CN111531568A - Linkage type mechanical finger shifting piece mechanism for mechanical arm - Google Patents
Linkage type mechanical finger shifting piece mechanism for mechanical arm Download PDFInfo
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- CN111531568A CN111531568A CN202010377766.7A CN202010377766A CN111531568A CN 111531568 A CN111531568 A CN 111531568A CN 202010377766 A CN202010377766 A CN 202010377766A CN 111531568 A CN111531568 A CN 111531568A
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- fixedly connected
- mechanical arm
- cooling
- driving device
- side wall
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- 230000007246 mechanism Effects 0.000 title claims abstract description 94
- 238000001816 cooling Methods 0.000 claims abstract description 65
- 238000007789 sealing Methods 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract 1
- 238000003780 insertion Methods 0.000 abstract 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a linkage type mechanical finger plectrum mechanism for a mechanical arm, which comprises a mechanical arm, wherein a telescopic driving device is arranged in the mechanical arm, a driving end of the telescopic driving device is fixedly connected with a linkage shaft, a plurality of mechanical finger plectrums are arranged in the mechanical arm, a driving mechanism is arranged on the linkage shaft close to the telescopic driving device, a first cooling mechanism for the telescopic driving device is arranged in the mechanical arm, the first cooling mechanism is meshed with the driving mechanism, a plurality of first connecting rods are fixedly connected to the side wall of the linkage shaft, second connecting rods are fixedly connected to the side wall of each first connecting rod, pneumatic control mechanisms which correspond to the plurality of mechanical finger plectrums one by one are fixedly arranged in the mechanical arm, and second cooling mechanisms for the telescopic driving device are arranged in the mechanical arm. The invention not only can effectively enlarge the opening gap of the paper and facilitate the insertion of the subsequent plectrum, but also can effectively cool the telescopic driving device and is beneficial to improving the service life of the telescopic driving device.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a linkage type mechanical finger shifting piece mechanism for a mechanical arm.
Background
In the printing or packaging production process, the paper picker is mainly used for taking out a paper pile with a specified height from the paper pile placed on the tray to a working table for the use of the subsequent process. At present, most of the traditional paper taking machines adopt a roller inserting paper taking mechanism, the principle is that a paper stack is firstly pressed, the paper stack is directly forced to be lifted by friction force by utilizing the translation and the rotation of a rotating rubber roller, then a paper clamping device clamps the paper stack, and a workbench is finally inserted into the paper stack. The traditional paper fetching machine has a plurality of obvious disadvantages, such as damage to paper, incapability of fetching thin paper, limited paper fetching height, irregular paper fetching, complex structure, high failure rate and the like.
The searched patent numbers are: CN106315283B discloses a coordinated type mechanical finger plectrum mechanism for manipulator, including arm, flexible drive arrangement, universal driving shaft, drive wheel, plectrum drive block, pivot and mechanical finger plectrum. The linkage type mechanical finger plectrum mechanism has the working principle that by means of increasing or decreasing type unequal distance installation of the driving wheels on the linkage shaft, under the extending action of the telescopic driving device, the driving wheels sequentially push the corresponding plectrum driving blocks to drive the mechanical finger plectrum to sequentially and gradually rotate and extend out of the bottom of a mechanical arm; under the retracting action of the telescopic driving device, the driving wheels sequentially push the corresponding shifting sheet driving blocks to drive the mechanical finger shifting sheets to sequentially rotate and retract to the bottom of the mechanical arm.
The disadvantages in the prior art are: although a plurality of plectrums enter the gap of paper layer in proper order, the opening in gap is certainly less, is unfavorable for subsequent plectrums to insert in the gap, in addition, when using flexible drive arrangement, can not carry out effectual cooling to it, influences flexible drive arrangement's life.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a linkage type mechanical finger shifting piece mechanism for a manipulator.
