技术领域technical field
本发明涉及机器人手臂技术领域，尤其涉及一种工业机器人手臂伸曲机构。The invention relates to the technical field of robot arms, in particular to an extension and bending mechanism of an industrial robot arm.
背景技术Background technique
机器人抓手是一种能模仿人体手、臂动作，以实现抓取、搬运物件或操作工具的装置，其能够有效降低人员劳动负荷，提高工作效率，现已广泛应用于机械制造、冶金、电子等各领域，随着现代化工业生产的迅速发展，业内已开发出多种规格类型的机器人抓手，工厂逐渐用机器人代替人工生产，以往人工进行生产时通过人手持有生产工具进行作业，机器人的使用需要采用抓手安装生产工具，并安装在机器人末端。The robot gripper is a device that can imitate the movement of the human hand and arm to grasp, carry objects or operate tools. It can effectively reduce the labor load of personnel and improve work efficiency. It has been widely used in machinery manufacturing, metallurgy, electronics, etc. And other fields, with the rapid development of modern industrial production, the industry has developed a variety of types of robot grippers, factories gradually replace manual production with robots, in the past, manual production was carried out by people holding production tools. The use needs to use the gripper to install the production tool and install it at the end of the robot.
但是现有的机器人手臂的前臂与后臂连接较复杂，前臂与后臂之间的旋转自由度不高，导致机器人抓手在抓取物品的过程中不够灵活，使机器人抓手的抓取效率较低，从而使浪费大量的时间和精力，不利于工业生产成本的提高。However, the connection between the forearm and the rear arm of the existing robot arm is relatively complicated, and the degree of freedom of rotation between the forearm and the rear arm is not high, which causes the robot gripper to be inflexible enough in the process of grabbing objects, making the gripping efficiency of the robot gripper Lower, so that a lot of time and energy are wasted, which is not conducive to the improvement of industrial production costs.
发明内容Contents of the invention
本发明的目的是为了解决现有技术中存在的问题，而提出的一种工业机器人手臂伸曲机构。The purpose of the present invention is to solve the problems existing in the prior art, and propose an industrial robot arm extension and bending mechanism.
为了实现上述目的，本发明采用了如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种工业机器人手臂伸曲机构，包括底座，所述底座的顶部连接有工作台，所述所述工作台的顶部连接有固定板，所述固定板外壁连接有往复机构，所述工作台外壁滑动连接有传送齿条，所述传送齿条外壁啮合连接有第一齿轮，所述第一齿轮外壁连接有第一连杆，所述第一连杆固定连接在固定板的外壁，所述第一连杆的两端均转动连接有第二连杆，所述第二连杆与第一齿轮固定相连，所述第二连杆远离第一连杆的一端连接有第三连杆，所述第三连杆与第二连杆的交接处连接有第二齿轮，所述第二齿轮外壁啮合连接有第三齿轮，所述第三齿轮外壁连接有第四连杆，所述第四连杆的两端均转动连接有第五连杆，两个所述第五连杆远离第四连杆的一端均连接有第六连杆，所述第六连杆外壁连接有夹持机构。An industrial robot arm stretching mechanism, comprising a base, the top of the base is connected with a workbench, the top of the workbench is connected with a fixing plate, the outer wall of the fixing plate is connected with a reciprocating mechanism, and the outer wall of the workbench A transmission rack is slidably connected, and the outer wall of the transmission rack is meshed with a first gear, and the outer wall of the first gear is connected with a first connecting rod, and the first connecting rod is fixedly connected to the outer wall of the fixing plate. Both ends of a connecting rod are rotatably connected with a second connecting rod, and the second connecting rod is fixedly connected with the first gear, and the end of the second connecting rod far away from the first connecting rod is connected with a third connecting rod. The junction of the third connecting rod and the second connecting rod is connected with a second gear, the outer wall of the second gear is meshed with a third gear, the outer wall of the third gear is connected with a fourth connecting rod, and the fourth connecting rod Both ends of the two fifth connecting rods are rotatably connected to the fifth connecting rod, and the ends of the two fifth connecting rods away from the fourth connecting rod are connected to the sixth connecting rod, and the outer wall of the sixth connecting rod is connected to a clamping mechanism.
优选的，所述第三连杆与第四连杆之间固定连接有连接杆。Preferably, a connecting rod is fixedly connected between the third connecting rod and the fourth connecting rod.
