CN104908052A - Manipulator and automatic equipment adopting same - Google Patents
Manipulator and automatic equipment adopting same Download PDFInfo
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- CN104908052A CN104908052A CN201510296172.2A CN201510296172A CN104908052A CN 104908052 A CN104908052 A CN 104908052A CN 201510296172 A CN201510296172 A CN 201510296172A CN 104908052 A CN104908052 A CN 104908052A
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- slide block
- clamping part
- support arm
- cavity volume
- servomotor
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Abstract
The invention discloses a manipulator which comprises a main body, wherein a first clamping part and a second clamping part extend downwards from the main body; the outer side of the first clamping part is detachably provided with a handle I; the second clamping part is detachably provided with a handle II; the corresponding parts of the handle I and the handle II are provided with clamping openings; opposite up-and-down or simultaneous up-and-down driving of the first clamping part and the second clamping part is realized by virtue of a finger cylinder or by virtue of starting or stopping a driving mechanism. The invention further discloses automatic equipment adopting the manipulator. The manipulator and the automatic equipment have the advantages of simple structure, easiness for manufacturing, low cost, high flexibility, high intelligent degree, stability in operation, good mechanical reliability and high bearing capacity, so that the manipulator and the automatic equipment have excellent performances in technicality and economical efficiency.
Description
[technical field]
The present invention relates to a kind of mechanical gripper and adopt this handgrip automation equipment.
[technical background]
Along with developing with the gradually step of electronic technology of Chinese automation equipment, mechanical gripper, as the critical component of automation equipment, realizes automation equipment function and effect.Existing mechanical gripper mechanism is complicated, and three generally can be adopted to grab clamping, and versatility is not strong, and manufacturing cost is high.The production material of producer or add the operation semi-finished product in man-hour and all need to have enough to meet the need, adopting automation equipment to complete these has been the trend developed with traditional-handwork operating type, according in market survey prior art, by the supporting mechanism of swing arm motion mechanism as other four motions mostly, other four motions just must be driven like this to move together when swing arm motion mechanism kinematic, thus subject very large weight, cause the rotary inertia of swing arm motion mechanism very large, and then make the positioning precision on horizontal plane poor, affect the precision of manipulator integral device, easily there was a mechanical failure.
Therefore, I have developed a kind of mechanical gripper and adopts this handgrip automation equipment.
[summary of the invention]
Object of the present invention technical problem to be solved will provide a kind of mechanical gripper and adopt this handgrip automation equipment, and it has structure and simply, easily manufactures, and flexibility is strong, intelligence degree is high, operates stable, and Mechanical Reliability is good, and ability to bear is strong.Therefore, it is the product that a kind of technical and economy all has superior function.
To achieve these goals, the technical solution used in the present invention is to provide a kind of mechanical gripper, it comprises main body, the first clamping part and the second clamping part is extended downwards by described main body, the outside of described first clamping part is removably assembled with hand one, the detachable region of described second clamping part is equipped with hand two, described hand has installed clamp port one and described hand two-phase contraposition, and described first clamping part and described second clamping part realize mutually driving up and down up and down or simultaneously by means of finger cylinder.
Under same inventive concept, the present invention also provides a kind of mechanical gripper, it comprises main body, the first clamping part and the second clamping part is extended downwards by described main body, the outside of described first clamping part is removably assembled with hand one, the detachable region of described second clamping part is equipped with hand two, described hand has installed clamp port one and described hand two-phase contraposition, and described first clamping part and described second clamping part realize mutually driving up and down up and down or simultaneously by means of driving mechanism for opening or closing.
There is provided a kind of automation equipment further under same inventive concept, it comprises:
Body portion; It adopts sheet metal to be welded, and described body portion has cavity volume, and described cavity volume has opening upwards; First drive division; It comprises the support portion be installed in described cavity volume, described support portion is provided with guide rail, the first slide block coordinated with described guide rail, affixed first support arm of described first slide block, described first slide block coordinates with screw rod, and described screw rod connects Timing Belt by the first servomotor and drives to make described first slide block move up and down; Described first support arm is extended by described opening upwards; Rotating part, it is installed in above described first support arm, affixed second support arm above described rotating part; Described second support arm has: transverse arm portion, establishes the second slide block in it, and described second slide block is driven by transverse arm screw rod to move horizontally action; Described second slide block is equiped with the mechanical gripper described in claim 1 or 2.
