Four claw clamping manipulator mechanism

一种四爪夹持机械手机构

Abstract

本发明公开了一种四爪夹持机械手机构,包括圆形过渡盘,所述圆形过渡盘通过内部四个螺孔固定于工业机器人末端轴上,所述圆形过渡盘通过外部四个螺孔固定四根四棱柱,所述四棱柱另一端连接在圆形支座上,所述圆形支座和圆形过渡盘之间安装电机,所述电机末端连接滚珠丝杠,所述滚珠丝杆的末端连接小连杆支座,所述小连杆支座四周连接小连杆,所述小连杆的另一端连接于平行连杆一的中部,所述平行连杆一的上端连接于平行连杆支座上,末端连接手爪,所述小连杆支座通过滚珠丝杆的带动进行上下运动,通过平行连杆的带动转化成末端手爪的张开与闭合,本发明控制过程简单、精准,结构简单,造价低廉,适宜推广应用。
The invention discloses a four claw clamping manipulator mechanism. The four claw clamping manipulator mechanism comprises a round transition disk, wherein the round transition disk is fixed on an end shaft of an industrial robot through four internal screw holes, four quadruple prisms are fixed on the round transition disk through four external screw holes, one end of each quadruple prism, not located on the round transition disk, is connected onto a round support seat, a motor is installed between the round support seat and the round transition disk, the tail end of the motor is connected with a ball screw, the tail end of the ball screw is connected with a small connection rod support seat, small connection rods are connected with the periphery of the small connection rod support seat, the other end of each small connection rod, not connected with the small connection rod support seat, is connected with the middle of a parallel connection rod 1, the upper end of the parallel connection rod 1 is connected onto a parallel connection rod support seat, the tail end of the parallel connection rod 1 is connected with a paw, the small connection rod support seat is driven by the ball screw to move up and down, and up and down movement of the small connection rod support seat are converted into opening and closing movements of the paw at the tail end of the parallel connection rod 1 under drive of the parallel connection rod 1. The four claw clamping manipulator mechanism is simple and premise in control process, simple in structure, low in cost, and suitable for popularization and application.

Claims

Description

Topics

Download Full PDF Version (Non-Commercial Use)

Patent Citations (8)

    Publication numberPublication dateAssigneeTitle
    CN-102490174-AJune 13, 2012中国人民解放军总装备部军械技术研究所具有架式延伸臂的机械手
    CN-203650540-UJune 18, 2014黑龙江工程学院Mechanical arm clamping device
    CN-203697028-UJuly 09, 2014南京聚特机器人技术有限公司一种可手动调节指间角度的三爪夹持器
    CN-203956920-UNovember 26, 2014林栋�Adjustable stacking mechanical claw
    CN-204054076-UDecember 31, 2014南京工程学院Motor-drive four-claw manipulator structure device
    CN-204622073-USeptember 09, 2015聊城大学Four paws centre gripping manipulator mechanism
    JP-H0423288-UFebruary 26, 1992
    JP-H05138571-AJune 01, 1993Kawashima Packaging Mach Ltd, 株式会社川島製作所四つ爪チヤツクハンド

NO-Patent Citations (0)

    Title

Cited By (0)

    Publication numberPublication dateAssigneeTitle