优选的，所述往复机构包括第一电机，所述第一电机连接在固定板的外壁，所述第一电机的输出端连接有转动轴，所述转动轴远离第一电机的一端穿过固定板并连接有圆盘，所述圆盘外壁连接有限位杆，所述传送齿条外壁啮合连接有扇形齿轮，所述扇形齿轮转动连接在固定板的外壁，所述扇形齿轮外壁连接有转动杆，所述转动杆外壁开凿有与限位杆相匹配的限位槽。Preferably, the reciprocating mechanism includes a first motor, the first motor is connected to the outer wall of the fixed plate, the output end of the first motor is connected to a rotating shaft, and the end of the rotating shaft away from the first motor passes through the fixed The plate is also connected with a disc, the outer wall of the disc is connected with a limit rod, the outer wall of the transmission rack is meshed with a sector gear, and the sector gear is rotatably connected to the outer wall of the fixed plate, and the outer wall of the sector gear is connected with a rotating rod , the outer wall of the rotating rod is drilled with a limit groove matching the limit rod.
优选的，所述工作台外壁开凿有滑槽，所述传送齿条滑动连接在滑槽内。Preferably, a chute is drilled on the outer wall of the workbench, and the transmission rack is slidably connected in the chute.
优选的，所述夹持机构包括固定块，所述固定块外壁连接有气缸，所述气缸的输出端连接有伸缩杆，所述伸缩杆远离气缸的一端连接有移动架，所述固定块外壁连接有固定轴，所述固定轴外壁分别转动连接有两个活动杆，所述移动架的外壁连接有滑动杆，两个所述活动杆外壁均开凿有凹孔，所述滑动杆滑动连接在凹孔内，且两个所述活动杆外壁分别连接有第一夹板和第二夹板。Preferably, the clamping mechanism includes a fixed block, the outer wall of the fixed block is connected with a cylinder, the output end of the cylinder is connected with a telescopic rod, and the end of the telescopic rod far away from the cylinder is connected with a moving frame, and the outer wall of the fixed block is It is connected with a fixed shaft, and the outer wall of the fixed shaft is respectively rotated and connected with two movable rods. In the concave hole, and the outer walls of the two movable rods are respectively connected with a first splint and a second splint.
优选的，所述伸缩杆外壁套接有弹性元件，所述弹性元件连接在气缸与移动架之间。Preferably, an elastic element is sleeved on the outer wall of the telescopic rod, and the elastic element is connected between the cylinder and the moving frame.
优选的，所述第二夹板与活动杆外壁均开凿有螺纹孔，且所述螺纹孔内活动连接有螺栓。Preferably, both the second splint and the outer wall of the movable rod are drilled with threaded holes, and bolts are movably connected in the threaded holes.
优选的，所述第一夹板与第二夹板外壁均连接有橡胶垫，且所述橡胶垫外壁设置有防滑纹。Preferably, the outer walls of the first splint and the second splint are connected with rubber pads, and the outer walls of the rubber pads are provided with anti-skid lines.
优选的，所述底座外壁开凿有凹槽，所述凹槽内壁连接有第二电机，所述第二电机的输出端连接有支撑柱，所述支撑柱与工作台相连。Preferably, a groove is dug on the outer wall of the base, a second motor is connected to the inner wall of the groove, and a support column is connected to an output end of the second motor, and the support column is connected to the workbench.
与现有技术相比，本发明提供了一种工业机器人手臂伸曲机构，具备以下有益效果：Compared with the prior art, the present invention provides an industrial robot arm extension and bending mechanism, which has the following beneficial effects:
1、该工业机器人手臂伸曲机构，当需要控制机器人手臂进行抓取物体时，通过往复机构带动传送齿条移动，使传送齿条与第一齿轮相啮合，进而使第一齿轮带动第二连杆围绕第一连杆转动，使第二连杆抬升，第二连杆在抬升的同时，使第三连杆向上移动，会带动第二齿轮与第三齿轮相啮合，从而使第三齿轮带动第四连杆移动，使第四连杆带动两个第五连杆转动，进而使第六连杆带动夹持机构对物体进行夹持，本发明通过连杆之间的转动，使机器人抓手前臂与后臂的旋转自由度提高，进而使机器人抓手的抓取效率提高，有利于工业生产成本的降低。1. The extension and bending mechanism of the industrial robot arm, when it is necessary to control the robot arm to grab the object, drives the transmission rack to move through the reciprocating mechanism, so that the transmission rack meshes with the first gear, and then the first gear drives the second chain. The rod rotates around the first connecting rod to lift the second connecting rod. When the second connecting rod is lifted, the third connecting rod moves upward, which will drive the second gear to mesh with the third gear, so that the third gear will drive The fourth connecting rod moves, so that the fourth connecting rod drives the two fifth connecting rods to rotate, and then the sixth connecting rod drives the clamping mechanism to clamp the object. The present invention makes the robot gripper rotate through the rotation between the connecting rods. The degree of freedom of rotation of the forearm and the rear arm is improved, thereby improving the grasping efficiency of the robot gripper, which is beneficial to the reduction of industrial production costs.