Further, the both sides of cavity volume are located in described first servomotor and described support portion, described first servomotor connects active synchronization belt wheel, and bottom, described support portion is provided with driven synchronous pulley, and described active synchronization belt wheel and described driven synchronous pulley are arranged at same level.Further, described rotating part is 90 degree of rotary cylinders.Further, described second support arm is provided with the pedestal be connected with described rotating part, and described pedestal is removably assembled in described rotating part; Described transverse arm portion has the housing of the strip of inner chamber, the affixed described pedestal in one end of described housing, be provided with the second servomotor in described housing, described in described second driven by servomotor, transverse arm screw rod rotates forward or backwards, moves back and forth to drive described second slide block.Further, the affixed installing plate of described first servomotor, described body portion assembling motor mount pad, described installing plate is tightened in described motor mount by bolt, is provided with vibrationproof locating piece between described installing plate and mount pad.
Under same inventive concept, the present invention also provides a kind of automation equipment, and it is characterized in that, it comprises:
Body portion; It adopts sheet metal to be welded, and described body portion has cavity volume, and described cavity volume has opening upwards; First drive division; It comprises the support portion be installed in described cavity volume, described support portion is provided with guide rail, the first slide block coordinated with described guide rail, affixed first support arm of described first slide block, described first slide block coordinates with screw rod, and described screw rod connects Timing Belt by the first servomotor and drives to make described first slide block move up and down; Described first support arm is extended by described opening upwards; Rotating part, it is installed in above described first support arm, affixed second support arm above described rotating part; Described second arm has: transverse arm portion, establishes the second slide block and tooth bar in it, and described second slide block the built-in 3rd is watched motor driven gear and move horizontally action on described tooth bar; Described second slide block is equiped with the mechanical gripper described in such scheme.
Under same inventive concept, the present invention also provides a kind of automation equipment, and it comprises:
Body portion; It adopts sheet metal to be welded, and described body portion has cavity volume, and described cavity volume has opening upwards; First drive division; It comprises the support portion be installed in described cavity volume, described support portion is provided with guide rail, the first slide block coordinated with described guide rail, affixed first support arm of described first slide block, described first slide block coordinates with screw rod, and described screw rod connects Timing Belt by the first servomotor and drives to make described first slide block move up and down; Described first support arm is extended by described opening upwards; Rotating part, it is installed in above described first support arm, affixed second support arm above described rotating part; Described second arm has: transverse arm portion, establishes the second slide block and Rodless cylinder in it, and described Rodless cylinder drives described second slide block to move horizontally action; Described second slide block is equiped with the mechanical gripper in such scheme.
Further, described rotating part is 360 degree of rotating disks.
The present invention compares produced beneficial effect with background technology:
Present invention employs technique scheme, it has structure and simply, easily manufactures, and cost is low, flexibility is strong, intelligence degree is high, operates stable, and Mechanical Reliability is good, and ability to bear is strong.Therefore, therefore, they all have superior function in technical and economy.
[accompanying drawing explanation]
Fig. 1 is the structural representation of the automation equipment in embodiment of the present invention;
Fig. 2 is the structural representation at another visual angle of automation equipment in embodiment of the present invention;
Fig. 3 is A portion enlarged drawing in Fig. 2;
Fig. 4 is the structural representation of mechanical gripper in the present invention;
Fig. 5 is the structural representation in the present invention under another embodiment of mechanical gripper.
[detailed description of the invention]
Be described below in detail embodiments of the invention, described embodiment example is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.
In describing the invention, it should be noted that, for the noun of locality, if any term " " center ", " transverse direction ", " longitudinal direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", " outward ", " clockwise ", indicating positions such as " counterclockwise " and position relationship are based on orientation shown in the drawings or position relationship, only for the ease of describing the present invention and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with particular orientation structure and operation, restriction concrete protection domain of the present invention can not be interpreted as.
In addition, if any term " first ", " second " only for describing object, and instruction or hint relative importance can not be interpreted as or imply the quantity indicating technical characteristic.Thus, be limited with " first ", " second " feature can express or implicit comprise one or more this feature, in the present description, the implication of " several " is two or more, unless otherwise expressly limited specifically.
In the present invention, except as otherwise clear stipulaties and restriction, should go to understand as broad sense if any term " assembling ", " being connected ", " connection " term, such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Also can be mechanical connection; Can be directly be connected, also can be connected by intermediary, can be that two element internals are connected.For those of ordinary skills, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In invention, unless otherwise prescribed and limit, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise fisrt feature and second feature and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " under " and " above " comprise fisrt feature directly over second feature and oblique upper, or be only represent the height of fisrt feature level height higher than second feature.Fisrt feature second feature " on ", " under " and " below " comprise fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is lower than second feature.