In order to achieve the purpose, the invention adopts the following technical scheme:
a linkage type mechanical finger plectrum mechanism for a manipulator comprises a mechanical arm, wherein a telescopic driving device is arranged in the mechanical arm, a driving end of the telescopic driving device is fixedly connected with a linkage shaft, a plurality of mechanical finger plectrums are arranged in the mechanical arm, a driving mechanism is arranged on the linkage shaft close to the telescopic driving device, a first cooling mechanism for the telescopic driving device is arranged in the mechanical arm, the first cooling mechanism is meshed with the driving mechanism, a plurality of first connecting rods are fixedly connected to the side wall of the linkage shaft, a second connecting rod is fixedly connected to the side wall of each first connecting rod, pneumatic control mechanisms which are in one-to-one correspondence with the plurality of mechanical finger plectrums are fixedly arranged in the mechanical arm, a second cooling mechanism for the telescopic driving device is arranged in the mechanical arm, and the pneumatic control mechanisms are communicated with the second cooling mechanism, the manipulator indicates to be equipped with the cavity in the plectrum, the cavity sets up through first air duct and gas control mechanism intercommunication, equal fixedly connected with backup pad on the both ends inner wall of cavity, the top surface and the bottom of cavity all run through and are equipped with flaring mechanism, flaring mechanism sliding seal sets up in the cavity, flaring mechanism and backup pad fixed connection.
Preferably, the driving mechanism comprises a third connecting rod fixedly connected to the side wall of the linkage shaft, one end, far away from the linkage shaft, of the third connecting rod is fixedly connected with a rack, and the rack is meshed with the second cooling mechanism.
Preferably, the first cooling mechanism comprises an air suction pipe fixedly arranged in the mechanical arm, the air suction pipe is communicated with a first cooling pipe, a plurality of first cooling holes used for the telescopic driving device are formed in the first cooling pipe, a cross rod is fixedly connected in the air suction pipe, a rotating shaft is arranged on the cross rod in a rotating and penetrating mode, the fan blades are coaxially and fixedly connected to the rotating shaft above the cross rod, a gear is coaxially and fixedly connected to the part, located outside the air suction pipe, of the rotating shaft, and the gear is meshed with the rack.
Preferably, the gas accuse mechanism is including the box that sets up fixedly in the arm, sliding seal is equipped with the closing plate in the box, be close to fixedly connected with slide bar on the one end lateral wall of flexible drive arrangement, the free end of slide bar slides and runs through the lateral wall setting and the fixedly connected with roof of box, the closing plate is close to a plurality of first elastic component of fixedly connected with on the one end lateral wall of flexible drive arrangement, the free end of first elastic component and the lateral wall fixed connection of box, first air duct and box intercommunication set up, the box is kept away from and is equipped with the inlet port on the one end lateral wall of first air duct, install first one-way pressure valve in the inlet port, box and second cooling mechanism intercommunication set up.
Preferably, the first elastic assembly comprises a first telescopic rod fixedly arranged on the side wall of the sealing plate, the free end of the first telescopic rod is fixedly connected with the inner wall of the box body, a first spring is sleeved on the first telescopic rod, and the free end of the first spring is fixedly connected with the inner wall of the box body.
Preferably, the second cooling mechanism comprises a second cooling pipe fixedly arranged in the mechanical arm, a plurality of second cooling holes which are communicated with the inside and the outside and are used for the telescopic driving device are formed in the side wall of the second cooling pipe, a plurality of second air guide pipes and a plurality of box bodies are communicated with the second cooling pipe, and a second one-way pressure valve is arranged in each second air guide pipe.
Preferably, the flaring mechanism comprises a convex plate which is arranged in the cavity in a sliding and sealing mode, and a plurality of second elastic assemblies are fixedly connected between the convex plate and the supporting plate.
Preferably, the second elastic component comprises a second telescopic rod fixedly connected between the convex plate and the supporting plate, a second spring is sleeved on the second telescopic rod, and two ends of the second spring are fixedly connected with the convex plate and the supporting plate respectively.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the paper taking device, the pneumatic control mechanism and the flaring mechanism are arranged, when the linkage shaft sequentially drives the plurality of shifting pieces to rotate, the plurality of pneumatic control mechanisms can be driven to work respectively, so that the flaring mechanism inserted into the gap protrudes out of the cavity, the opening size of the gap can be effectively enlarged, the next shifting piece can be accurately inserted into the gap conveniently, the accuracy of the success of paper taking is improved, in addition, the whole process is realized through the motion driving of the linkage shaft, and the non-contact driving is used, so that the use accuracy of the paper taking device can be effectively improved.