2、该工业机器人手臂伸曲机构，通过在第三连杆与第四连杆之间固定连接连接杆，使第三连杆与第四连杆之间的距离固定，方便第二齿轮与第三齿轮之间进行啮合转动。2. The extension and bending mechanism of the industrial robot arm fixes the connecting rod between the third connecting rod and the fourth connecting rod, so that the distance between the third connecting rod and the fourth connecting rod is fixed, so that the second gear and the fourth connecting rod can be conveniently connected. Mesh rotation is carried out between the three gears.
3、该工业机器人手臂伸曲机构，往复机构工作时，首先要控制第一电机运行，使第一电机的输出端带动圆盘在固定板转动，进而使圆盘在旋转的过程中带动限位杆在限位槽内滑动，使扇形齿轮与传送齿条相啮合，从而使传送齿条在工作台上滑动，进而使传送齿条往复运动，进而使装置可以往复运动，使机器人抓手可以对物品进行往复抓取。3. The arm extension and bending mechanism of the industrial robot, when the reciprocating mechanism is working, firstly, the operation of the first motor must be controlled, so that the output end of the first motor drives the disc to rotate on the fixed plate, and then the disc drives the limit position during the rotation process. The rod slides in the limit groove, so that the sector gear meshes with the transmission rack, so that the transmission rack slides on the workbench, and then the transmission rack reciprocates, and then the device can reciprocate, so that the robot gripper can Items are reciprocally grabbed.
4、该工业机器人手臂伸曲机构，通过在工作台的外壁开凿滑槽，使传送齿条滑动在滑槽内部，有利于传送齿条的移动更加平稳，提高装置的移动稳定性。4. The arm extension and bending mechanism of the industrial robot cuts a chute on the outer wall of the workbench, so that the transmission rack slides inside the chute, which is conducive to more stable movement of the transmission rack and improves the movement stability of the device.
5、该工业机器人手臂伸曲机构，当夹持机构工作时，通过控制气缸运行，使气缸的输出端带动伸缩杆伸出，从而使移动架外壁的滑动杆在活动杆外壁开凿的凹孔中滑动，使两个活动杆围绕固定轴转动，两个活动杆互相靠近，从而带动第一夹板与第二夹板对物品进行夹持。5. The arm stretching and bending mechanism of the industrial robot, when the clamping mechanism is working, controls the operation of the cylinder, so that the output end of the cylinder drives the telescopic rod to extend, so that the sliding rod on the outer wall of the mobile frame is in the concave hole dug on the outer wall of the movable rod Sliding makes the two movable rods rotate around the fixed shaft, and the two movable rods are close to each other, thereby driving the first splint and the second splint to clamp the article.
6、该工业机器人手臂伸曲机构，通过在伸缩杆的外壁套接弹性元件，可以在气缸控制伸缩杆的伸缩时起到缓冲的作用，避免伸缩杆的伸缩过于迅速，导致移动架与固定块相撞，有利于提高装置的使用寿命。6. The stretching and bending mechanism of the industrial robot arm can play a buffer role when the cylinder controls the expansion and contraction of the telescopic rod by socketing the elastic element on the outer wall of the telescopic rod, so as to avoid the rapid expansion and contraction of the telescopic rod, which will cause the movable frame and the fixed block Collision is conducive to improving the service life of the device.
7、该工业机器人手臂伸曲机构，通过将第二夹板通过螺栓安装在活动杆上，可以针对不同形状的物体，对第二夹板的角度进行调整，方便对物体的抓取。7. The arm extension and bending mechanism of the industrial robot can adjust the angle of the second splint for objects of different shapes by installing the second splint on the movable rod through bolts, so as to facilitate the grasping of the object.
8、该工业机器人手臂伸曲机构，通过在夹板的外壁设置橡胶垫，可以避免夹持机构在夹取物品的过程中因为夹持力过大，造成物品损坏，且橡胶垫外部设置有防滑纹，可以避免夹板在夹取物品的过程中，物品脱落。8. The arm stretching and bending mechanism of the industrial robot, by setting a rubber pad on the outer wall of the splint, can prevent the clamping mechanism from damaging the item due to excessive clamping force during the process of clamping the item, and the rubber pad is provided with anti-skid lines , It can prevent the item from falling off when the splint is clamping the item.
