CN109760089A - Manipulator - Google Patents
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- CN109760089A CN109760089A CN201910021867.8A CN201910021867A CN109760089A CN 109760089 A CN109760089 A CN 109760089A CN 201910021867 A CN201910021867 A CN 201910021867A CN 109760089 A CN109760089 A CN 109760089A
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Abstract
The invention belongs to automated production equipment technical fields, and in particular to a kind of manipulator.Manipulator in the technical program includes matrix, the first driving unit, the first gear unit, power adjustment unit and multiple fingers, and first driving unit is connected in described matrix；First gear unit is connected with the power output shaft of first driving unit；The power adjustment unit is connected with first gear unit, for receiving the power of first gear unit output and being exported after the torque of the power received is adjusted again；The multiple finger can be connected to the power adjustment unit by way of sliding, and can linearly move back and forth under the output power of the power adjustment unit.By using the manipulator in the present invention, the clamping force of finger can be improved, prevent finger from causing the landing of workpiece in picking up and transporting workpiece fabrication, to guarantee going on smoothly for production.
Description
Technical field
The invention belongs to automated production equipment technical fields, and in particular to a kind of manipulator.
Background technique
With the continuous development of mechanical automation, manipulator is widely used in various industries, including cup, the bowl in food and drink,
And the encapsulation of medical instruments field.Manipulator can imitate certain holding functions of manpower and arm, to be grabbed by fixed routine,
Carry the automatic pilot of object or operational instrument.Manipulator is the industrial robot occurred earliest, and occur earliest
Modern machines people, it can replace the heavy labor of people to realize the mechanization and automation of production.
In production process, due to the presence of transmission mechanism in manipulator, it is be easy to cause the insufficient clamping force of manipulator, thus
Causing manipulator, there is a phenomenon where materials to slide during material picks up and transports, and influences being normally carried out for production.
Summary of the invention
The purpose of the present invention is to provide one kind can guarantee that material provides enough clampings during picking up and transporting
The manipulator of power.
Manipulator in the technical program includes:
Matrix；
First driving unit, first driving unit are connected in described matrix；
First gear unit, first gear unit are connected with the power output shaft of first driving unit, are used for
Transmit the power that first driving unit provides；
Power adjustment unit, the power adjustment unit are connected with first gear unit, for receiving described
The power of one gear unit output simultaneously exports after the torque of the power received is adjusted again；
Multiple fingers, the multiple finger can be connected to the power adjustment unit by way of sliding, and can
It is linearly moved back and forth under the output power of the power adjustment unit.
By using the manipulator in the present invention, the power that the first driving unit provides is transmitted using the first gear unit,
Power adjustment unit can receive the power of the first gear unit output, and rear-guard is adjusted in the torque of the power received
It starts to refer to sliding, to increase the torque for the power that finger receives, improves the clamping force of finger, prevent finger from picking up and removing
The landing of workpiece is caused in fortune workpiece fabrication, to guarantee going on smoothly for production.
The above-mentioned manipulator provided according to the present invention can also have following additional technical characteristic:
In the above-mentioned technical solutions, the power adjustment unit is equipped in multiple rotations away from the power adjustment unit
The radial distance of the heart continuously enlarges or reduced arc chute, and the multiple arc chute is for connecing the power adjustment unit
The torque of the power received exports again after being adjusted, and multiple fingers can be connected to institute by way of sliding
Multiple arcs sliding slot is stated, and can be sliding in the direction of the multiple arc chute of output power lower edge of the power adjustment unit
The reciprocating motion of rectilinear direction is carried out while dynamic.
In the above-mentioned technical solutions, the power adjustment unit includes fixed frame, sheave and multiple slide block assemblies, described solid
To determine frame to be connected with described matrix, the sheave is sheathed on the fixed frame and can be rotated relative to the fixed frame,
The sheave is connected with first gear unit, and the slide block assembly is connected with the finger, and the multiple arc is sliding
Slot is arranged on the sheave for respectively driving the multiple slide block assembly, and the fixed frame, which is equipped with, to be radially arranged
The first straight runner, the slide block assembly be able to drive the finger along first straight runner direction carry out linear reciprocation fortune
It is dynamic.
In the above-mentioned technical solutions, the slide block assembly includes sliding block and transmission shaft, and the sliding block is set to the fixed frame
First straight runner in, the bottom of the sliding block is connected with the finger, and one end of the transmission shaft is connected to the cunning
The other end at the top of block, the transmission shaft is set in the arc chute of the sheave by slidable mode.