2. According to the invention, the first cooling mechanism and the second cooling mechanism are arranged, so that the telescopic driving device can be effectively cooled, the service life of the telescopic driving device is favorably prolonged, the first cooling mechanism and the second cooling mechanism are driven to work by self output, the cooling is realized without adding an additional driving device, and the environmental protection property of the device is ensured.
Drawings
FIG. 1 is a top view of a robot arm in a linkage type mechanical finger pick mechanism for a robot arm according to the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a perspective view of a mechanical finger pick in a linkage type mechanical finger pick mechanism for a robot according to the present invention;
FIG. 4 is a partial enlarged view of FIG. 3 at B;
FIG. 5 is a perspective view of a box body in a linkage type mechanical finger shifting mechanism for a manipulator according to the present invention;
FIG. 6 is a perspective view of a first cooling tube in a linkage type mechanical finger pick mechanism for a manipulator according to the present invention;
FIG. 7 is a perspective view of a second cooling tube in the linkage type mechanical finger pick mechanism for the manipulator according to the present invention;
fig. 8 is a perspective view of an air suction pipe in a linkage type mechanical finger pick mechanism for a manipulator according to the present invention.
In the figure: 1 mechanical arm, 2 telescopic driving devices, 3 linkage shafts, 4 mechanical finger plectrums, 5 first connecting rods, 6 second connecting rods, 7 first air guide pipes, 8 chambers, 9 supporting plates, 10 third connecting rods, 11 racks, 12 air suction pipes, 13 first cooling pipes, 14 first cooling holes, 15 cross rods, 16 rotating shafts, 17 fan blades, 18 gears, 19 boxes, 20 sealing plates, 21 sliding rods, 22 first one-way pressure valves, 23 first telescopic rods, 24 first springs, 25 second air guide pipes, 26 second one-way pressure valves, 27 top plates, 28 second cooling pipes, 29 second cooling holes, 30 convex plates, 31 second telescopic rods and 32 second springs.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-8, a linkage type mechanical finger plectrum mechanism for a mechanical arm comprises a mechanical arm 1, a telescopic driving device 2 is arranged in the mechanical arm 1, a driving end of the telescopic driving device 2 is fixedly connected with a linkage shaft 3, a plurality of mechanical finger plectrum 4 are arranged in the mechanical arm 1, a driving mechanism is arranged on the linkage shaft 3 close to the telescopic driving device 2, a first cooling mechanism for the telescopic driving device 2 is arranged in the mechanical arm 1, the first cooling mechanism is meshed with the driving mechanism, a plurality of first connecting rods 5 are fixedly connected to the side wall of the linkage shaft 3, a second connecting rod 6 is fixedly connected to the side wall of the first connecting rod 5, pneumatic control mechanisms which are in one-to-one correspondence with the plurality of mechanical finger plectrum 4 are fixedly arranged in the mechanical arm 1, a second cooling mechanism for the telescopic driving device 2 is arranged in the mechanical arm 1, and the plurality of pneumatic control mechanisms, be equipped with cavity 8 in the mechanical finger plectrum 4, cavity 8 sets up through first air duct 7 and air control mechanism intercommunication, equal fixedly connected with backup pad 9 on the both ends inner wall of cavity 8, and cavity 8's top surface and bottom all run through and are equipped with flaring mechanism, and flaring mechanism sliding seal sets up in cavity 8, flaring mechanism and backup pad 9 fixed connection.
The driving mechanism comprises a third connecting rod 10 fixedly connected to the side wall of the linkage shaft 3, one end, far away from the linkage shaft 3, of the third connecting rod 10 is fixedly connected with a rack 11, and the rack 11 is meshed with the second cooling mechanism.
