CN101920496A - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN101920496A CN101920496A CN 201010221811 CN201010221811A CN101920496A CN 101920496 A CN101920496 A CN 101920496A CN 201010221811 CN201010221811 CN 201010221811 CN 201010221811 A CN201010221811 A CN 201010221811A CN 101920496 A CN101920496 A CN 101920496A
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- support
- pull bar
- base plate
- plate
- top board
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Abstract
The invention discloses a manipulator. Support grooves are uniformly distributed on the circumference of a base plate. A support is fixed on the upper surface of the base plate; a symmetrical surface of the support is superposed with symmetrical surfaces of the support grooves; and hand grips are positioned in the support grooves and sleeved on a mandril of the support. The base plate, a support plate and a top plate are sequentially sleeved on a pull rod and fixed with the support plate. Support rods penetrate through the support plate; and two ends of each support rod are respectively fixed with one surface of the base plate and one surface of the top plate. A spring is sleeved on the pull rod positioned between the top plate and the support plate. Direct teeth along the length direction of the pull rod are arranged on the surface at the end from which the pull rod extends out of the top plate and are meshed with a gear arranged on a motor output shaft. The invention overcomes the defects that the traditional manipulator has complicated structure and narrow applicable surface, and has the characteristics of simple structure, safety and reliability and as well as low cost and easy operation.
Description
Technical field
The present invention relates to the robot field, specifically is a kind of mechanical grabbing device.
Background technology
Along with development of technology, robot assists the mankind to finish large amount of complex, heavy or high-risk work at increasing industry and sphere of life, and the manipulator in the robot system is widely used in all trades and professions forefront of the production.
Present widely used manipulator is many controls the action that has realized mechanical grabbing device by hydraulic control and motor-driven frame for movement, has the high characteristics of precision of realization.As, be 02214944.9 patent disclosure at the application number mechanical grabbing device of hydraulic control of a kind of " multifunction hydraulic manipulator " by name, this device is made of manipulator and hydraulic control box two parts, the paw of the manipulator of this machinery grabbing device includes the base of mobile wheel and hydraulic motor and transmission mechanism, and rotary body and hinged with it postbrachium, the forearm by hydraulic oil cylinder driving are arranged at this base top, and are fixed in the support cylinder on the base.At application number be 02258997.X patent disclosure the mechanical grabbing device of a kind of " cam steel-ball type manipulator " by name, this device employing bag network globoid cam has replaced the cylindrical envelope globoid cam in the existing cam-type manipulator, adopt steel ball to replace the cylindrical roller driven member in the cam robot, be characterized in that steel ball is after promoting the action of clutch plate realization reciprocally swinging, directly enter in the endless track on the housing, play the bearing effect, directly supporting clutch plate, make its designs simplification, and mesh stiffness and intensity raising.
But by the robot manipulator structure complexity of hydraulic control and the control of motor-driven frame for movement, cost of manufacture is higher in the prior art, and operation is comparatively complicated, thereby has influenced the application under the complex working condition condition of manipulator.
Summary of the invention
In order to overcome existing grabbing device complex structure, operation inconvenience and the narrow deficiency of applicable surface, the present invention proposes a kind of manipulator.
The present invention includes pull bar, top board, pole, a plurality of support, a plurality of handgrip, base plate, mandrel, supporting plate and spring.On the base plate circumference, be evenly equipped with the bracket groove of a plurality of axial perforation base plates.Be evenly equipped with a plurality of supports on surface of base plate; The support plate of each support is fixed on the upper surface of base plate and is positioned at the bracket groove both sides, and the plane of symmetry of support is overlapped with the plane of symmetry of mount holder groove.A plurality of handgrips are installed on the mandrel of support, are positioned at bracket groove.Base plate and top board are set in the two ends of pull bar, and fix with pull bar.Supporting plate is sleeved on the pull bar between base plate and the top board, and can be along the endwisely slipping of pull bar, and the gripping arm inner surface of supporting plate external peripheral surface and handgrip one end is tangent.Pole is passed supporting plate, and the two ends of each pole are fixed with base plate and top board respectively; Spring housing is contained on the pull bar between top board and the supporting plate.Pull bar stretches out top board end one side surface to be had along the straight-tooth of pull bar length direction, this straight-tooth and the gears engaged that is installed on the stepper motor output shaft.
Because the technical scheme that the present invention takes, make manipulator cooperating by the gear on the straight-tooth on the pull bar and the stepper motor, rotatablely moving of stepper motor become the reciprocating motion of supporting plate, make supporting plate drive handgrip and rotate, thereby realize the extracting and the release of object around mandrel.It is simple in structure, reliable, with low cost that the present invention has, and operates easily and the characteristics of suitable face width.