In the above-mentioned technical solutions, the center of the fixed frame is hollow structure.
In the above-mentioned technical solutions, first driving unit is driving motor, and the driving motor is set to described matrix
Top surface, the motor shaft of the driving motor passes through described matrix and is connected with first gear unit.
In the above-mentioned technical solutions, first gear unit includes intermeshing driving gear and driven gear, institute
It states driving gear to be sheathed on the motor shaft of the driving motor, the driven gear is connected with the top of the sheave
It connects, and is able to drive the sheave and is rotated.
In the above-mentioned technical solutions, the diameter dimension of the basic circle of the driving gear is less than the basic circle of the driven gear
Diameter dimension.
In the above-mentioned technical solutions, the quantity of the finger is six.
In the above-mentioned technical solutions, the manipulator further includes pusher, and the pusher is connected to described matrix
On, the pusher can carry out straight reciprocating motion along the vertical direction, so as to the object that will be sheathed on the finger
Material is released.
In the above-mentioned technical solutions, the pusher includes the second driving unit and scraping wings component, and described second drives
Moving cell is fixedly connected in described matrix, and the scraping wings assembly set is set to the outer surface of the finger, the pusher board group
Part can carry out along the vertical direction straight line and repeatedly moves under the action of second driving unit.
In the above-mentioned technical solutions, second driving unit includes driving cylinder, movable plate and connecting rod, the driving
Cylinder is fixedly connected in described matrix, and the movable plate is connected with the cylinder rod of the driving cylinder so as to along vertical
Direction carries out straight reciprocating motion, and the connecting rod is for connecting the movable plate and the scraping wings component.
In the above-mentioned technical solutions, the scraping wings component is equipped with the second straight runner being radially arranged, described
Finger can carry out straight reciprocating motion in second straight runner.
In the above-mentioned technical solutions, the scraping wings component includes the fixed plate being detachably connected and movable plate, described solid
The top of fixed board is connected with the connecting rod, and the movable plate is connected to the bottom of the fixed plate by dismountable mode
Portion, second straight runner are set on the movable plate.
The additional aspect and advantage of embodiment of the present invention will be set forth in part in the description, partially will be from following
Become obvious in description, or practice through the invention is recognized.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the side structure schematic diagram of embodiment in Fig. 1；
Fig. 3 is the bottom view of embodiment in Fig. 1；
Fig. 4 is the schematic diagram of the section structure in the face A-A of embodiment in Fig. 3；
Fig. 5 is the first gear unit of embodiment and the decomposition texture schematic diagram of power adjustment unit in Fig. 1；
Fig. 6 is the overall structure diagram of fixed frame in Fig. 5.
Each label is expressed as follows in attached drawing:
10: matrix, 11: mounting plate, 12: guide plate；
20: driving motor；
31: driving gear, 32: driven gear；
41: fixed frame, 411: guide part, 412: support portion, 42: sheave, 421: arc chute, 43: sliding block, 44: transmission
Axis, 45: the first straight runners, 46: groove；
50: finger；
61: scraping wings component, 611: fixed plate, 612: movable plate, 613: the second straight runners, 62: driving cylinder, 63: can
Movable plate, 64: connecting rod；
70: Elastic Circular ring.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
It should be understood that term used herein merely for description particular example embodiment purpose, and have no intention into
Row limitation.Unless the context clearly indicates otherwise, otherwise singular " one " as used in the text, "one" and " described "
Can also indicate to include plural form.The terms "include", "comprise", " containing " and " having " are inclusives, and therefore
It indicates the presence of stated feature, step, operations, elements, and/or components, but presence or addition one or more is not precluded
A other feature, step, operation, component, assembly unit, and/or their combination.Method and step, process, the Yi Jicao of described in the text
It is not interpreted as that them is necessarily required to execute with described or explanation particular order, executes sequence unless explicitly stated otherwise.Also answer
The step of working as understanding, can be used additionally or alternatively.
Although can be described in the text using term first, second, third, etc. multiple element, component, region, layer and/
Or section, still, these component, assembly units, region, layer and/or section should not be limited by these terms.These terms can be only
For a component, assembly unit, region, layer or section are distinguished with another region, layer or section.Unless context clearly refers to
Out, do not implied that when otherwise the term and other numerical terms of such as " first ", " second " etc use in the text sequence or
Person's order.Therefore, first element discussed below, component, region, layer or section are in the introduction for not departing from example embodiment
In the case of can be referred to as second element, component, region, layer or section.