Wherein, first cooling mechanism is including fixed breathing pipe 12 that sets up in arm 1, breathing pipe 12 intercommunication is provided with first cooling pipe 13, be equipped with a plurality of first cooling holes 14 that are used for flexible drive arrangement 2 on first cooling pipe 13, fixedly connected with horizontal pole 15 in breathing pipe 12, it runs through and is equipped with rotation axis 16 to rotate on the horizontal pole 15, coaxial fixedly connected with fan blade 17 on the rotation axis 16 that is located horizontal pole 15 top, rotation axis 16 is located coaxial fixedly connected with gear 18 on the part outside breathing pipe 12, gear 18 and rack 11 mesh, wherein, because rack 11's motion energy band drive gear 18 carries out the high-speed rotation, then can drive fan blade 17 high-speed rotation, produce suction and inhale into breathing pipe 12 with external air in.
The pneumatic control mechanism comprises a box body 19 fixedly arranged in the mechanical arm 1, a sealing plate 20 is arranged in the box body 19 in a sliding and sealing mode, a sliding rod 21 is fixedly connected to the side wall of one end, close to the telescopic driving device 2, of the box body 19, the free end of the sliding rod 21 penetrates through the side wall of the box body 19 in a sliding mode and is fixedly connected with a top plate 27, and the sliding rod 21 is in sliding and sealing with the box body 19 through a sealing ring (not shown in the figure); connect, a plurality of first elastic component of fixedly connected with on the closing plate 20 is close to the one end lateral wall of flexible drive arrangement 2, the free end of first elastic component and the lateral wall fixed connection of box 19, first air duct 7 sets up with box 19 intercommunication, box 19 is kept away from and is equipped with the inlet port on the one end lateral wall of first air duct 7, install first one-way pressure valve 22 in the inlet port, box 19 sets up with second cooling mechanism intercommunication, as shown in fig. 5, first air duct 7 sets up with the box 19 intercommunication of closing plate 20 top, box 19 of closing plate 20 below wherein is confined space, the air current through first one-way pressure valve 22 can only follow the external world and flow into in the box 19.
Wherein, first elastic component is including fixed first telescopic link 23 that sets up on the closing plate 20 lateral wall, the free end of first telescopic link 23 and the inner wall fixed connection of box 19, the cover is equipped with first spring 24 on the first telescopic link 23, the free end of first spring 24 and the inner wall fixed connection of box 19, and wherein, first spring 24 is convenient for closing plate 20 to reset the motion downwards.
Wherein, second cooling mechanism is including fixed second cooling pipe 28 that sets up in arm 1, be equipped with the second cooling hole 29 that is used for flexible drive arrangement 2 of a plurality of inside and outside intercommunications on the lateral wall of second cooling pipe 28, the intercommunication is provided with many second air ducts 25 on the second cooling pipe 28, many second air ducts 25 communicate the setting with a plurality of boxes 19 respectively, install second one-way pressure valve 26 in the second air duct 25, it needs to explain, the air current through second one-way pressure valve 26 can only be used for cooling flexible drive arrangement in flowing to second air duct 25 from box 19.
Wherein, flaring mechanism includes that sliding seal sets up the flange 30 in cavity 8, a plurality of second elastic component of fixedly connected with between flange 30 and the backup pad 9, second elastic component includes second telescopic link 31 of fixed connection between flange 30 and backup pad 9, the cover is equipped with second spring 32 on the second telescopic link 31, the both ends of second spring 32 respectively with flange 30 and backup pad 9 fixed connection, it needs to point out that second spring 32 contracts to in cavity 8 when being convenient for flange 30 resets.