9、该工业机器人手臂伸曲机构，通过在底座的顶部开凿凹槽，并连接有第二电机，可以控制第二电机运行，使第二电机带动工作台转动，进而使装置可以对全方位的物品进行夹取。9. The arm extension and bending mechanism of the industrial robot can control the operation of the second motor by digging grooves on the top of the base and connecting the second motor, so that the second motor drives the worktable to rotate, so that the device can control all directions Items are picked up.
附图说明Description of drawings
图1为本发明提出的一种工业机器人手臂伸曲机构的整体结构示意图；Fig. 1 is the overall structure schematic diagram of a kind of industrial robot arm stretching mechanism that the present invention proposes;
图2为本发明提出的一种工业机器人手臂伸曲机构的往复机构结构示意图；Fig. 2 is a structural schematic diagram of a reciprocating mechanism of an industrial robot arm stretching and bending mechanism proposed by the present invention;
图3为本发明提出的一种工业机器人手臂伸曲机构第三连杆外部结构示意图；Fig. 3 is a schematic diagram of the external structure of the third connecting rod of the arm extension and bending mechanism of an industrial robot proposed by the present invention;
图4为本发明提出的一种工业机器人手臂伸曲机构工作台外部结构示意图；Fig. 4 is a schematic diagram of the external structure of an industrial robot arm stretching mechanism workbench proposed by the present invention;
图5为本发明提出的一种工业机器人手臂伸曲机构夹持机构结构示意图；Fig. 5 is a structural schematic diagram of a clamping mechanism of an industrial robot arm stretching mechanism proposed by the present invention;
图6为本发明提出的一种工业机器人手臂伸曲机构底座剖面结构示意图。Fig. 6 is a schematic cross-sectional structure diagram of a base of an industrial robot arm extension and bending mechanism proposed by the present invention.
图中：1、底座；101、凹槽；2、工作台；201、滑槽；3、固定板；4、传送齿条；5、第一齿轮；6、第一连杆；7、第二连杆；8、第三连杆；9、第二齿轮；10、第三齿轮；11、第四连杆；12、第五连杆；13、第六连杆；14、连接杆；15、第一电机；16、圆盘；17、限位杆；18、扇形齿轮；19、转动杆；191、限位槽；20、固定块；21、气缸；22、伸缩杆；23、移动架；231、滑动杆；24、固定轴；25、活动杆；251、凹孔；252、第一夹板；253、第二夹板；26、弹性元件；27、螺栓；28、橡胶垫；29、第二电机；30、支撑柱。In the figure: 1, base; 101, groove; 2, workbench; 201, chute; 3, fixed plate; 4, transmission rack; 5, first gear; 6, first connecting rod; 7, second Connecting rod; 8, the third connecting rod; 9, the second gear; 10, the third gear; 11, the fourth connecting rod; 12, the fifth connecting rod; 13, the sixth connecting rod; 14, connecting rod; 15, 16, disc; 17, limit rod; 18, sector gear; 19, rotating rod; 191, limit groove; 20, fixed block; 21, cylinder; 22, telescopic rod; 23, moving frame; 231, sliding rod; 24, fixed shaft; 25, movable rod; 251, concave hole; 252, first splint; 253, second splint; 26, elastic element; 27, bolt; 28, rubber pad; 29, second Motor; 30, support column.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, so as to Specific orientation configurations and operations, therefore, are not to be construed as limitations on the invention.
