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Tail clamping handle mechanism of manipulator

A technology of manipulator and clamping mechanism, which is applied in the field of robots, can solve the problems of failure of the end gripper and ineffective sealing of the absorber, etc., and achieve the effect of high grasping efficiency, simple structure and low cost

Inactive Publication Date: 2015-02-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the surface of the sheet is hollowed out, the adsorber may not be able to seal effectively, resulting in the failure of this type of end gripper

Method used

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  • Tail clamping handle mechanism of manipulator
  • Tail clamping handle mechanism of manipulator
  • Tail clamping handle mechanism of manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] refer to Figure 1~Figure 4 , The clamping mechanism at the end of the manipulator includes a set of connecting and fixing mechanism and a set of clamping mechanism, and it is characterized in that the clamping mechanism includes a cylinder 13 , a left support 5 , and a right support 12 . The left bearing 5 and the right bearing 12 are respectively supported by two sliders 7; the sliders 7 are slidingly fitted on two mutually parallel guide rails 4; the left bearing 5 and the right bearing 12 The space is connected by the cylinder front support 6 and the cylinder rear support 14 of the cylinder 13; elastic copper sheets 17 are installed on the relative jaws of the left support 5 and the right support 12; The telescopic movement can drive the relative movement between the left support 5 and the right support 12 to realize the clamping and loosening action between the two supports. And the described elastic copper sheet 17 that is installed on described left suppo...

Embodiment 2

[0024] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are:

[0025] The left support 5 is fixedly connected with an oil buffer 15 through an oil buffer seat 16 . The oil pressure buffer 15 can reduce the impact on the sheet when the cylinder moves suddenly or too fast, so that the whole clamping process is more stable; A limit slider 18 is installed; the limit slider 18 can effectively prevent excessive deformation of the elastic copper sheet 17 caused by excessive cylinder pressure, thereby preventing the grasped sheet from being deformed due to excessive force . The linking and fixing mechanism includes a large base 19 and a small base 2, two small base connecting blocks 10 are respectively symmetrically installed on the small base 2, and two small base connecting blocks 10 are fixedly installed on the two small base connecting blocks 10 respectively. Two linear bearings 9; at the same time, two large base connecting bl...

Embodiment 3

[0027] figure 1 It is an overall schematic diagram of the overall appearance of the clamping mechanism at the end of the manipulator in this embodiment. figure 2 Is the structural schematic diagram of the clamping mechanism. refer to figure 2 , Clamping mechanism is mainly made up of cylinder 13, left bearing 5 and right bearing 12. It is characterized in that: the left support 5 and the right support 12 are respectively supported by two sliders 7; the sliders 7 are slidably mounted on two mutually parallel guide rails 4; the left support 5 and the Between the right bearing 12, be connected by the front bearing 6 of the cylinder of the cylinder 13 and the rear bearing 14 of the cylinder; The telescopic movement of the cylinder 13 can drive the relative movement between the left support 5 and the right support 12 to realize the clamping and loosening action between the two supports. And the described elastic copper sheet 17 that is installed on described left support 5 an...

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PUM

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Abstract

The invention relates to a tail clamping handle mechanism of a manipulator. The tail clamping handle mechanism comprises a connection fixing mechanism and a clamping mechanism, wherein the clamping mechanism comprises a cylinder; a front support and a rear support of the cylinder are connected with a bottom support of the cylinder; the bottom support is connected with lower guide rail sliding blocks; an elastic copper sheet is arranged on the bottom support; under the action of stretching of the cylinder, the bottom support and the elastic copper sheet can be clamped and released; guide rails in the clamping mechanism are arranged on a large base of the connection fixing mechanism, so that the connection fixing mechanism is connected with the clamping mechanism; and the large base and a small base of the connection fixing mechanism are connected with the tail end of the manipulator, so that the whole tail clamping handle mechanism is connected to the tail end of the manipulator. The tail clamping handle mechanism of the manipulator has a degree of freedom, so that square thin sheets which are relatively low in thickness and low in rigidity can be fundamentally caught; and the tail clamping handle mechanism is simple in structure, relatively low in cost, convenient to use and relatively high in efficiency.

Description

technical field [0001] The invention relates to a robot technology, in particular to a gripper mechanism at the end of a manipulator. It can effectively grab square slices with low rigidity and thin thickness. Background technique [0002] In today's world, manipulators have been used in various fields of manufacturing industry. Its wide application plays an extremely important role in improving the efficiency of the manufacturing industry and reducing labor costs. [0003] The manipulator transfers the material from a certain position and orientation to another position and orientation according to a certain motion track through the clamping mechanism, which is very important for the realization of the manipulator function. With the rapid development of robot technology, the design of the actuator at the end of the robot arm has become more and more unique and important according to the needs of changes in the shape and size of the clamped object. [0004] For some sheet...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00
Inventor 肖辅龙欧阳航空饶进军蔡舒文华晓青
Owner SHANGHAI UNIV