For ease of description, an element as illustrated in the diagram can be described use space relativeness term in the text
Either feature is relative to another element or the relationship of feature, these relativeness terms are, for example, " inside ", " outside ", " interior
Side ", " outside ", " following ", " lower section ", " above ", " top " etc..This spatial correlation term is intended to include removing to retouch in figure
The different direction of device in use or operation except the orientation drawn.For example, being retouched if the device in figure is overturn
State for " below other elements or feature " either the element " below other elements or feature " will then be orientated "
Above other elements or feature " either " above other elements or feature ".Therefore, exemplary term " in ... lower section " can
To include in orientation upper and under.In addition device can be oriented and (be rotated by 90 ° or in other directions) and used herein
Spatial correlation descriptor correspondingly explains.
The invention proposes a kind of manipulators to be particularly suitable for O-ring and steel for being picked up and carrying to workpiece
The assembly of Elastic Circular ring-like workpiece of the silk circlip etc. with certain deformation quantity, by finger from the inside of circular ring type workpiece into
Row is strutted and is grabbed, and workpiece is strutted to a certain degree, is refilled and is assigned on cylindrical work.Fig. 1 is one embodiment of the invention
Overall structure diagram.Fig. 3 is the bottom view of embodiment in Fig. 1.As shown in figures 1 and 3, the mechanical handbag in the present embodiment
Include matrix 10, the first driving unit, the first gear unit, power adjustment unit and multiple fingers 50.Wherein, the first driving unit
It is connected on matrix 10, the first gear unit is connected with the power output shaft of the first driving unit, single for transmitting the first driving
The power that member provides.Power adjustment unit is connected with the first gear unit, for receiving the power of the first gear unit output
And it is exported again after the torque of the power received is adjusted.Multiple fingers 50 can be connected to by way of sliding
Power adjustment unit, and can linearly be moved back and forth under the output power of power adjustment unit.
By using the manipulator in the present invention, the power that the first driving unit provides is transmitted using the first gear unit,
Power adjustment unit can receive the power of the first gear unit output, and rear-guard is adjusted in the torque of the power received
It starts to refer to 50 slidings, to increase the torque for the power that finger 50 receives, improves the clamping force of finger 50, prevent finger 50 from existing
The landing that workpiece is caused in workpiece fabrication is picked up and transported, to guarantee going on smoothly for production.
Fig. 2 is the side structure schematic diagram of embodiment in Fig. 1.As shown in Figures 2 and 3, in one embodiment of the present of invention
In, power adjustment unit includes fixed frame 41, sheave 42 and slide block assembly.Fixed frame 41 is connected with matrix 10, and 42 sets of sheave
It can be rotated on fixed frame 41 and relative to fixed frame 41, the top of sheave 42 is connected with the first gear unit, sliding
Block assembly is connected with the top of finger 50.Sheave 42 is equipped with the arc chute 421 for driving slide block assembly, fixed frame 41
It is equipped with the first straight runner 45 being radially arranged, slide block assembly is able to drive finger 50 along the direction of the first straight runner 45
Carry out straight reciprocating motion.
Multiple arcs sliding slot 421 in the present embodiment is uniformly distributed along the center of sheave 42, arc chute 421 relative to
The radial distance at the center of sheave 42 continuously enlarges or reduces.During finger 50 struts workpiece, sheave 42 turns counterclockwise
Dynamic, arc chute 421 drives slide block assembly to move linearly, meanwhile, the direction of slide block assembly arcuately sliding slot 421 is slided
Dynamic, the torque that slide block assembly receives is distance of any point relative to 42 center of sheave on arc chute 421, to mention
The torque that the torque of high slide block assembly, i.e. raising finger 50 are subject in sliding process, so that it is enough to guarantee that finger 50 has
Clamping force prevents finger 50 from causing the landing of workpiece in picking up and transporting workpiece fabrication.