Below in conjunction with the accompanying drawing of description, by being further described the specific embodiment of the present invention, make technical scheme of the present invention and beneficial effect thereof clearly, clearly.Be exemplary below by embodiment is described with reference to the drawings, be intended to explain the present invention, and can not limitation of the present invention be interpreted as.
Please refer to shown in Fig. 1 and 2, the embodiment that the present invention preferably provides is a kind of automation equipment, and it comprises body portion 1, first drive division 2, rotating part and the second arm 4 etc. and is assembled into entirety, and concrete structure describes as follows:
Body portion 1; It adopts sheet metal to be welded, and described body portion 1 has cavity volume 11, and described cavity volume 11 has opening upwards.First drive division 2; It comprises the support portion 21 be installed in described cavity volume 11, described support portion 21 is provided with guide rail 22, the first slide block 23 coordinated with described guide rail 22, affixed first support arm 24 of described first slide block 23, described first slide block 23 coordinates with screw rod 25, and described spiral shell 25 bar connects Timing Belt 27 by the first servomotor 26 and drives described first slide block 23 can be moved up and down; Described first support arm 24 is extended upward by described opening 111.Rotating part 3, it is installed in above described first support arm 24, affixed second support arm 4 above described rotating part 3; Described second support arm 4 has transverse arm portion 41, establishes the second slide block 42 in it, and described second slide block 42 is driven to move horizontally action by transverse arm screw rod 43; Described second slide block 42 is equiped with mechanical gripper 44.Moving horizontally of the mechanical gripper 44 on top is gathered in complete machine motion; Be positioned at the rotation of the vertical movement of bottom first drive division 2 and the rotating part 3 at middle part, freedom to work degree scope is large, and application is wide, and overall structure simply, easily manufactures, flexibility is strong, intelligence degree is high, operates stable, Mechanical Reliability is good, and ability to bear is strong.
The both sides of cavity volume 11 are located in described first servomotor 26 and described support portion 21, described first servomotor 26 connects active synchronization belt wheel 28, bottom, described support portion 22 is provided with driven synchronous pulley 29, and described active synchronization belt wheel 28 is arranged at same level with described driven synchronous pulley 29.When needing descending operation, controller (not shown) instruction first servomotor 26 sets the number of turns turned, and makes to drive screw rod 25 to drive the distance moved up and down of the first support arm 24 from fortune synchronous pulley 29; Such as, when needing rising to make gripped object transfer to another region when mechanical gripper 44 needs to move down aligning gripped object or after clamping, each portion of the first drive division 2 is needed to drive up and down to realize.Further the described rotating part of concrete setting is 90 degree of rotary cylinders, connect 90 degree of rotary cylinders need to provide air compressor machine out suppress air as power.Certain rotating part function purport is for rotating, and corner does not need to be particularly limited to; Also 360 degree of electronic more its change angles of rotating of rotating disk can be adopted also can.In the present embodiment, be provided with the adjustment of minute angle the pedestal 45 be connected with described rotating part 3 for convenience of safeguarding at described second support arm 4, described pedestal 45 is removably assembled in described rotating part 2; Described transverse arm portion 41 has the housing 411 of the strip of inner chamber, the affixed described pedestal 45 in one end of described housing 411, in described housing, 411 are provided with the second servomotor 412, described second servomotor 412 drives described transverse arm screw rod 43 to rotate forward or backwards, to drive described second slide block 42 to move back and forth, thus be transformed into the position of setting when making mechanical gripper 44 clamp gripped object.Certainly, this mode allowing mechanical gripper 44 alternating translational, can also be establish tooth bar (not shown) in transverse arm portion 41, the second slide block 42 the built-in 3rd be watched motor (not shown) driven gear (not shown) and move horizontally action on described tooth bar.A kind of mode is also had to be drive the second slide block 4 by the mode of Rodless cylinder, mechanical gripper 44 is moved, also can adopt mode or other modes of oil pressure, will not enumerate at this, these carry out adaptive selection according to different needs by those skilled in the art when embody rule.