Description of drawings
Fig. 1 is the front view of robot manipulator structure schematic diagram;
Fig. 2 is that robot manipulator structure schematic diagram B-B is to cutaway view;
Fig. 3 is that robot manipulator structure schematic diagram A-A is to cutaway view;
1. pull bar 2. top boards 3. poles 4. supports 5. handgrips
6. base plate 7. mandrels 8. supporting plates 9. springs
The specific embodiment
Embodiment one
This enforcement is a kind of manipulator that is used to grasp the submarine navigation device charging inlet.
Present embodiment comprises manipulator, stepper motor and control circuit.Wherein: manipulator comprises pull bar 1, top board 2, pole 3, support 4, handgrip 5, base plate 6, mandrel 7, supporting plate 8 and spring 9.Wherein,
As Fig. 1～shown in Figure 3, on base plate 6 circumference, be evenly equipped with four bracket grooves that axially connect base plates 6, and two corresponding bracket grooves lay respectively at this place's base plate 6 center line both sides, four bracket grooves are in respectively in the different quadrants.Be evenly equipped with four supports 4 on 6 one surfaces of base plate; The support plate of each support 4 all is fixed on the upper surface of base plate and is positioned at the bracket groove both sides, and the plane of symmetry of support 4 is overlapped with the plane of symmetry of mount holder groove.Four handgrips 5 are installed on the mandrel 7 of support 4, are positioned at bracket groove.Base plate 6 and top board 2 are set in the two ends of pull bar 1, and fix with pull bar, supporting plate 8 suits and be fixed on base plate 6 and top board 2 between pull bar 1 on, and can endwisely slipping along pull bar; And the gripping arm inner surface of supporting plate 8 external peripheral surfaces and handgrip 5 one ends is tangent; Four poles 3 are passed supporting plate 8, and the two ends of each pole 3 are fixing with base plate 6 and top board 2 respectively.Spring 9 is sleeved on the pull bar 1 between top board 2 and the supporting plate 8.Pull bar 1 stretches out top board 2 ends one side surface to be had along the straight-tooth of pull bar length direction, this straight-tooth and the gears engaged that is installed on the stepper motor output shaft.
Pull bar 1 is a round bar shape, and the outer round surface that is positioned at top board 2 upper surfaces one end has along the straight-tooth of this pull bar length direction.This straight-tooth is meshed with gear on being contained in the stepper motor output shaft, and rotatablely moving of stepper motor output become straight reciprocating motion.The outer round surface of pull bar 1 other end has the screw thread that cooperates with the center screw of supporting plate 8, by this threaded engagement, supporting plate 8 is fixedlyed connected with pull bar 1.
There is screw thread at the two ends of pole 3.Top board 2 is circular dull and stereotyped.There is the via hole of pull bar 1 top board 2 centers.Ring pull bar 1 via hole is evenly equipped with the screwed hole that pole 3 is installed.Base plate 6 also is circular dull and stereotyped, and its diameter has also to be evenly equipped with four screwed holes that pole 3 is installed on the excircle of base plate 6 less than the diameter of top board 2.There is screw thread at the two ends of pole 3, and fixedly connected by screw thread with top board 2 and base plate 6 respectively.
Support 4 has four, includes a pair of support plate and is fixed on mandrel 7 between the support plate.Distance between a pair of support plate inner surface of support 4 is with the groove width of mount holder groove.The profile of handgrip 5 is L-shaped, and its gripping arm is that cross section is the rod member of rectangle.The angle of the gripping arm bending part of handgrip 5 is 110 °, and the installing hole of mandrel 7 is arranged at this bending part.During assembling, the mandrel 7 of support 4 cooperates with handgrip 5 bending part installing holes by bearing, and the two ends of mandrel 7 are separately fixed on the support plate of both sides.
Supporting plate 8 also is circular dull and stereotyped, and its diameter is greater than the diameter of base plate 6.There is the screwed hole that matches with the thread segment of pull bar 1 at the center of supporting plate 8.The outer rim place of supporting plate 8 is evenly equipped with the via hole of pole 3.
When present embodiment grasps object, stepper motor just changes, the straight-tooth engagement of gear on the electric machine main shaft and the pull bar of manipulator 1, make pull bar 1 along its length direction towards pull bar 1 straight-tooth end rectilinear motion, then supporting plate 8 is by upwards pulling of pull bar 1, supporting plate 8 drives four handgrips 5 and rotates around mandrel 7, till object is firmly grasped in 4 gripping arms of handgrip 5.
When present embodiment discharges object, the stepper motor counter-rotating, the gear on the electric machine main shaft moves downward pull bar 1, and then supporting plate 8 is promoted downwards by pull bar 1, the restriction that supporting plate 8 is removed four handgrips 5, handgrip 5 rotates under the gravity effect, and object is unclamped in gripping arm.
Embodiment two
This enforcement is a kind of manipulator that is used for explosion prevention robot.