Fig. 4 is the schematic diagram of the section structure in the face A-A of embodiment in Fig. 3.As shown in figure 4, the center of matrix 10 has circle
Shape through-hole, fixed frame 41 are set in the circular through hole of matrix 10 and are fixedly connected by bolt with matrix 10.Sheave 42 is sheathed on
It the outer peripheral surface of fixed frame 41 and can be rotated relative to fixed frame 41, the top of sheave 42 is connected with the first gear unit
Connect, for receiving the power of the first gear unit transmitting, while by the arc chute 421 on sheave 42 drive slide block assembly into
Row movement, so that the power that the first gear unit transmits is converted into slide block assembly along the linear motion of the first straight runner 45, and
Finger 50 is driven to be moved, to be picked up to workpiece.
By the setting of arc chute 421, the clamping force of finger 50 can be improved.Meanwhile arc chute 421 has certainly
Lock function, when driving force not when, by the self-locking function of arc chute 421 enough guarantee finger 50 still have certain stretching
Power, to prevent Elastic Circular ring 70 from falling.
As shown in Figure 1, the first driving unit in the present embodiment is driving motor 20.Driving motor 20 is set to matrix 10
Top surface, the motor shaft of driving motor 20 pass through matrix 10 and are connected with the first gear unit.First gear unit includes mutual
The driving gear 31 and driven gear 32 of engagement, driving gear 31 is sheathed on the motor shaft of driving motor 20, and and motor shaft
Coaxial arrangement.Driven gear 32 is connected and is coaxially disposed with the top of sheave 42, and is able to drive sheave 42 and is rotated.
Driving gear 31 is used to receive the power of the offer of driving motor 20, and driven gear 32 is driven to be rotated, thus
It drives sheave 42 to be rotated, the clamping force of finger 50 can be further increased by gear drive.Wherein, driving gear 31
The diameter dimension of basic circle is less than the diameter dimension of the basic circle of driven gear 32, therefore the revolving speed of driven gear 32 is less than driving gear
31 revolving speed, so as to accurately control the movement speed of slide block assembly, i.e., accurately adjust finger 50 struts speed simultaneously
Guarantee that finger 50 provides accurate tensile force for workpiece.
Fig. 5 is the first gear unit of embodiment and the decomposition texture schematic diagram of power adjustment unit in Fig. 1.Fig. 6 is Fig. 5
The overall structure diagram of middle fixed frame.As shown in Figure 5 and Figure 6, the slide block assembly in the present embodiment includes sliding block 43 and transmission
Axis 44.Sliding block 43 is set in the first straight runner 45 of fixed frame 41, and the bottom of sliding block 43 is connected with finger 50.The bottom of transmission shaft 44
End is connected to the top of sliding block 43, and the top of transmission shaft 44 is set in the arc chute 421 of sheave 42 by slidable mode,
And idler wheel is equipped between the lateral surface and arc chute 421 on the top of transmission shaft 44.Since sliding block 43 is set to the first of fixed frame 41
In straight runner 45, when sheave 42 rotates with driven gear 32, the transmission shaft 44 positioned at 43 top of sliding block can be with arc
It rotates between sliding slot 421, to be moved with movable slider 43 along the direction of the first straight runner 45, i.e., driving finger 50 is along the
The direction of one straight runner 45 is moved, to carry out stretching or release to Elastic Circular ring 70.
Further, for the ease of the installation of sliding block 43, the fixed frame 41 in the present embodiment includes leading of being detachably connected
To portion 411 and support portion 412.
Further, in this embodiment fixed frame 41 be hollow structure.When Elastic Circular ring 70 needs to be sleeved on cylinder
When there is the position of certain depth on shape workpiece, Elastic Circular ring 70 is strutted using finger 50 and is greater than the straight of cylindrical work
The degree of diameter size, while being in tubular structure, until Elastic Circular ring by the center that cylindrical work penetrates into fixed frame 41
70 reach designated depth position, to carry out the suit of Elastic Circular ring 70.
When having the circular ring type of certain deformation quantity to carry out stretching to O-ring and steel wire circlip etc., in order to make its shape
Shape after change is more nearly circle, in order to be able to accurately be sleeved on workpiece, the quantity of the finger 50 in the present embodiment
It is six.The quantity of certain finger 50 is not limited solely to 6, more also can be set, the quantity of finger is more, Elastic Circular
Ring 70 is softened the shape of mouth closer to round.Particular number can according to the size of the sum workpiece to be set with of whole manipulator and
It is fixed.
It further, is the needs for meeting automated production, the manipulator in the present embodiment further includes pusher.Pusher
Mechanism is connected on matrix 10, and pusher can carry out straight reciprocating motion along the vertical direction, thus to finger 50 is sheathed on
On Elastic Circular ring 70 released.
