CN205704242U - A kind of mechanical arm clamper with adaptive ability - Google Patents
A kind of mechanical arm clamper with adaptive ability Download PDFInfo
- Publication number
- CN205704242U CN205704242U CN201620294351.2U CN201620294351U CN205704242U CN 205704242 U CN205704242 U CN 205704242U CN 201620294351 U CN201620294351 U CN 201620294351U CN 205704242 U CN205704242 U CN 205704242U
- Authority
- CN
- China
- Prior art keywords
- supporting rod
- power transmission
- transmission shaft
- mechanical arm
- adaptive ability
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of mechanical arm clamper with adaptive ability, including lower bottom base and upper bed-plate；Driving means it is provided with in lower bottom base；Upper bed-plate is provided with two opposite installing plates, and installing plate is fixed with two clamp assemblies；Driving means includes the motor being fixed in lower bottom base, and the gear train being connected with motor；Clamp assemblies includes the power transmission shaft matched with gear train being connected between two installing plates, and is connected to the gear shaft matched between two installing plates and with power transmission shaft；Power transmission shaft is arranged laterally side by side with gear shaft；Connecting on gear shaft and have left jig arm, power transmission shaft connects right jig arm.This utility model possesses certain adaptive ability, utilize clamping limb and spring, the reasonable coordination of driving motor, can clamp, mobile polytype object, as basic configuration be cuboid, cross section be circular object and the erose object containing certain internal diameter hole.
Description
Technical field
This utility model relates to a kind of mechanical arm clamper with adaptive ability.
Background technology
Nowadays, along with the fast development of mechanical automation, mechanical arm is stepping into increasing field, gives raw
Producing lives provides convenience.In order to meet multi-field different work requirement, as the folder of one of the end effector of mechanical arm
Holder has the most different frame for movement, control mode.But existing machinery arm clamper function singleness, it is impossible to be applicable to multiple shape
The clamping of shape object.
Utility model content
The purpose of this utility model is to provide a kind of mechanical arm clamper with adaptive ability, to solve mechanical arm folder
Holder function singleness, it is impossible to the problem that various shape object is clamped.
For solving above-mentioned technical problem, this utility model provides a kind of mechanical arm clamper with adaptive ability, bag
Include lower bottom base and upper bed-plate；Driving means it is provided with in lower bottom base；Upper bed-plate is provided with two opposite installing plates, on installing plate
It is fixed with two clamp assemblies；Driving means includes the motor being fixed in lower bottom base, and the gear train being connected with motor；Folder
Hold the power transmission shaft matched with gear train that assembly includes being connected between two installing plates, and be connected to two installing plates it
Between and the gear shaft that matches with power transmission shaft；Power transmission shaft is arranged laterally side by side with gear shaft；Connect on gear shaft and have left jig arm, pass
Connect on moving axis and have right jig arm.
Further, left jig arm includes left drive rod, the first Left Drive bar and the left supporting rod being flexibly connected successively；A left side is driven
Lever is connected with gear shaft, and left supporting rod is L-shaped；Right jig arm includes right drive rod, the first right drive link being flexibly connected successively
With right supporting rod；Right drive rod is connected with power transmission shaft, and right supporting rod is L-shaped；The vertical component effect of left supporting rod hangs down with right supporting rod
Straight portion is opposite, and the horizontal part of left supporting rod stretches out and is connected with the first Left Drive bar, and the horizontal part of right supporting rod is to extension
Stretch and be connected with the first right drive link；Left supporting rod bending place is connected to the two ends of gear shaft by the second Left Drive bar；Right clamping
Bar is connected to the two ends of power transmission shaft by the second right drive link；
Further, left supporting rod is provided with left grip block, and right supporting rod is provided with right grip block, left grip block and right folder
Hold plate mutually opposing.
Further, the middle part of left drive rod is connected on installing plate by left spring, and the middle part of right drive rod is by the right side
Spring is connected on installing plate.
Further, left spring and right spring are all fixing on a mounting board by a trundle.
Further, one end that left drive rod and the first Left Drive bar connect, and right drive rod and the first right drive link
The one end connected is equipped with a spacer pin.
Further, the second Left Drive bar includes a cross bar, is arranged on first montant being parallel to each other at cross bar two ends, with
And it being arranged on second montant being parallel to each other at the middle part of cross bar, the second montant and the first montant are oppositely extending；First montant is solid
Being scheduled on the outside of two installing plates, left supporting rod is fixed between two the second montants.