As shown in Figure 3, the affixed installing plate 261 of described first servomotor 26, described body portion 1 assembling motor mount pad 12, described installing plate 261 is tightened in described motor mount 12 by bolt 5, is provided with vibrationproof locating piece 6 between described installing plate 261 and mount pad 12.Vibrationproof locating piece 6 can adopt nylon or silica gel or other flexible materials to make, and is socketed on bolt 5, then tightening nut 7, and such vibrationproof locating piece 6 one aspect can reduce vibration, complete machine is operated steadily, effectively can also increase ability to bear.As shown in Figure 4, described mechanical gripper 24 comprises main body 241, by described main body 241 to extending interval first clamping part 242 and the second clamping part 243, the direction that described first clamping part 242 and the second clamping part 243 make the first clamping part 242 and the second clamping part 243 mutually leave by means of driving mechanism for opening or closing 246 or direction close to each other drive.Driving mechanism for opening or closing 246 can be that the mode being provided with cylinder or oil cylinder in main body 241 both sides is stretched realization, also can otherwise realize.The outside of described first clamping part 242 is provided with tong 1, described second clamping part 243 is provided with tong 2 245, described tong to removably connect the first clamping part 242 1, described tong to removably connect the second clamping part 243 2 245, tong is respectively equipped with clamp port 248 one 242 and tong 2 245, clamp port 248 can be arranged to one or more, can adjust and change when being applied to the gripping object of different size.As shown in Figure 5, in another embodiment, described mechanical gripper 24 comprises main body 241, by described main body 241 to extending the first clamping part 242 and the second clamping part 243, described first clamping part 242 and the second clamping part 243 realize mutually driving up and down up and down or simultaneously by means of stretching finger cylinder 246.
Comprehensively above-mentioned content, enter to describe process and the principle of work:
During startup, be that the controller (not shown) made of control core controls to carry out automation entirety by single-chip microcomputer or PLC, the running of controller startup servomotor 26 makes the first support arm 24 rise or decline and arrives suitable height and position, make mechanical gripper 44 arrive the location of workpiece by tong, one 242 and tong to be clamped 2 245, upwards rise again, rotating part 3 rotates and makes transverse arm portion 41 move to above another working region, suitable position is moved to by the second slide block 42, first support arm 24 is moved down on the workbench of subsequent processing, mechanical gripper 2 decontrols gripped object, cycling like this.
In the description of description, the description of reference term " embodiment ", " preferably ", " example ", " concrete example " or " some examples " etc. means the specific features, structure, material or the feature that describe in conjunction with this embodiment or example, be contained at least one embodiment of the present invention or example, the schematic representation in this manual for above-mentioned term not necessarily refers to identical embodiment or example.And the specific features of description, structure, material or feature can combine in a suitable manner in any one or more embodiment or example.
By the description of above-mentioned structure and principle; person of ordinary skill in the field is to be understood that; the present invention is not limited to above-mentioned detailed description of the invention; basis of the present invention adopts the improvement of techniques well known and substitutes and all drop on protection scope of the present invention, should be limited it by each claim.
Claims (10)
1. a mechanical gripper, it is characterized in that: it comprises main body, the first clamping part and the second clamping part is extended downwards by described main body, the outside of described first clamping part is removably assembled with hand one, the detachable region of described second clamping part is equipped with hand two, described hand has installed clamp port one and described hand two-phase contraposition, and described first clamping part and described second clamping part realize mutually driving up and down up and down or simultaneously by means of finger cylinder.
2. a mechanical gripper, it is characterized in that: it comprises main body, the first clamping part and the second clamping part is extended downwards by described main body, the outside of described first clamping part is removably assembled with hand one, the detachable region of described second clamping part is equipped with hand two, described hand has installed clamp port one and described hand two-phase contraposition, and described first clamping part and described second clamping part realize mutually driving up and down up and down or simultaneously by means of driving mechanism for opening or closing.
3. an automation equipment, is characterized in that, it comprises:
Body portion; It adopts sheet metal to be welded, and described body portion has cavity volume, and described cavity volume has opening upwards;
First drive division; It comprises the support portion be installed in described cavity volume, described support portion is provided with guide rail, the first slide block coordinated with described guide rail, affixed first support arm of described first slide block, described first slide block coordinates with screw rod, and described screw rod connects Timing Belt by the first servomotor and drives to make described first slide block move up and down; Described first support arm is extended by described opening upwards;
Rotating part, it is installed in above described first support arm, affixed second support arm above described rotating part; Described second support arm has:
Transverse arm portion, establishes the second slide block in it, described second slide block is driven by transverse arm screw rod to move horizontally action; Described second slide block is equiped with the mechanical gripper described in claim 1 or 2.
4. automation equipment according to claim 3, it is characterized in that: the both sides of cavity volume are located in described first servomotor and described support portion, described first servomotor connects active synchronization belt wheel, bottom, described support portion is provided with driven synchronous pulley, and described active synchronization belt wheel and described driven synchronous pulley are arranged at same level.