As shown in Figure 3 and Figure 4, the pusher in the present embodiment includes the second driving unit and scraping wings component 61.The
Two driving units are fixedly connected on matrix 10, and scraping wings component 61 is sheathed on the outer surface of finger 50,61 energy of pushing material component plate
It is enough to carry out straight line and repeatedly moves along the vertical direction under the action of the second driving unit.
Scraping wings component 61 is sheathed on the outer surface of finger 50, when finger 50 drives Elastic Circular ring 70 to be moved to wait be set with
When the designated depth position of workpiece, the second driving unit driving scraping wings component 61 is moved down, thus by the bullet on finger 50
Property annulus part 70 pushes workpiece to be set with to.After Elastic Circular ring 70 is all detached from finger 50, that is, it is sleeved on workpiece to be set with
On designated position, the suit process of Elastic Circular ring 70 is completed.
The second driving unit in the present embodiment includes driving cylinder 62, movable plate 63 and connecting rod 64.Drive cylinder 62
It is fixedly connected on matrix 10, movable plate 63 is connected straight so as to carry out along the vertical direction with the cylinder rod of driving cylinder 62
Line moves back and forth, and connecting rod 64 is for connecting movable plate 63 and scraping wings component 61.
Matrix 10 in the present embodiment is L-type structure, including the mounting plate 11 and guide plate 12 being arranged in a mutually vertical manner.Its
In, driving motor 20 and fixed frame 41 are fixedly mounted on mounting plate 11.Driving cylinder 62 is installed on guide plate 12, is led
The sliding rail being arranged perpendicular to mounting plate 11 is equipped with to plate 12, being equipped with for movable plate 63 can match with the sliding rail on guide plate 12
The sliding slot for closing connection, so that movable plate 63 can be moved under the action of driving cylinder 62 along slide direction.Connecting rod 64
Top be connected with movable plate 63, the bottom end of connecting rod 63 pass through the interior bone of fixed frame 41 and be set to 41 bottom of fixed frame
Scraping wings component 61 be connected, to drive scraping wings component 61 to be moved along the vertical direction by the movement of movable plate 63
It is dynamic, and the Elastic Circular ring 70 on finger 50 can be released.
Further, to improve intensity of the connecting rod 64 in moving process, the inner wall of fixed frame 41 is equipped with can
The groove 46 of connecting rod 64 is accommodated, connecting rod 64 can be bonded in groove 46, to improve connecting rod 64 in moving process
In intensity, prevent from damaging.
Further, since finger 50 is to Elastic Circular ring 70 during strutting, the needs of finger 50 are expanded outwardly, if
The internal diameter of scraping wings component 61 is excessive, then when being set with to the lesser Elastic Circular ring 70 of size, can not be pushed away
Material.Guarantee that finger 50 is able to carry out normal extensional motion and scraping wings component 61 can be to the elasticity of different-diameter to meet
Annulus part 70 carries out pusher, and scraping wings component 61 is equipped with the second straight runner 613 for being radially arranged, and finger 50 can be
Straight reciprocating motion is carried out in second straight runner 613, so as to arbitrarily adjust finger according to the diameter dimension of workpiece to be set with
50 position, to increase the scope of application of equipment.
Further, in this embodiment scraping wings component 61 include the fixed plate 611 that is detachably connected and movable plate
612.Wherein, the top of fixed plate 611 is fixedly connected on the bottom of connecting rod 64, and movable plate 612 is removably connected by bolt
It is connected to the bottom of fixed plate 612, movable plate 612 is equipped with the second straight runner 613 being radially arranged.It is being assembled
When, the relative position of movable plate 612 and fixed plate 611 can be adjusted according to the position of finger 50, make the direction of the second straight runner 613
It is consistent with the moving direction of finger 50, to guarantee that finger 50 treats suit workpiece and struts going on smoothly for process.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (14)
1. a kind of manipulator characterized by comprising
Matrix；
First driving unit, first driving unit are connected in described matrix；
First gear unit, first gear unit is connected with the power output shaft of first driving unit, for transmitting
The power that first driving unit provides；
Power adjustment unit, the power adjustment unit are connected with first gear unit, pass for receiving described first
The power of moving cell output simultaneously exports after the torque of the power received is adjusted again；
Multiple fingers, the multiple finger can be connected to the power adjustment unit by way of sliding, and can be in institute
It states and is linearly moved back and forth under the output power of power adjustment unit.
