawl arm 1, overturns supporting plate 4
Surface contacted with sphere side lower part, play a part of to hold workpiece, the contact area for increasing pawl arm 1 and sphere is reached with this,
The purpose for avoiding workpiece from sliding.
There is switch contact 5, switch contact 5 is electrically connected with cylinder 2, controller on the front medium position of pawl arm 1.Control
Device controlling switch contact 5 and the connection status of cylinder 2, when controller makes the electric signal communication between switch contact 5 and cylinder 2
When, when pawl arm 1 clamps workpiece, workpiece touch switch contact 5, cylinder 2 starts upset supporting plate 4, and now hand is grabbed suitable for sphere work
The crawl of part, when the electric signal between controller roof-cut resistence contact 5 and cylinder 2, will not open during workpiece touching switch contact 5
Take offence cylinder 2, it is the crawl of the workpiece of planar structure that now hand is grabbed suitable for surface.
Embodiments of the invention have been described in detail above, but the content is only presently preferred embodiments of the present invention,
It is not to be regarded as limiting practical range of the invention.All impartial changes made according to the present patent application scope and improvement etc.,
All should still belong within patent covering scope of the invention.
Claims (2)
1. multiplex articulated robot arm hand grabs structure, it is characterised in that：Grabbed including pedestal, controller and two groups of hands being oppositely arranged
Unit, the hand grabs unit includes pawl arm, cylinder, upset supporting plate and linkage board, and the bottom surface of the pawl arm has runs through the pawl
The groove of arm two sides, the upset supporting plate is located in the groove, has rotating shaft, the two ends point of the rotating shaft on the upset supporting plate
Madial wall not rotatably with the groove is connected；
The lateral edges that the back side of the upset supporting plate has linkage board, the linkage board are fixed on the upset supporting plate, phase
To another lateral edges towards oblique upper extend；
The cylinder is fixed on the back side of the pawl arm, the interlinking lever end on the cylinder downward, the end of the connecting rod
Upper surface with the linkage board is rotatably connected；
The controller is electrically connected with the cylinder.
2. multiplex articulated robot arm hand according to claim 1 grabs structure, it is characterised in that：In the front of the pawl arm
There is switch contact, the switch contact is electrically connected with the cylinder, the controller on portion position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029023.9A CN106737809A (en) | 2017-01-16 | 2017-01-16 | Multiplex articulated robot arm hand grabs structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029023.9A CN106737809A (en) | 2017-01-16 | 2017-01-16 | Multiplex articulated robot arm hand grabs structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737809A true CN106737809A (en) | 2017-05-31 |
Family
ID=58946820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710029023.9A Pending CN106737809A (en) | 2017-01-16 | 2017-01-16 | Multiplex articulated robot arm hand grabs structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737809A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018998A (en) * | 2018-08-16 | 2018-12-18 | 许益安 | A kind of logistic storage material conveyor |
| US10668628B2 (en) | 2017-09-29 | 2020-06-02 | Anhui University of Science and Technology | Omnidirectional multi-finger asynchronous gripper for casting robot |
| CN111409095A (en) * | 2020-04-20 | 2020-07-14 | 西安工业大学 | Mechanical claw for grabbing special-shaped silicon steel sheet |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234949A (en) * | 2015-11-02 | 2016-01-13 | 国网冀北电力有限公司电力科学研究院 | Meter grabbing mechanical hand for meter box grabbing robot for electric meter storage bin |
| CN205150463U (en) * | 2015-11-06 | 2016-04-13 | 天津中安华典数据安全科技有限公司 | Automatic labeling machine turning device of extranal packing suitable for cross section is rectangle |
| CN205704271U (en) * | 2016-05-04 | 2016-11-23 | 天津中安华典数据安全科技有限公司 | The pellet part traced to the source for product captures articulated robot arm |
| CN205704238U (en) * | 2016-05-04 | 2016-11-23 | 天津中安华典数据安全科技有限公司 | Structure is grabbed for the trace to the source robot arm hands in field of product |
-
2017
- 2017-01-16 CN CN201710029023.9A patent/CN106737809A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234949A (en) * | 2015-11-02 | 2016-01-13 | 国网冀北电力有限公司电力科学研究院 | Meter grabbing mechanical hand for meter box grabbing robot for electric meter storage bin |
| CN205150463U (en) * | 2015-11-06 | 2016-04-13 | 天津中安华典数据安全科技有限公司 | Automatic labeling machine turning device of extranal packing suitable for cross section is rectangle |
| CN205704271U (en) * | 2016-05-04 | 2016-11-23 | 天津中安华典数据安全科技有限公司 | The pellet part traced to the source for product captures articulated robot arm |
| CN205704238U (en) * | 2016-05-04 | 2016-11-23 | 天津中安华典数据安全科技有限公司 | Structure is grabbed for the trace to the source robot arm hands in field of product |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10668628B2 (en) | 2017-09-29 | 2020-06-02 | Anhui University of Science and Technology | Omnidirectional multi-finger asynchronous gripper for casting robot |
| CN109018998A (en) * | 2018-08-16 | 2018-12-18 | 许益安 | A kind of logistic storage material conveyor |
| CN111409095A (en) * | 2020-04-20 | 2020-07-14 | 西安工业大学 | Mechanical claw for grabbing special-shaped silicon steel sheet |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |