CN107351106A - A kind of high speed machine hand for being easy to multi-angle regulation - Google Patents
A kind of high speed machine hand for being easy to multi-angle regulation Download PDFInfo
- Publication number
- CN107351106A CN107351106A CN201710646793.8A CN201710646793A CN107351106A CN 107351106 A CN107351106 A CN 107351106A CN 201710646793 A CN201710646793 A CN 201710646793A CN 107351106 A CN107351106 A CN 107351106A
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- CN
- China
- Prior art keywords
- mechanical arm
- motor
- welded
- high speed
- easy
- 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
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of high speed machine hand for being easy to multi-angle regulation, second mechanical arm including first mechanical arm and below first mechanical arm, the bottom surrounding of the first mechanical arm offers circular ring type slideway, square type chamber is offered in the first mechanical arm, and square type chamber is located at the top of circular ring type slideway, round guide rail is welded with the side wall of the square type chamber, the inside of the square type chamber is placed with the first bevel type gear, and first the surrounding of bevel type gear offer the first slideway being slidably connected with guide rail, the second bevel type gear with the rotation connection of square type chamber sidewall is engaged with the top of first bevel type gear.The present invention is easy to operation, user is rotated by the gripper on the first motor driving mechanical pawl installing plate first, then user carries out angle of inclination regulation by the gripper on the second motor driving mechanical pawl installing plate again, high degree of mechanical hand is allowd to realize multi-angle regulation so that high speed machine hand uses space big.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of high speed machine hand for being easy to multi-angle regulation.
Background technology
Manipulator refers to some holding functions that can imitate human hand and arm, to capture, carry by fixed routine object or
The automatic pilot of operation instrument, manipulator are mainly made up of mechanical arm and gripper, manipulator with science and technology not
Disconnected development and the continuous progress of information technology, the operating rate of manipulator become increasingly faster, thus high speed machine hand meet the tendency of and
Go out, the gripper in present level manipulator cannot carry out multi-angle regulation, and it is empty to greatly limit using for high speed machine hand
Between.
The content of the invention
Based on technical problem existing for background technology, the present invention proposes a kind of high speed machine for being easy to multi-angle regulation
Hand.
A kind of high speed machine hand for being easy to multi-angle regulation proposed by the present invention, including first mechanical arm and positioned at the first machine
Second mechanical arm below tool arm, the bottom surrounding of the first mechanical arm offer circular ring type slideway, the first mechanical arm
On offer square type chamber, and square type chamber is located at the top of circular ring type slideway, and circle is welded with the side wall of the square type chamber
Type guide rail, the inside of the square type chamber is placed with the first bevel type gear, and the surrounding of the first bevel type gear offers and guide rail
The first slideway being slidably connected, the second umbrella with the rotation connection of square type chamber sidewall is engaged with the top of first bevel type gear
Type gear, the side of second bevel type gear away from the first bevel type gear are welded with the output shaft of the first motor, and
One motor is fixed on the outside of first mechanical arm, and the bottom of first bevel type gear is welded with vertically and second mechanical arm
The connecting rod that top center position mutually welds, the cunning being slidably connected with circular ring type slideway is welded with the top of the second mechanical arm
Rail, and two side bottoms of second mechanical arm are welded with U-shaped seat, the lower center position of the second mechanical arm is fixed with second
Motor, and fix bar is installed on the output shaft of the second motor, the outside of the fix bar is provided with the first rack, institute
The lower section for stating second mechanical arm is provided with the gripper installing plate of camber, and the top both sides of gripper installing plate are welded with position
The connecting plate to match with U-shaped seat, the connecting plate are provided with rotating bar, and the both ends of the rotating bar inside with U-shaped seat respectively
Both sides are mutually welded, and the top center position of the gripper installing plate is welded with camber plate, and offers arc at the top of camber plate
Type groove, the side inwall of the arc shaped groove are provided with the second rack being meshed with the first rack, the gripper installing plate
Bottom is provided with four grippers.
Preferably, to be slidably connected with the first driving motor output shaft is offered on the side inwall of the square type chamber
One mounting hole, and square type chamber is connected by the first mounting hole with the outside of first mechanical arm.
Preferably, the second installation that position is slidably connected with connecting rod is offered in the bottom interior wall of the square type chamber
Hole, and the second mounting hole and connecting rod are slidably connected, second mounting hole and circular ring type slideway are on same vertical axis.
Preferably, first motor and the second motor are fixed on corresponding first mechanical arm by screw rod
And second mechanical arm, and the first motor and the second motor by wire be electrically connected with corresponding to first switch and
Second switch.
Preferably, the 3rd mounting hole is offered on the connecting plate, and the side wall of the 3rd mounting hole and rotating bar are slided and connected
Connect.
Preferably, two relative grippers are symmetrical arranged, and four grippers are in ring-like point on gripper installing plate
Cloth.
Beneficial effects of the present invention：
1st, by the first motor in first mechanical arm, the second bevel type gear, the first bevel type gear, the first bevel type gear
The first slideway, round guide rail, connecting rod and second mechanical arm be engaged, and the circular ring type slideway of first mechanical arm bottom and
Slide rail rail at the top of two mechanical arms is slidably connected, and the first motor drives second mechanical arm to be carried out in the lower section of first mechanical arm
Rotate, second mechanical arm drives circular ring type slideway enterprising line slip of the slide rail in second mechanical arm in first mechanical arm, simultaneously
Gripper on second mechanical arm driving mechanical pawl installing plate is rotated；
2nd, the second rack and gripper on the first rack in the second motor, fix bar, arc shaped groove side inwall are passed through
Installing plate is engaged, and rotating bar fixed on the inside of the 3rd mounting hole on connecting plate and U-shaped seat is slidably connected, the second driving electricity
Gripper on machine driving mechanical pawl installing plate carries out angle of inclination regulation in the lower section of second mechanical arm so that gripper is installed
The gripper of plate bottom carries out multi-angle regulation；
The present invention is easy to operation, and user is turned by the gripper on the first motor driving mechanical pawl installing plate first
Dynamic, then user carries out angle of inclination regulation by the gripper on the second motor driving mechanical pawl installing plate again so that
High degree of mechanical hand can realize multi-angle regulation so that high speed machine hand uses space big.
Brief description of the drawings
Fig. 1 is a kind of structural representation of high speed machine hand for being easy to multi-angle regulation proposed by the present invention；
Fig. 2 is a kind of structural representation of the first mechanical arm of high speed machine hand for being easy to multi-angle regulation proposed by the present invention.
In figure：1 first mechanical arm, 2 square type chambers, 3 first bevel type gears, 4 round guide rails, 5 second bevel type gears, 6
One motor, 7 circular ring type slideways, 8 connecting rods, 9 second mechanical arms, 10 slide rails, 11 U-shaped seats, 12 connecting plates, 13 rotating bars,
14 gripper installing plates, 15 grippers, 16 second motors, 17 fix bars, 18 first racks, 19 camber plates, 20 second teeth
Bar.
Embodiment
The present invention is made with reference to specific embodiment further to explain.
Embodiment
With reference to figure 1-2, a kind of high speed machine hand for being easy to multi-angle regulation, including the first machinery are proposed in the present embodiment
Arm 1 and the second mechanical arm 9 positioned at the lower section of first mechanical arm 1, the bottom surrounding of first mechanical arm 1 offer circular ring type slideway 7,
Square type chamber 2 is offered in first mechanical arm 1, and square type chamber 2 is located at the top of circular ring type slideway 7, the side wall of square type chamber 2
On be welded with round guide rail 4, the inside of square type chamber 2 is placed with the first bevel type gear 3, and the surrounding of the first bevel type gear 3 is opened
Provided with the first slideway being slidably connected with guide rail 4, the top of the first bevel type gear 3, which is engaged with to rotate with the side wall of square type chamber 2, to be connected
The second bevel type gear 5 connect, side of second bevel type gear 5 away from the first bevel type gear 3 are welded with the defeated of the first motor 6
Shaft, and the first motor 6 is fixed on the outside of first mechanical arm 1, the bottom of the first bevel type gear 3 are welded with and the vertically
The connecting rod 8 that the top center position of two mechanical arm 9 mutually welds, the top of second mechanical arm 9 is welded with to be slided with circular ring type slideway 7
The slide rail 10 of connection, the first motor 6, the second bevel type gear 5, the first bevel type gear 3, first in first mechanical arm 1
The first slideway, round guide rail 4, connecting rod 8 on bevel type gear 3 and under the cooperation of second mechanical arm 9, start the first driving first
Motor 6, the first motor 6 drives the second bevel type gear 5 to be rotated in the side wall of square type chamber 2, due to the first umbellate form
The bevel type gear 5 of gear 3 and second is meshed, and the second bevel type gear 5 drives the first slideway on the first bevel type gear 3 to be led round
4 enterprising line slip of rail, the first bevel type gear 3 drive connecting rod 8 to be slided on the second mounting hole of the bottom interior wall of square type chamber 2
Dynamic, connecting rod 8 drives second mechanical arm 9 to be rotated in the lower section of first mechanical arm 1, and two side bottoms of second mechanical arm 9 are equal
U-shaped seat 11 is welded with, the lower center position of second mechanical arm 9 is fixed with the second motor 16, and the second motor 16
Output shaft on fix bar 17 is installed, the outside of fix bar 17 is provided with the first rack 18, and the lower section of second mechanical arm 9 is provided with arc
The gripper installing plate 14 of type, and the top both sides of gripper installing plate 14 are welded with the company that position matches with U-shaped seat 11
Fishplate bar 12, connecting plate 12 is provided with rotating bar 13, and inside both sides of the both ends of rotating bar 13 respectively with U-shaped seat 11 are mutually welded,
The top center position of gripper installing plate 14 is welded with camber plate 19, and the top of camber plate 19 offers arc shaped groove, camber
The side inwall of groove is provided with the second rack 20 being meshed with the first rack 18, and the bottom of gripper installing plate 14 is provided with four
Individual gripper 15, gripper installing plate 14 is during second mechanical arm 9 is rotated, the machinery on gripper installing plate 14
Pawl 15 rotates with the rotation of second mechanical arm 9, after gripper installing plate 14 stops operating, the second motor 16,
Under the cooperation of the second rack 20 and gripper installing plate 14 on the first rack 18, arc shaped groove side inwall in fix bar 17,
Start the second motor 16, the second motor 16 drives fix bar 17 to be rotated, due to the first of the outside of fix bar 17
The second rack 20 on rack 18 and arc shaped groove side inwall is meshed, the camber on the driving mechanical pawl installing plate 14 of fix bar 17
Plate 19 is rotated, and gripper installing plate 14 drives the 3rd mounting hole on connecting plate 12 in 13 enterprising line slip of rotating bar, together
When the driving mechanical pawl 15 of gripper installing plate 14 carry out angle of inclination regulation in the lower section of second mechanical arm 9 so that gripper is pacified
The gripper 15 of the bottom of loading board 14 carries out multi-angle regulation.
In the present embodiment, offer what is be slidably connected with the output shaft of the first motor 6 on the side inwall of square type chamber 2
First mounting hole, and square type chamber 2 is connected by the first mounting hole with the outside of first mechanical arm 1, the bottom of square type chamber 2
The second mounting hole that position is slidably connected with connecting rod 8 is offered on inwall, and the second mounting hole and connecting rod 8 are slidably connected,
Second mounting hole and circular ring type slideway 7 are on same vertical axis, and the first motor 6 and the second motor 16 pass through
Screw rod is fixed on corresponding first mechanical arm 1 and second mechanical arm 9, and the first motor 6 and the second motor 16 are logical
Cross wire and be electrically connected with corresponding first switch and second switch, the 3rd mounting hole, and the 3rd peace are offered on connecting plate 12
The side wall and rotating bar 13 for filling hole are slidably connected, and two relative grippers 15 are symmetrical arranged, and four grippers 15 are in machinery
It is in ring-like distribution on pawl installing plate 14, the present invention is easy to operation, and user is installed by the driving mechanical pawl of the first motor 6 first
Gripper 15 on plate 14 is rotated, and then user passes through the machine on the driving mechanical pawl installing plate 14 of the second motor 16 again
Machinery claw 15 carries out angle of inclination regulation so that high degree of mechanical hand can realize multi-angle regulation, substantially increase high speed machine hand
Use space.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
1. a kind of high speed machine hand for being easy to multi-angle regulation, including first mechanical arm (1) and below first mechanical arm (1)
Second mechanical arm (9), it is characterised in that the bottom surrounding of the first mechanical arm (1) offers circular ring type slideway (7), institute
State and square type chamber (2) is offered in first mechanical arm (1), and square type chamber (2) is located at the top of circular ring type slideway (7), it is described
Round guide rail (4) is welded with the side wall of square type chamber (2), the inside of the square type chamber (2) is placed with the first bevel type gear
(3), and the surrounding of the first bevel type gear (3) offers the first slideway being slidably connected with guide rail (4), first bevel type gear
(3) the second bevel type gear (5) with the rotation connection of square type chamber (2) side wall, second bevel type gear (5) are engaged with the top of
Side away from the first bevel type gear (3) is welded with the output shaft of the first motor (6), and the first motor (6) is fixed
In the outside of first mechanical arm (1), the bottom of first bevel type gear (3) is welded with and second mechanical arm (9) top vertically
The connecting rod (8) that middle position is mutually welded, is welded with the top of the second mechanical arm (9) and circular ring type slideway (7) is slided and connected
The slide rail (10) connect, and two side bottoms of second mechanical arm (9) are welded with U-shaped seat (11), the bottom of the second mechanical arm (9)
Portion middle position is fixed with the second motor (16), and is provided with fix bar on the output shaft of the second motor (16)
(17), the outside of the fix bar (17) is provided with the first rack (18), and the lower section of the second mechanical arm (9) is provided with the machine of camber
Machinery claw installing plate (14), and the top both sides of gripper installing plate (14) are welded with the company that position matches with U-shaped seat (11)
Fishplate bar (12), the connecting plate (12) is provided with rotating bar (13), and the both ends of rotating bar (13) are interior with U-shaped seat (11) respectively
Portion is mutually welded both sides, and the top center position of the gripper installing plate (14) is welded with camber plate (19), and camber plate (19)
Top offer arc shaped groove, the side inwall of the arc shaped groove is provided with the second rack being meshed with the first rack (18)
(20), the bottom of the gripper installing plate (14) is provided with four grippers (15).
A kind of 2. high speed machine hand for being easy to multi-angle regulation according to claim 1, it is characterised in that the square type chamber
The first mounting hole being slidably connected with the first motor (6) output shaft, and square type chamber are offered on the side inwall of room (2)
(2) it is connected by the first mounting hole with the outside of first mechanical arm (1).
A kind of 3. high speed machine hand for being easy to multi-angle regulation according to claim 1, it is characterised in that the square type chamber
The second mounting hole that position is slidably connected with connecting rod (8), and the second mounting hole and connection are offered in the bottom interior wall of room (2)
Bar (8) is slidably connected, and second mounting hole and circular ring type slideway (7) are on same vertical axis.
4. a kind of high speed machine hand for being easy to multi-angle regulation according to claim 1, it is characterised in that described first drives
Dynamic motor (6) and the second motor (16) are fixed on corresponding first mechanical arm (1) and second mechanical arm by screw rod
(9), and the first motor (6) and the second motor (16) by wire be electrically connected with corresponding to first switch and the
Two switches.
A kind of 5. high speed machine hand for being easy to multi-angle regulation according to claim 1, it is characterised in that the connecting plate
(12) the 3rd mounting hole is offered on, and the side wall of the 3rd mounting hole and rotating bar (13) are slidably connected.
6. a kind of high speed machine hand for being easy to multi-angle regulation according to claim 1, it is characterised in that two relative
Gripper (15) is symmetrical arranged, and four grippers (15) are in ring-like distribution on gripper installing plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646793.8A CN107351106A (en) | 2017-08-01 | 2017-08-01 | A kind of high speed machine hand for being easy to multi-angle regulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646793.8A CN107351106A (en) | 2017-08-01 | 2017-08-01 | A kind of high speed machine hand for being easy to multi-angle regulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351106A true CN107351106A (en) | 2017-11-17 |
Family
ID=60286289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710646793.8A Pending CN107351106A (en) | 2017-08-01 | 2017-08-01 | A kind of high speed machine hand for being easy to multi-angle regulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351106A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296994A (en) * | 2020-12-30 | 2021-02-02 | 新乡职业技术学院 | Multi-angle adjusting mechanical gripper |
| CN116394288A (en) * | 2023-05-09 | 2023-07-07 | 广东海洋大学 | Multi-angle adjusting mechanical gripper |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU496170A1 (en) * | 1974-07-25 | 1975-12-25 | Владимирский политехнический институт | Manipulatory Executive Body |
| CN106476010A (en) * | 2016-11-25 | 2017-03-08 | 安徽智联投资集团有限公司 | A kind of robot arm device for robot |
| CN106625761A (en) * | 2016-11-25 | 2017-05-10 | 南陵县生产力促进中心有限公司 | Telescopic mechanical arm achieving multi-angle work |
| CN106695873A (en) * | 2016-12-12 | 2017-05-24 | 南陵宝恒野生葛种植专业合作社 | Manipulator swing mechanism |
| CN106757721A (en) * | 2016-12-12 | 2017-05-31 | 南陵宝恒野生葛种植专业合作社 | A kind of pneumatic secondary color manipulator |
| CN106972816A (en) * | 2017-05-22 | 2017-07-21 | 成都知联汇科技有限公司 | A kind of interconvertible photovoltaic power generation plate |
-
2017
- 2017-08-01 CN CN201710646793.8A patent/CN107351106A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU496170A1 (en) * | 1974-07-25 | 1975-12-25 | Владимирский политехнический институт | Manipulatory Executive Body |
| CN106476010A (en) * | 2016-11-25 | 2017-03-08 | 安徽智联投资集团有限公司 | A kind of robot arm device for robot |
| CN106625761A (en) * | 2016-11-25 | 2017-05-10 | 南陵县生产力促进中心有限公司 | Telescopic mechanical arm achieving multi-angle work |
| CN106695873A (en) * | 2016-12-12 | 2017-05-24 | 南陵宝恒野生葛种植专业合作社 | Manipulator swing mechanism |
| CN106757721A (en) * | 2016-12-12 | 2017-05-31 | 南陵宝恒野生葛种植专业合作社 | A kind of pneumatic secondary color manipulator |
| CN106972816A (en) * | 2017-05-22 | 2017-07-21 | 成都知联汇科技有限公司 | A kind of interconvertible photovoltaic power generation plate |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296994A (en) * | 2020-12-30 | 2021-02-02 | 新乡职业技术学院 | Multi-angle adjusting mechanical gripper |
| CN116394288A (en) * | 2023-05-09 | 2023-07-07 | 广东海洋大学 | Multi-angle adjusting mechanical gripper |
| CN116394288B (en) * | 2023-05-09 | 2023-12-01 | 广东海洋大学 | Multi-angle adjusting mechanical gripper |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171117 |
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| RJ01 | Rejection of invention patent application after publication |