参照图1-3，一种工业机器人手臂伸曲机构，包括底座1，底座1的顶部连接有工作台2，工作台2的顶部连接有固定板3，固定板3外壁连接有往复机构，工作台2外壁滑动连接有传送齿条4，传送齿条4外壁啮合连接有第一齿轮5，第一齿轮5外壁连接有第一连杆6，第一连杆6固定连接在固定板3的外壁，第一连杆6的两端均转动连接有第二连杆7，第二连杆7与第一齿轮5固定相连，第二连杆7远离第一连杆6的一端连接有第三连杆8，第三连杆8与第二连杆7的交接处连接有第二齿轮9，第二齿轮9外壁啮合连接有第三齿轮10，第三齿轮10外壁连接有第四连杆11，第四连杆11的两端均转动连接有第五连杆12，两个第五连杆12远离第四连杆11的一端均连接有第六连杆13，第六连杆13外壁连接有夹持机构；当需要控制机器人手臂进行抓取物体时，通过往复机构带动传送齿条4移动，使传送齿条4与第一齿轮5相啮合，进而使第一齿轮5带动第二连杆7围绕第一连杆6转动，使第二连杆7抬升，第二连杆7在抬升的同时，使第三连杆8向上移动，会带动第二齿轮9与第三齿轮10相啮合，从而使第三齿轮10带动第四连杆11移动，使第四连杆11带动两个第五连杆12转动，进而使第六连杆13带动夹持机构对物体进行夹持，本发明通过连杆之间的转动，使机器人抓手前臂与后臂的旋转自由度提高，进而使机器人抓手的抓取效率提高，有利于工业生产成本的降低。Referring to Figures 1-3, an industrial robot arm stretching mechanism includes a base 1, a workbench 2 is connected to the top of the base 1, a fixed plate 3 is connected to the top of the workbench 2, and a reciprocating mechanism is connected to the outer wall of the fixed plate 3 to work. The outer wall of the table 2 is slidingly connected with the transmission rack 4, the outer wall of the transmission rack 4 is engaged with the first gear 5, the outer wall of the first gear 5 is connected with the first connecting rod 6, and the first connecting rod 6 is fixedly connected with the outer wall of the fixed plate 3 , both ends of the first connecting rod 6 are rotatably connected with the second connecting rod 7, the second connecting rod 7 is fixedly connected with the first gear 5, and the end of the second connecting rod 7 away from the first connecting rod 6 is connected with the third connecting rod Rod 8, the junction of the third connecting rod 8 and the second connecting rod 7 is connected with a second gear 9, the outer wall of the second gear 9 is meshed with a third gear 10, and the outer wall of the third gear 10 is connected with a fourth connecting rod 11, Both ends of the fourth connecting rod 11 are rotatably connected with the fifth connecting rod 12, the ends of the two fifth connecting rods 12 away from the fourth connecting rod 11 are connected with the sixth connecting rod 13, and the outer wall of the sixth connecting rod 13 is connected with Clamping mechanism; when it is necessary to control the robot arm to grab objects, the reciprocating mechanism drives the transmission rack 4 to move, so that the transmission rack 4 meshes with the first gear 5, and then the first gear 5 drives the second connecting rod 7 Rotate around the first connecting rod 6 to lift the second connecting rod 7, while the second connecting rod 7 is lifted, the third connecting rod 8 is moved upwards, which will drive the second gear 9 to mesh with the third gear 10, thereby Make the third gear 10 drive the fourth connecting rod 11 to move, make the fourth connecting rod 11 drive the two fifth connecting rods 12 to rotate, and then make the sixth connecting rod 13 drive the clamping mechanism to clamp the object. The rotation between the rods improves the rotational freedom of the forearm and the rear arm of the robot gripper, thereby improving the gripping efficiency of the robot gripper, which is beneficial to the reduction of industrial production costs.
参照图1和图3，第三连杆8与第四连杆11之间固定连接有连接杆14；使第三连杆8与第四连杆11之间的距离固定，方便第二齿轮9与第三齿轮10之间进行啮合转动。Referring to Fig. 1 and Fig. 3, connecting rod 14 is fixedly connected between the third connecting rod 8 and the fourth connecting rod 11; the distance between the third connecting rod 8 and the fourth connecting rod 11 is fixed to facilitate the second gear 9 Engage with the third gear 10 for rotation.
参照图2，往复机构包括第一电机15，第一电机15连接在固定板3的外壁，第一电机15的输出端连接有转动轴，转动轴远离第一电机15的一端穿过固定板3并连接有圆盘16，圆盘16外壁连接有限位杆17，传送齿条4外壁啮合连接有扇形齿轮18，扇形齿轮18转动连接在固定板3的外壁，扇形齿轮18外壁连接有转动杆19，转动杆19外壁开凿有与限位杆17相匹配的限位槽191；往复机构工作时，首先要控制第一电机15运行，使第一电机15的输出端带动圆盘16在固定板3转动，进而使圆盘16在旋转的过程中带动限位杆17在限位槽191内滑动，使扇形齿轮18与传送齿条4相啮合，从而使传送齿条4在工作台2上滑动，进而使传送齿条4往复运动，进而使装置可以往复运动，使机器人抓手可以对物品进行往复抓取。Referring to Fig. 2, the reciprocating mechanism includes a first motor 15, the first motor 15 is connected to the outer wall of the fixed plate 3, the output end of the first motor 15 is connected with a rotating shaft, and the end of the rotating shaft away from the first motor 15 passes through the fixed plate 3 And be connected with disc 16, the outer wall of disc 16 is connected with limiting rod 17, the outer wall of transmission rack 4 is meshed with sector gear 18, sector gear 18 is connected to the outer wall of fixed plate 3 in rotation, and the outer wall of sector gear 18 is connected with rotating rod 19 , the outer wall of the rotating rod 19 is excavated with a limit groove 191 matched with the limit rod 17; Rotate, and then make the disk 16 drive the limit rod 17 to slide in the limit groove 191 in the process of rotation, so that the sector gear 18 is meshed with the transmission rack 4, so that the transmission rack 4 slides on the workbench 2, Further, the transmission rack 4 is reciprocated, and then the device can be reciprocated, so that the robot gripper can reciprocate and grab the article.