5. the automation equipment according to claim 3 or 4, is characterized in that: described rotating part is 90 degree of rotary cylinders.
6. automation equipment according to claim 5, is characterized in that: described second support arm is provided with the pedestal be connected with described rotating part, and described pedestal is removably assembled in described rotating part; Described transverse arm portion has the housing of the strip of inner chamber, the affixed described pedestal in one end of described housing, be provided with the second servomotor in described housing, described in described second driven by servomotor, transverse arm screw rod rotates forward or backwards, moves back and forth to drive described second slide block.
7. automation equipment according to claim 6, it is characterized in that: the affixed installing plate of described first servomotor, described body portion assembling motor mount pad, described installing plate is tightened in described motor mount by bolt, is provided with vibrationproof locating piece between described installing plate and mount pad.
8. an automation equipment, is characterized in that, it comprises:
Body portion; It adopts sheet metal to be welded, and described body portion has cavity volume, and described cavity volume has opening upwards;
First drive division; It comprises the support portion be installed in described cavity volume, described support portion is provided with guide rail, the first slide block coordinated with described guide rail, affixed first support arm of described first slide block, described first slide block coordinates with screw rod, and described screw rod connects Timing Belt by the first servomotor and drives to make described first slide block move up and down; Described first support arm is extended by described opening upwards;
Rotating part, it is installed in above described first support arm, affixed second support arm above described rotating part; Described second arm has:
Transverse arm portion, establishes the second slide block and tooth bar in it, described second slide block the built-in 3rd is watched motor driven gear and move horizontally action on described tooth bar; Described second slide block is equiped with the mechanical gripper described in claim 1 or 2.
9. an automation equipment, is characterized in that, it comprises:
Body portion; It adopts sheet metal to be welded, and described body portion has cavity volume, and described cavity volume has opening upwards;
First drive division; It comprises the support portion be installed in described cavity volume, described support portion is provided with guide rail, the first slide block coordinated with described guide rail, affixed first support arm of described first slide block, described first slide block coordinates with screw rod, and described screw rod connects Timing Belt by the first servomotor and drives to make described first slide block move up and down; Described first support arm is extended by described opening upwards;
Rotating part, it is installed in above described first support arm, affixed second support arm above described rotating part; Described second arm has:
Transverse arm portion, establishes the second slide block and Rodless cylinder in it, described Rodless cylinder drives described second slide block to move horizontally action; Described second slide block is equiped with the mechanical gripper described in claim 1 or 2.
10. automation equipment according to claim 9, is characterized in that: described rotating part is 360 degree of rotating disks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510296172.2A CN104908052A (en) | 2015-05-30 | 2015-05-30 | Manipulator and automatic equipment adopting same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510296172.2A CN104908052A (en) | 2015-05-30 | 2015-05-30 | Manipulator and automatic equipment adopting same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104908052A true CN104908052A (en) | 2015-09-16 |
Family
ID=54077700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510296172.2A Pending CN104908052A (en) | 2015-05-30 | 2015-05-30 | Manipulator and automatic equipment adopting same |
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| Country | Link |
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| CN (1) | CN104908052A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107484364A (en) * | 2017-06-30 | 2017-12-15 | 中山诺顿科研技术服务有限公司 | Protective cabinet capable of grabbing equipment |
| CN110155721A (en) * | 2019-06-06 | 2019-08-23 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Transmission machine arm |
| CN113236331A (en) * | 2021-06-02 | 2021-08-10 | 中国矿业大学(北京) | Frame moving device of door type support |
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| CN204231085U (en) * | 2014-12-09 | 2015-03-25 | 宁波市鄞州丰特电机有限公司 | A kind of vibration proof smoke evacuation motor |
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| US3821498A (en) * | 1972-05-30 | 1974-06-28 | Usm Corp | Control pendants |
| CN202241270U (en) * | 2011-10-06 | 2012-05-30 | 董旭 | Turnable pneumatic claw |
| CN203697006U (en) * | 2014-01-23 | 2014-07-09 | 昆山威创精密机械有限公司 | Intelligent five-shaft manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107484364A (en) * | 2017-06-30 | 2017-12-15 | 中山诺顿科研技术服务有限公司 | Protective cabinet capable of grabbing equipment |
| CN110155721A (en) * | 2019-06-06 | 2019-08-23 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Transmission machine arm |
| CN113236331A (en) * | 2021-06-02 | 2021-08-10 | 中国矿业大学(北京) | Frame moving device of door type support |
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Application publication date: 20150916 |