In the invention, when in use, the flexible driving device 2 can drive the linkage shaft 3 to extend, when the linkage shaft 3 extends, the rack 11 can be driven to synchronously extend, namely, the rack and the gear 18 move relatively, the gear 18 can be driven to rotate, then the rotating shaft 16 and the fan blade 17 can be driven to synchronously and rapidly rotate, external air can be sucked into the air suction pipe 12 and blown onto the flexible driving device 2 through the first cooling hole 14 on the first cooling pipe 13 for cooling, meanwhile, the extension of the linkage shaft 3 can drive the second connecting rod 6 to move, when the corresponding mechanical finger plectrum 4 is inserted into a gap, the second connecting rod 6 is contacted with the top plate 27 and extrudes the top plate 27, then the plurality of second connecting rods 6 are respectively contacted with the plurality of top plates 27 intermittently, so that the pressure in the box body 19 below the sealing plate 20 is reduced, the first one-way pressure valve 22 is opened, the outside air enters the box body 19, part of the air in the box body 19 above the sealing plate 20 is extruded into the cavity 8 under the conveying action of the first air duct 7, so that the two convex plates 30 move outwards in a protruding manner, the size of the opening of the gap can be effectively enlarged, the subsequent mechanical finger plectrum 4 can be conveniently inserted into the gap, and the first spring 24 and the second spring 32 are both in a stretched state; after the plectrum, when flexible drive arrangement 2 drove universal driving shaft 3 and carries out the shrink motion, under the reset action of first spring 24 and second spring 32, partial air in the cavity 8 flows back to in the box 19, the increase of box 19 internal gas pressure of closing plate 20 below, second one-way pressure valve 26 is opened, air in the box 19 gets into to in the second air duct 25, and blow to flexible drive arrangement 2 through the second cooling hole 29 in the second cooling pipe 28 on, cool down it, can realize that homoenergetic cools down it when flexible drive arrangement 2 control universal driving shaft 3 stretches out or contracts, do benefit to and improve its service life.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A linkage type mechanical finger plectrum mechanism for a manipulator comprises a mechanical arm (1), wherein a telescopic driving device (2) is arranged in the mechanical arm (1), a driving end of the telescopic driving device (2) is fixedly connected with a linkage shaft (3), and a plurality of mechanical finger plectrums (4) are arranged in the mechanical arm (1), and is characterized in that a driving mechanism is arranged on the linkage shaft (3) close to the telescopic driving device (2), a first cooling mechanism for the telescopic driving device (2) is arranged in the mechanical arm (1), the first cooling mechanism is meshed with the driving mechanism, a plurality of first connecting rods (5) are fixedly connected to the side wall of the linkage shaft (3), second connecting rods (6) are fixedly connected to the side wall of each first connecting rod (5), and pneumatic control mechanisms which correspond to the plurality of mechanical finger plectrums (4) one by one to one are fixedly arranged in the mechanical arm (1), install the second cooling mechanism that is used for flexible drive arrangement (2) in arm (1), it is a plurality of air control mechanism all sets up with second cooling mechanism intercommunication, be equipped with cavity (8) in mechanical finger plectrum (4), cavity (8) set up through first air duct (7) and air control mechanism intercommunication, equal fixedly connected with backup pad (9) on the both ends inner wall of cavity (8), the top surface and the bottom of cavity (8) all run through and are equipped with flaring mechanism, flaring mechanism sliding seal sets up in cavity (8), flaring mechanism and backup pad (9) fixed connection.
2. The linkage type mechanical finger pick mechanism for the mechanical arm is characterized in that the driving mechanism comprises a third connecting rod (10) fixedly connected to the side wall of the linkage shaft (3), a rack (11) is fixedly connected to one end, away from the linkage shaft (3), of the third connecting rod (10), and the rack (11) is meshed with the second cooling mechanism.
3. The linkage type mechanical finger shifting mechanism for the manipulator is characterized in that the first cooling mechanism comprises an air suction pipe (12) fixedly arranged in the mechanical arm (1), the air suction pipe (12) is provided with a first cooling pipe (13) in a communication manner, the first cooling pipe (13) is provided with a plurality of first cooling holes (14) used for the telescopic driving device (2), a cross rod (15) is fixedly connected in the air suction pipe (12), a rotating shaft (16) is arranged on the cross rod (15) in a rotating and penetrating manner, a fan blade (17) is coaxially and fixedly connected to the rotating shaft (16) above the cross rod (15), a gear (18) is coaxially and fixedly connected to the part of the rotating shaft (16) outside the air suction pipe (12), and the gear (18) is meshed with the rack (11).