参照图1-4，工作台2外壁开凿有滑槽201，传送齿条4滑动连接在滑槽201内；有利于传送齿条4的移动更加平稳，提高装置的移动稳定性。Referring to Figures 1-4, a chute 201 is drilled on the outer wall of the workbench 2, and the transmission rack 4 is slidably connected in the chute 201; it is beneficial for the movement of the transmission rack 4 to be more stable and improve the movement stability of the device.
参照图5，夹持机构包括固定块20，固定块20外壁连接有气缸21，气缸21的输出端连接有伸缩杆22，伸缩杆22远离气缸21的一端连接有移动架23，固定块20外壁连接有固定轴24，固定轴24外壁分别转动连接有两个活动杆25，移动架23的外壁连接有滑动杆231，两个活动杆25外壁均开凿有凹孔251，滑动杆231滑动连接在凹孔251内，且两个活动杆25外壁分别连接有第一夹板252和第二夹板253；当夹持机构工作时，通过控制气缸21运行，使气缸21的输出端带动伸缩杆22伸出，从而使移动架23外壁的滑动杆231在活动杆25外壁开凿的凹孔251中滑动，使两个活动杆25围绕固定轴24转动，两个活动杆25互相靠近，从而带动第一夹板252与第二夹板253对物品进行夹持。Referring to Fig. 5, the clamping mechanism includes a fixed block 20, the outer wall of the fixed block 20 is connected with a cylinder 21, the output end of the cylinder 21 is connected with a telescopic rod 22, and the end of the telescopic rod 22 away from the cylinder 21 is connected with a mobile frame 23, and the outer wall of the fixed block 20 is Connected with fixed shaft 24, the outer wall of fixed shaft 24 is respectively rotated and connected with two movable rods 25, the outer wall of mobile frame 23 is connected with sliding rod 231, and the outer walls of two movable rods 25 are all dug with recessed hole 251, and sliding rod 231 is slidably connected in In the concave hole 251, the outer walls of the two movable rods 25 are respectively connected with a first splint 252 and a second splint 253; when the clamping mechanism works, the output end of the cylinder 21 drives the telescopic rod 22 to stretch out by controlling the operation of the cylinder 21. , so that the sliding rod 231 on the outer wall of the movable frame 23 slides in the concave hole 251 dug on the outer wall of the movable rod 25, so that the two movable rods 25 rotate around the fixed shaft 24, and the two movable rods 25 are close to each other, thereby driving the first splint 252 The article is clamped with the second clamping plate 253 .
参照图5，伸缩杆22外壁套接有弹性元件26，弹性元件26连接在气缸21与移动架23之间；可以在气缸21控制伸缩杆22的伸缩时起到缓冲的作用，避免伸缩杆22的伸缩过于迅速，导致移动架23与固定块20相撞，有利于提高装置的使用寿命。Referring to Fig. 5, the outer wall of the telescopic rod 22 is sleeved with an elastic element 26, and the elastic element 26 is connected between the cylinder 21 and the moving frame 23; The expansion and contraction of the mobile frame 23 is too fast, causing the movable frame 23 to collide with the fixed block 20, which is conducive to improving the service life of the device.
参照图5，第二夹板253与活动杆25外壁均开凿有螺纹孔，且螺纹孔内活动连接有螺栓27；可以针对不同形状的物体，对第二夹板253的角度进行调整，方便对物体的抓取。Referring to Fig. 5, the second splint 253 and the outer wall of the movable rod 25 are all dug with threaded holes, and bolts 27 are movably connected in the threaded holes; the angle of the second splint 253 can be adjusted for objects of different shapes to facilitate the adjustment of the object. crawl.
参照图5，第一夹板252与第二夹板253外壁均连接有橡胶垫28，且橡胶垫28外壁设置有防滑纹；可以避免夹持机构在夹取物品的过程中因为夹持力过大，造成物品损坏，且橡胶垫28外部设置有防滑纹，可以避免夹板在夹取物品的过程中，物品脱落。Referring to Fig. 5, the outer walls of the first splint 252 and the second splint 253 are connected with rubber pads 28, and the outer walls of the rubber pads 28 are provided with anti-slip lines; Damage to the article is caused, and the rubber pad 28 is provided with anti-skid lines on the outside, which can prevent the article from falling off when the splint is clamping the article.