2. manipulator according to claim 1, which is characterized in that the power adjustment unit is equipped with multiple away from described dynamic
The radial distance that power adjusts the center of rotation of unit continuously enlarges or reduced arc chute, and the multiple arc chute is used for will
The torque for the power that the power adjustment unit receives exports again after being adjusted, and multiple fingers can pass through
The mode of sliding is connected to the multiple arc chute, and can be more described in the output power lower edge of the power adjustment unit
The reciprocating motion of rectilinear direction is carried out while the direction sliding of a arc chute.
3. manipulator according to claim 2, which is characterized in that the power adjustment unit include fixed frame, sheave and
Multiple slide block assemblies, the fixed frame are connected with described matrix, and the sheave is sheathed on the fixed frame and can be opposite
The fixed frame is rotated, and the sheave is connected with first gear unit, the slide block assembly and the finger phase
Connection, the multiple arc chute are arranged on the sheave for respectively driving the multiple slide block assembly, the fixed frame
It is equipped with the first straight runner being radially arranged, the slide block assembly is able to drive the finger along first straight runner
Direction carry out straight reciprocating motion.
4. manipulator according to claim 3, which is characterized in that the slide block assembly includes sliding block and transmission shaft, described
Sliding block is set in first straight runner of the fixed frame, and the bottom of the sliding block is connected with the finger, the transmission shaft
One end be connected to the top of the sliding block, the other end of the transmission shaft is set to the institute of the sheave by slidable mode
It states in arc chute.
5. manipulator according to claim 3, which is characterized in that the fixed frame is hollow structure.
6. the manipulator according to any one of claim 3~5, which is characterized in that first driving unit is driving
Motor, the driving motor are set to the top surface of described matrix, the motor shaft of the driving motor pass through described matrix and with it is described
First gear unit is connected.
7. manipulator according to claim 6, which is characterized in that first gear unit includes intermeshing active
Gear and driven gear, the driving gear are sheathed on the motor shaft of the driving motor, the driven gear and institute
It states and is connected at the top of sheave, and be able to drive the sheave and rotated.
8. manipulator according to claim 7, which is characterized in that the diameter dimension of the basic circle of the driving gear is less than institute
State the diameter dimension of the basic circle of driven gear.
9. manipulator according to claim 1, which is characterized in that the quantity of the finger is six.
10. manipulator according to any one of claims 1 to 5, which is characterized in that the manipulator further includes pusher
Structure, the pusher are connected in described matrix, and the pusher can carry out straight reciprocating motion along the vertical direction, from
And the material being sheathed on the finger can be released.
11. manipulator according to claim 10, which is characterized in that the pusher includes the second driving unit and pushes away
Flitch component, second driving unit are fixedly connected in described matrix, and the scraping wings assembly set is set to the finger
Outer surface, the scraping wings component can carry out along the vertical direction straight line under the action of second driving unit and transport repeatedly
It is dynamic.
12. manipulator according to claim 11, which is characterized in that second driving unit include driving cylinder, can
Movable plate and connecting rod, the driving cylinder are fixedly connected in described matrix, the cylinder of the movable plate and the driving cylinder
Bar is connected to carry out straight reciprocating motion along the vertical direction, and the connecting rod is for connecting the movable plate and described
Scraping wings component.
13. manipulator according to claim 12, which is characterized in that the scraping wings component is equipped with and radially sets
The second straight runner set, the finger can carry out straight reciprocating motion in second straight runner.
14. manipulator according to claim 13, which is characterized in that the scraping wings component includes consolidating of being detachably connected
Fixed board and movable plate, the top of the fixed plate are connected with the connecting rod, and the movable plate is connected by dismountable mode
It is connected to the bottom of the fixed plate, second straight runner is set on the movable plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910021867.8A CN109760089A (en) | 2019-01-10 | 2019-01-10 | Manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910021867.8A CN109760089A (en) | 2019-01-10 | 2019-01-10 | Manipulator |
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| CN109760089A true CN109760089A (en) | 2019-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
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| CN111331365A (en) * | 2020-04-08 | 2020-06-26 | 许春芳 | Tightening device, processing and discharging integrated mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331365A (en) * | 2020-04-08 | 2020-06-26 | 许春芳 | Tightening device, processing and discharging integrated mechanism |
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Application publication date: 20190517 |
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