The beneficial effects of the utility model are: this utility model possesses certain adaptive ability, utilize clamping limb and bullet
Spring, the reasonable coordination of driving motor, can clamp, move polytype object, if basic configuration is that cuboid, cross section are for round
The object of shape and the erose object containing certain internal diameter hole.By this adaptive ability, installation can be made
The robot platform of this paw can complete multiple-task, meets field detection, removes obstacles, gets rid of the danger, plant produced, section of universities and colleges
The multiple demand such as grind, it is to avoid the problem that one procedure need to use multiple clamper, it is achieved the purpose of the energy that economizes on resources, have
Sustainable developability.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of this utility model；
Fig. 2 is the sectional view of one embodiment of this utility model；
Fig. 3 is the structural representation of the second Left Drive bar of one embodiment of this utility model.
Wherein: 1, lower bottom base；2, upper bed-plate；3, left drive rod；31, right drive rod；4, the first Left Drive bar；41, first
Right drive link；5, left supporting rod；51, right supporting rod；6, the second Left Drive bar；61, the second right drive link；7, left grip block；71、
Right grip block；8, left spring；81, right spring；9, gear shaft；10, motor；11, power transmission shaft；12, spacer pin；13, installing plate；
14, trundle；15, gear train；16, cross bar；17, the first montant；18, the second montant.
Detailed description of the invention
Below detailed description of the invention of the present utility model is described, in order to those skilled in the art understand
This utility model, the common skill it should be apparent that this utility model is not limited to the scope of detailed description of the invention, to the art
From the point of view of art personnel, as long as various change limits and in the spirit and scope of the present utility model that determine in appended claim,
These changes are apparent from, and all utilize innovation and creation that this utility model conceives all at the row of protection.
The mechanical arm clamper with adaptive ability as depicted in figs. 1 and 2, including lower bottom base 1 and upper bed-plate 2, its
It is provided with driving means in middle lower bottom base 1；Driving means includes the motor 10 being fixed in lower bottom base 1, and is connected with motor 10
Gear train 15.
Upper bed-plate 2 is provided with two opposite installing plates 13, and installing plate 13 is fixed with two clamp assemblies；Clamping group
Part includes the power transmission shaft 11 matched with gear train 15 being connected between two installing plates 13, and is connected to two installations
The gear shaft 9 matched between plate 13 and with power transmission shaft 11；Further, power transmission shaft 11 is arranged laterally side by side with gear shaft 9.Gear shaft
Connecting on 9 and have left jig arm, power transmission shaft 11 connects left jig arm, and the detailed construction of the most left jig arm and left jig arm is as follows:
Above-mentioned left jig arm includes left drive rod the 3, first Left Drive bar 4 and the left supporting rod 5 being flexibly connected successively；Left driving
Bar 3 is connected with gear shaft 9, and left supporting rod 5 is L-shaped.Above-mentioned right jig arm includes that the right drive rod 31, first being flexibly connected successively is right
Drive link 41 and right supporting rod 51；Right drive rod 31 is connected with power transmission shaft 11, and right supporting rod 51 is L-shaped.Left supporting rod 5 vertical
Portion is opposite with the vertical component effect of right supporting rod 51；The horizontal part of left supporting rod 5 stretches out and is connected with the first Left Drive bar 4, right
The horizontal part of supporting rod 51 stretches out and is connected with the first right drive link 41.The second Left Drive bar 6 is passed through in left supporting rod 5 bending place
It is connected to the two ends of gear shaft 9；Right supporting rod 51 is connected to the two ends of power transmission shaft 11 by the second right drive link 61.Additionally, it is left
Supporting rod 5 is provided with left grip block 7, and right supporting rod 5 is provided with right grip block 71, and left grip block 7 is the most right with right grip block 71
Put.
One end that left drive rod 3 is connected with the first Left Drive bar 4, and right drive rod 31 is connected with the first right drive link 41
One end be equipped with a spacer pin 12.The middle part of left drive rod 3 is connected on installing plate 13 by left spring 8, right drive rod
The middle part of 31 is connected on installing plate 13 by right spring 81, and left spring 8 and right spring 81 are all solid by a trundle 14
It is scheduled on installing plate 13.
As it is shown on figure 3, the second Left Drive bar 6 includes a cross bar 16, it is arranged on be parallel to each other the first of cross bar 16 two ends
Montant 17, and it is arranged on second montant 18 being parallel to each other at the middle part of cross bar 16, the second montant 18 is anti-with the first montant 17
To extension.First montant 17 of the second Left Drive bar 6 is fixed on the outside of two installing plates 13, and left supporting rod 5 is fixed on second
Between two the second montants 18 of Left Drive bar 6.Second right drive link 61 is identical with the structure of the second Left Drive bar 6, the
First montant 17 of two right drive links 61 is fixed on the outside of two installing plates 13, and right supporting rod 51 is fixed on the second right drive link
Between two second montants 18 of 61.
Operation principle of the present utility model is: motor 10 drive gear set 15 rotates, and drives joining with gear train 15
Power transmission shaft 11 and gear shaft 9 rotate, and make drive rod swing, and by the transmission of power, finally make two supporting rod relative distances reduce,
Realize the purpose of clamping object.
