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Parallel type mechanical grabbing arm mechanism

A grabbing manipulator, parallel technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of increasing the working load at the end of the manipulator and unfavorable work of the manipulator

Inactive Publication Date: 2013-06-05
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, redundant driving sources (such as motors, cylinders, hydraulic cylinders, etc.) will also increase the workload at the end of the manipulator, which is not conducive to the work of the manipulator.

Method used

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  • Parallel type mechanical grabbing arm mechanism

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Embodiment Construction

[0008] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0009] figure 1 It is the principle diagram of the mechanism of the present invention. The main body of the mechanism is composed of three grasping branch chains with the same structure, a static platform (upper platform), a moving platform (lower platform), and a mobile branch chain connected to the center of the two platforms. The chain is evenly arranged between the two platforms, and the included angle is 120°. The structure is as follows figure 1 shown. In the grasping branch chain I, one end of the rod 1 and the static platform III pass through the rotating pair R 1 connection, the other end is moved through the vice P 1 with working arm W 1 Connected, working arm W 1 With the moving platform II through the rotary joint R 2 connection, revolving pair R 1 and revolving pair R 2 The axes of rotation are parallel to each ot...

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Abstract

A parallel type mechanical grabbing arm mechanism comprises three identical grabbing branch chains, a moving platform, a static platform and an auxiliary vertical moving branch chain. The tail end of a mechanical arm is fixedly connected with the static platform, and two ends of the auxiliary vertical moving branch chain are fixedly connected with the center of the static platform and the center of the moving platform respectively. Three grabbing branch chains are distributed between the static platform and the moving platform symmetrically and evenly, one end of a rod 1 in the three grabbing branch chains is connected with the static platform through a rotating pair, the other end of the rod 1 is connected with a grabbing arm through a moving pair, and the grabbing arm is connected with the moving platform through a rotating pair. The grabbing arm can perform the grabbing action when driven by the moving branch chain. The parallel type mechanical grabbing arm mechanism is simple in structure, easy to control, low in additional load at the tail end of the mechanical arm and high in working efficiency.

Description

technical field [0001] The invention relates to a grasping actuator used for the execution end of a robot. Specifically, it provides a new type of high-efficiency parallel single-drive grasping manipulator mechanism for production lines, assembly lines, or object handling. Background technique [0002] At present, industrial processing and manufacturing are developing toward scale and intensification, and a large number of industrial robots have been applied in processing and manufacturing. As an important additional device of industrial robots, the grasping mechanism can imitate the human hand to complete the grasping or handling action, realize production automation, and at the same time replace the heavy labor of people in a harmful environment and protect personal safety. The grasping mechanism is widely used in machinery manufacturing , metallurgy, electronics and light industry and other fields. At this stage, the design of the grasping mechanism of the manipulator is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
Inventor 朱伟汪源马达何菁徐清华
Owner CHANGZHOU UNIV
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