4. The linkage type mechanical finger plectrum mechanism for the manipulator according to claim 3, wherein the air control mechanism comprises a box body (19) fixedly arranged in the mechanical arm (1), a sealing plate (20) is arranged in the box body (19) in a sliding and sealing manner, a sliding rod (21) is fixedly connected to the side wall of one end close to the telescopic driving device (2), the free end of the sliding rod (21) is arranged to penetrate through the side wall of the box body (19) in a sliding manner and is fixedly connected with a top plate (27), a plurality of first elastic assemblies are fixedly connected to the side wall of one end, close to the telescopic driving device (2), of the sealing plate (20), the free end of each first elastic assembly is fixedly connected with the side wall of the box body (19), a first air duct (7) is communicated with the box body (19), and an air inlet hole is formed in the side wall of one end, far away from the first air duct (, and a first one-way pressure valve (22) is arranged in the air inlet, and the box body (19) is communicated with the second cooling mechanism.
5. The linkage type mechanical finger pick mechanism for the mechanical arm is characterized in that the first elastic component comprises a first telescopic rod (23) fixedly arranged on the side wall of the sealing plate (20), the free end of the first telescopic rod (23) is fixedly connected with the inner wall of the box body (19), a first spring (24) is sleeved on the first telescopic rod (23), and the free end of the first spring (24) is fixedly connected with the inner wall of the box body (19).
6. The linkage type mechanical finger plectrum mechanism for the manipulator according to claim 5, wherein the second cooling mechanism comprises a second cooling pipe (28) fixedly arranged in the mechanical arm (1), a plurality of second cooling holes (29) which are communicated with the inside and the outside and are used for the telescopic driving device (2) are formed in the side wall of the second cooling pipe (28), a plurality of second air guide pipes (25) are communicated with the second cooling pipe (28), the second air guide pipes (25) are respectively communicated with a plurality of box bodies (19), and a second one-way pressure valve (26) is arranged in each second air guide pipe (25).
7. The linkage type mechanical finger pick mechanism for the mechanical arm is characterized in that the flaring mechanism comprises a convex plate (30) which is arranged in the cavity (8) in a sliding and sealing mode, and a plurality of second elastic components are fixedly connected between the convex plate (30) and the supporting plate (9).
8. The linkage type mechanical finger pick mechanism for the mechanical arm is characterized in that the second elastic component comprises a second telescopic rod (31) fixedly connected between the convex plate (30) and the supporting plate (9), a second spring (32) is sleeved on the second telescopic rod (31), and two ends of the second spring (32) are respectively and fixedly connected with the convex plate (30) and the supporting plate (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010377766.7A CN111531568B (en) | 2020-05-07 | 2020-05-07 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010377766.7A CN111531568B (en) | 2020-05-07 | 2020-05-07 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN111531568A true CN111531568A (en) | 2020-08-14 |
| CN111531568B CN111531568B (en) | 2024-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010377766.7A Active CN111531568B (en) | 2020-05-07 | 2020-05-07 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114732270A (en) * | 2022-04-28 | 2022-07-12 | 安徽工程大学 | Finger stall wearing device |
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| CN110682277A (en) * | 2019-11-20 | 2020-01-14 | 常州工业职业技术学院 | Light compact material snatchs manipulator |
| CN113276100A (en) * | 2021-06-15 | 2021-08-20 | 广东寻夏科技有限公司 | Multi-axis stacking industrial robot and working method thereof |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11262881A (en) * | 1998-03-19 | 1999-09-28 | Hitachi Koki Co Ltd | Controlling method for link arm mechanism |
| CN201544223U (en) * | 2009-04-28 | 2010-08-11 | 章雄辉 | Cash transport robot with function of guarding |
| CN203862948U (en) * | 2014-06-10 | 2014-10-08 | 温州职业技术学院 | Hot forging piece-taking mechanical hand with self-cooling function |
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| CN114732270A (en) * | 2022-04-28 | 2022-07-12 | 安徽工程大学 | Finger stall wearing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111531568B (en) | 2024-01-02 |
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