Utilize operation principle during this gripper rectangle object as follows: motor 10 drive gear set 15 rotates, band
Movable gear shaft 9, makes left drive rod 3 and right drive rod 31 swing, and carries out power transmission by what clamping limb moved, makes left supporting rod 5
When contacting cuboid object flat surface with the grip block on right supporting rod 51 respectively and apply certain pressure, motor 10 stops turning
Move and lock, object can be clamped and the operation such as move.
Utilize operation principle during this gripper circular object as follows: motor 10 drive gear set 15 rotates, drive
Gear shaft 9 joining with gear train 15, makes left drive rod 3 and right drive rod 31 swing, and carries out power biography by clamping limb motion
Pass, make left supporting rod 5 contact object curved surfaces with the grip block on right supporting rod 51, keep motor 10 to continue to rotate, drive
Lever can compress corresponding spring, makes supporting rod obtain certain advance amount, because supporting rod and object curved surfaces are line
Contact, so supporting rod contacts line and can gradually upper move with object, supporting rod tilts, and with hinged with being connected installing plate 13 second
Object is embraced by drive link, completes to clamp the action that cross section is circular object.
Utilize the operation principle during object that this gripper contains certain internal diameter hole as follows: first to make left supporting rod
5 with right supporting rod 51 in closure state, i.e. relative to two grip blocks between distance be adjusted to minimum.Again will be in closure state
Left supporting rod 5 stretch in hole with right supporting rod 51, then make motor 10 drive left drive rod 3 and right drive rod 31 to move,
Making left supporting rod 5 open with right supporting rod 51, when contacting and apply certain pressure with hole wall, motor 10 stops operating and locks,
Keep current state, the object containing certain internal diameter hole can be clamped.
Claims (7)
1. a mechanical arm clamper with adaptive ability, it is characterised in that include lower bottom base and upper bed-plate；Described go to the bottom
Driving means it is provided with in Zuo；Described upper bed-plate is provided with two opposite installing plates, and described installing plate is fixed with two folders
Hold assembly；Described driving means includes the motor being fixed in described lower bottom base, and the gear train being connected with described motor；Institute
State the power transmission shaft matched with described gear train that clamp assemblies includes being connected between two described installing plates, and be connected to
The gear shaft matched between two described installing plates and with described power transmission shaft；Described power transmission shaft sets laterally side by side with gear shaft
Put；Connecting on described gear shaft and have left jig arm, described power transmission shaft connects right jig arm.
The mechanical arm clamper with adaptive ability the most according to claim 1, it is characterised in that described left jig arm bag
Include left drive rod, the first Left Drive bar and the left supporting rod being flexibly connected successively；Described left drive rod is connected with described gear shaft,
Described left supporting rod is L-shaped；Described right jig arm includes right drive rod, the first right drive link and the right clamping being flexibly connected successively
Bar；Described right drive rod is connected with described power transmission shaft, and described right supporting rod is L-shaped；The vertical component effect of described left supporting rod is with described
The vertical component effect of right supporting rod is opposite, and the horizontal part of described left supporting rod stretches out and is connected with the first Left Drive bar, the described right side
The horizontal part of supporting rod stretches out and is connected with the first right drive link；Described left supporting rod bending place is by the second Left Drive bar even
It is connected to the two ends of described gear shaft；Described right supporting rod is connected to the two ends of described power transmission shaft by the second right drive link.
The mechanical arm clamper with adaptive ability the most according to claim 2, it is characterised in that described left supporting rod
Being provided with left grip block, described right supporting rod is provided with right grip block, and described left grip block is mutually opposing with right grip block.
4. according to the mechanical arm clamper with adaptive ability described in Claims 2 or 3, it is characterised in that a described left side is driven
The middle part of lever is connected on installing plate by left spring, and the middle part of described right drive rod is connected to installing plate by right spring
On.
The mechanical arm clamper with adaptive ability the most according to claim 4, it is characterised in that described left spring and
Described right spring is all fixed on described installing plate by a trundle.
The mechanical arm clamper with adaptive ability the most according to claim 2, it is characterised in that described left drive rod
The one end being connected with described first Left Drive bar, and one end that described right drive rod is connected with described first right drive link is all provided with
There is a spacer pin.