参照图1和图6，底座1外壁开凿有凹槽101，凹槽101内壁连接有第二电机29，第二电机29的输出端连接有支撑柱30，支撑柱30与工作台2相连；可以控制第二电机29运行，使第二电机29带动工作台2转动，进而使装置可以对全方位的物品进行夹取。Referring to Fig. 1 and Fig. 6, a groove 101 is dug on the outer wall of the base 1, a second motor 29 is connected to the inner wall of the groove 101, the output end of the second motor 29 is connected to a support column 30, and the support column 30 is connected to the workbench 2; The operation of the second motor 29 is controlled so that the second motor 29 drives the workbench 2 to rotate, so that the device can grip objects in all directions.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911378272.4ACN111113395A (en) | 2019-07-28 | 2019-07-28 | Industrial robot arm mechanism of buckling |
| CN201910685930.8ACN110315522B (en) | 2019-07-28 | 2019-07-28 | An industrial robot arm extension and bending mechanism |
| PCT/CN2020/085193WO2021017528A1 (en) | 2019-07-28 | 2020-04-16 | Arm stretching and bending mechanism for industrial robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685930.8ACN110315522B (en) | 2019-07-28 | 2019-07-28 | An industrial robot arm extension and bending mechanism |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911378272.4ADivisionCN111113395A (en) | 2019-07-28 | 2019-07-28 | Industrial robot arm mechanism of buckling |
| Publication Number | Publication Date |
|---|---|
| CN110315522Atrue CN110315522A (en) | 2019-10-11 |
| CN110315522B CN110315522B (en) | 2020-01-17 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911378272.4APendingCN111113395A (en) | 2019-07-28 | 2019-07-28 | Industrial robot arm mechanism of buckling |
| CN201910685930.8AActiveCN110315522B (en) | 2019-07-28 | 2019-07-28 | An industrial robot arm extension and bending mechanism |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911378272.4APendingCN111113395A (en) | 2019-07-28 | 2019-07-28 | Industrial robot arm mechanism of buckling |
| Country | Link |
|---|---|
| CN (2) | CN111113395A (en) |
| WO (1) | WO2021017528A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111779813A (en)* | 2020-07-21 | 2020-10-16 | 张聿剑 | Horizontal reciprocating mechanism for mechanical transmission and use method thereof |
| CN112189503A (en)* | 2020-11-02 | 2021-01-08 | 王凤云 | Afforestation trees strutting arrangement |
| WO2021017528A1 (en)* | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Arm stretching and bending mechanism for industrial robot |
| CN112621797A (en)* | 2020-12-01 | 2021-04-09 | 镇江云杰信息技术有限公司 | Clamping arm for industrial robot |
| CN113104571A (en)* | 2021-03-30 | 2021-07-13 | 深圳市德泽威技术检测有限公司 | Adjustable clamping device with rotating arm |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087941A (en)* | 2020-10-19 | 2020-12-15 | 惠州市百桥电子科技有限公司 | PCB fixing device of SMT chip mounter |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU515635A1 (en)* | 1974-01-02 | 1976-05-30 | Предприятие П/Я А-1090 | Industrial robot |
| US4329111A (en)* | 1979-06-19 | 1982-05-11 | Societe Suisse Pour L'industrie Horlogere Management Services | Mechanical manipulator |
| DE4336792A1 (en)* | 1993-10-28 | 1995-05-04 | Leybold Ag | Device for transporting workpieces in vacuum coating installations |
| CN106142112A (en)* | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN206175600U (en)* | 2016-10-17 | 2017-05-17 | 武汉理工大学 | Edge cam intermittent movement device |
| CN109773757A (en)* | 2019-03-08 | 2019-05-21 | 河北工业大学 | Delta Robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4234150A (en)* | 1979-02-02 | 1980-11-18 | Spar Aerospace Limited | Mechanical arm assembly |
| US5248177A (en)* | 1992-01-30 | 1993-09-28 | Wrangler | Fabric pickup device |
| US20110108265A1 (en)* | 2009-11-12 | 2011-05-12 | Yaogen Ge | Articulated apparatus for handling a drilling tool |
| CN204604341U (en)* | 2015-05-18 | 2015-09-02 | 三峡大学 | A kind of cylinder clamping device |
| CN105459090A (en)* | 2016-01-04 | 2016-04-06 | 江苏科技大学 | Instructive six-degree-of-freedom carrying manipulator |
| CN106256506B (en)* | 2016-09-05 | 2018-12-25 | 青岛海科佳电子设备制造有限公司 | Vermicelli Feeder Manipulator |
| CN106914915A (en)* | 2017-02-24 | 2017-07-04 | 巢湖学院 | A kind of bar feed gearbox hand clamper |