The mechanical arm clamper with adaptive ability the most according to claim 2, it is characterised in that described second left biography
Lever includes a cross bar, is arranged on first montant being parallel to each other at described cross bar two ends, and is arranged in described cross bar
Second montant being parallel to each other in portion, described second montant is oppositely extending with described first montant；Described first montant is fixed on
The outside of two installing plates, described left supporting rod is fixed between two described second montants.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620294351.2U CN205704242U (en) | 2016-04-11 | 2016-04-11 | A kind of mechanical arm clamper with adaptive ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620294351.2U CN205704242U (en) | 2016-04-11 | 2016-04-11 | A kind of mechanical arm clamper with adaptive ability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205704242U true CN205704242U (en) | 2016-11-23 |
Family
ID=57310756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620294351.2U Expired - Fee Related CN205704242U (en) | 2016-04-11 | 2016-04-11 | A kind of mechanical arm clamper with adaptive ability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205704242U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107899962A (en) * | 2017-10-20 | 2018-04-13 | 来安县隆华摩擦材料有限公司 | A kind of brake block shaping equipment |
| CN108161963A (en) * | 2018-02-01 | 2018-06-15 | 深圳市智能机器人研究院 | Robot gripper |
| CN108621374A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of feed back manipulator for injection molding machine |
| CN110038971A (en) * | 2019-05-29 | 2019-07-23 | 江苏中海重型机床有限公司 | A kind of steel tube straightening machine steel pipe clamping device |
| CN110487587A (en) * | 2019-08-22 | 2019-11-22 | 雷超 | Core splits machine and splits method |
| CN110757486A (en) * | 2019-11-06 | 2020-02-07 | 江苏科技大学 | Double-end two-jaw rank-lacking clamp of forging robot |
| CN112792734A (en) * | 2020-12-28 | 2021-05-14 | 广东鼎泰机器人科技有限公司 | Cutter clamping device |
-
2016
- 2016-04-11 CN CN201620294351.2U patent/CN205704242U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107899962A (en) * | 2017-10-20 | 2018-04-13 | 来安县隆华摩擦材料有限公司 | A kind of brake block shaping equipment |
| CN107899962B (en) * | 2017-10-20 | 2020-05-08 | 来安县隆华摩擦材料有限公司 | Brake block automatic molding equipment |
| CN108161963A (en) * | 2018-02-01 | 2018-06-15 | 深圳市智能机器人研究院 | Robot gripper |
| CN108621374A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of feed back manipulator for injection molding machine |
| CN110038971A (en) * | 2019-05-29 | 2019-07-23 | 江苏中海重型机床有限公司 | A kind of steel tube straightening machine steel pipe clamping device |
| WO2020237795A1 (en) * | 2019-05-29 | 2020-12-03 | 江苏中海重型机床有限公司 | Steel pipe clamping device for steel pipe straightening machine |
| CN110487587A (en) * | 2019-08-22 | 2019-11-22 | 雷超 | Core splits machine and splits method |
| CN110757486A (en) * | 2019-11-06 | 2020-02-07 | 江苏科技大学 | Double-end two-jaw rank-lacking clamp of forging robot |
| CN112792734A (en) * | 2020-12-28 | 2021-05-14 | 广东鼎泰机器人科技有限公司 | Cutter clamping device |
| CN112792734B (en) * | 2020-12-28 | 2022-04-26 | 广东鼎泰机器人科技有限公司 | Cutter clamping device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205704242U (en) | A kind of mechanical arm clamper with adaptive ability | |
| CN104760053A (en) | Four claw clamping manipulator mechanism | |
| CN202627828U (en) | Sliding sealing door | |
| CN106003007A (en) | Linked mechanical arm applied to rod clamping | |
| CN207841335U (en) | A kind of Novel machine machinery claw | |
| CN204505291U (en) | Capture switching mechanism | |
| CN203993001U (en) | Jump ring assembling jig | |
| CN104308837A (en) | Six-axis robot | |
| CN110834684A (en) | Insulator climbing mechanism | |
| CN103009376A (en) | Spatial three-dimensional rotation parallel mechanism | |
| CN113001531A (en) | A intelligent mechanical arm that snatchs for cooperating transfer chain uses | |
| CN201736231U (en) | Wrist joint of robot | |
| CN204136050U (en) | A kind of six-joint robot | |
| CN105033995B (en) | A kind of cam-actuated swing mechanical hand | |
| CN104626107A (en) | Four-degree-of-freedom seven-connecting-rod controllable moving operation mechanical arm with sliding plug pin | |
| CN109278015A (en) | A kind of industrial all-dimensional multi-angle robot | |
| CN203359523U (en) | Grabbing mechanism | |
| CN209507059U (en) | Intelligent multi-joint conjugates sucker grasping mechanism | |
| CN208898080U (en) | A kind of clamping device and automatic production line | |
| CN204622073U (en) | A kind of four paws clamping manipulator mechanism | |
| CN208747127U (en) | The automatic transfer device of material | |
| CN102990674A (en) | A/B shaft parallel mechanism | |
| CN207480619U (en) | A kind of rotatable Pneumatic manipulator | |
| CN103358315B (en) | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints | |
| CN204844174U (en) | Cam drive's swing machinery hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20180411 |