| CN108201702A (en)* | 2018-02-20 | 2018-06-26 | 郭双伟 | It is a kind of to utilize the automatic device and method that blow bubbles of flood tide ebb |
| CN111113395A (en)* | 2019-07-28 | 2020-05-08 | 南京驭逡通信科技有限公司 | Industrial robot arm mechanism of buckling |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU515635A1 (en)* | 1974-01-02 | 1976-05-30 | Предприятие П/Я А-1090 | Industrial robot |
| US4329111A (en)* | 1979-06-19 | 1982-05-11 | Societe Suisse Pour L'industrie Horlogere Management Services | Mechanical manipulator |
| DE4336792A1 (en)* | 1993-10-28 | 1995-05-04 | Leybold Ag | Device for transporting workpieces in vacuum coating installations |
| CN106142112A (en)* | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
| CN206175600U (en)* | 2016-10-17 | 2017-05-17 | 武汉理工大学 | Edge cam intermittent movement device |
| CN109773757A (en)* | 2019-03-08 | 2019-05-21 | 河北工业大学 | Delta Robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021017528A1 (en)* | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Arm stretching and bending mechanism for industrial robot |
| CN111779813A (en)* | 2020-07-21 | 2020-10-16 | 张聿剑 | Horizontal reciprocating mechanism for mechanical transmission and use method thereof |
| CN112189503A (en)* | 2020-11-02 | 2021-01-08 | 王凤云 | Afforestation trees strutting arrangement |
| CN112189503B (en)* | 2020-11-02 | 2023-03-17 | 江苏江山营造景观有限公司 | Afforestation trees strutting arrangement |
| CN112621797A (en)* | 2020-12-01 | 2021-04-09 | 镇江云杰信息技术有限公司 | Clamping arm for industrial robot |
| CN113104571A (en)* | 2021-03-30 | 2021-07-13 | 深圳市德泽威技术检测有限公司 | Adjustable clamping device with rotating arm |
| CN113104571B (en)* | 2021-03-30 | 2022-03-08 | 深圳市德泽威技术检测有限公司 | Adjustable clamping device with rotating arm |
| Publication number | Publication date |
|---|---|
| WO2021017528A1 (en) | 2021-02-04 |
| CN110315522B (en) | 2020-01-17 |
| CN111113395A (en) | 2020-05-08 |
| Publication | Publication Date | Title |
|---|---|---|
| CN110315522B (en) | An industrial robot arm extension and bending mechanism | |
| CN103707296B (en) | A kind of four axis robot for capturing sheet metal component | |
| CN209319814U (en) | An industrial robot mechanical grabbing arm | |
| CN206899240U (en) | A kind of Three Degree Of Freedom vertical mechanical hand | |
| CN205734910U (en) | Three-dimensional jack catchs type robot mechanical arm mechanism | |
| CN110587642B (en) | Clamping device of mechanical arm of transfer robot | |
| CN105945901A (en) | Clamping jaw type multi-freedom-degree robot manipulator mechanism | |
| CN111216149A (en) | Industrial robot tongs | |
| CN211029985U (en) | Novel carrying manipulator | |
| CN105291097A (en) | Three-freedom-degree overturning robot | |
| CN211030050U (en) | Pneumatic control workpiece grabbing robot | |
| CN110815197A (en) | Positioning power manipulator with protection function | |
| CN210763034U (en) | Four-way automatic gripper | |
| CN205272035U (en) | Engineering machine tool arm of force | |
| CN212421348U (en) | A variable stroke software pneumatic clamping device | |
| CN221834325U (en) | A hydraulic manipulator | |
| CN205766203U (en) | Robot three-dimensional machinery pawl | |
| CN209160902U (en) | Multifunctional material transfer device | |
| CN215789956U (en) | Forearm retractable joint manipulator | |
| CN207618651U (en) | A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator | |
| CN210998710U (en) | Truss type mechanical arm | |
| CN211940934U (en) | All-round manipulator that snatchs article | |
| CN212197481U (en) | a transport device | |
| CN210709572U (en) | Clamping device for industrial robot | |
| CN114932570A (en) | A high efficiency manipulator for go up unloading |
| 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20230626 Address after:No. 9 Huanyuan Road, Gaopi Town, Yongding District, Longyan City, Fujian Province, 364101 Patentee after:LONGHE INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd. Address before:211100 4th floor, building 9, No.100 Tianjiao Road, Qilin street, Nanjing, Jiangsu Province Patentee before:Nanjing Yuyi Communication Technology Co.,Ltd. |