Present embodiment comprises manipulator, stepper motor and control circuit.Wherein: manipulator comprises pull bar 1, top board 2, pole 3, support 4, handgrip 5, base plate 6, mandrel 7, supporting plate 8 and spring 9.Wherein,
As Fig. 1～shown in Figure 3, on base plate 6 circumference, be evenly equipped with three bracket grooves that axially connect base plates 6.Be evenly equipped with three supports 4 on 6 one surfaces of base plate; The support plate of each support 4 all is fixed on the upper surface of base plate and is positioned at the bracket groove both sides, and the plane of symmetry of support 4 is overlapped with the plane of symmetry of mount holder groove.Three handgrips 5 are installed on the mandrel 7 of support 4, are positioned at bracket groove.Base plate 6 and top board 2 are set in the two ends of pull bar 1, and fix with pull bar, supporting plate 8 suits and be fixed on base plate 6 and top board 2 between pull bar 1 on, and can endwisely slipping along pull bar; And the gripping arm inner surface of supporting plate 8 external peripheral surfaces and handgrip 5 one ends is tangent; Four poles 3 are passed supporting plate 8, and the two ends of each pole 3 are fixing with base plate 6 and top board 2 respectively.Spring 9 is sleeved on the pull bar 1 between top board 2 and the supporting plate 8.Pull bar 1 stretches out top board 2 ends one side surface to be had along the straight-tooth of pull bar length direction, this straight-tooth and the gears engaged that is installed on the stepper motor output shaft.
Pull bar 1 is a round bar shape, and the outer round surface that is positioned at top board 2 upper surfaces one end has along the straight-tooth of this pull bar length direction.This straight-tooth is meshed with gear on being contained in the stepper motor output shaft, and rotatablely moving of stepper motor output become straight reciprocating motion.It is fixing that pull bar 1 other end passes the centre bore and the welding of supporting plate 8.
There is screw thread at the two ends of pole 3.Top board 2 is circular dull and stereotyped.There is the via hole of pull bar 1 top board 2 centers.Ring pull bar 1 via hole is evenly equipped with the screwed hole that pole 3 is installed.Base plate 6 also is circular dull and stereotyped, and its diameter has also to be evenly equipped with four screwed holes that pole 3 is installed on the excircle of base plate 6 less than the diameter of top board 2.There is screw thread at the two ends of pole 3, and fixedly connected by screw thread with top board 2 and base plate 6 respectively.
Support 4 has three, includes a pair of support plate and is fixed on mandrel 7 between the support plate.Distance between a pair of support plate inner surface of support 4 is with the groove width of mount holder groove.The angle of the gripping arm bending part of handgrip 5 is 130 °, and the installing hole of mandrel 7 is arranged at this bending part.During assembling, the mandrel 7 of support 4 cooperates with handgrip 5 bending part installing holes by bearing, and the two ends of mandrel 7 are separately fixed on the support plate of both sides.
Supporting plate 8 also is circular dull and stereotyped, and its diameter is greater than the diameter of base plate 6.There is the screwed hole that matches with the thread segment of pull bar 1 at the center of supporting plate 8.The outer rim place of supporting plate 8 is evenly equipped with the via hole of pole 3.
When present embodiment grasps object, stepper motor just changes, the straight-tooth engagement of gear on the electric machine main shaft and the pull bar of manipulator 1, make pull bar 1 along its length direction towards pull bar 1 straight-tooth end rectilinear motion, then supporting plate 8 is by upwards pulling of pull bar 1, supporting plate 8 drives three handgrips 5 and rotates around mandrel 7, till object is firmly grasped in the gripping arm of handgrip 5.
When present embodiment discharges object, the stepper motor counter-rotating, the gear on the electric machine main shaft moves downward pull bar 1, and then supporting plate 8 is promoted downwards by pull bar 1, the restriction that supporting plate 8 is removed three handgrips 5, handgrip 5 rotates under the gravity effect, and object is unclamped in gripping arm.
Claims (1)
1. a manipulator is characterized in that, manipulator comprises pull bar (1), top board (2), pole (3), a plurality of support (4), a plurality of handgrip (5), base plate (6), mandrel (7), supporting plate (8) and spring (9); On base plate (6) circumference, be evenly equipped with the bracket groove of a plurality of axial perforation base plates (6); Be evenly equipped with a plurality of supports (4) on (6) surfaces of base plate; The support plate of each support (4) is fixed on the upper surface of base plate and is positioned at the bracket groove both sides, and the plane of symmetry of support (4) is overlapped with the plane of symmetry of mount holder groove; A plurality of handgrips (5) are installed on the mandrel (7) of support (4), are positioned at bracket groove; Base plate (6) and top board (2) are set in the two ends of pull bar (1), and fix with pull bar, supporting plate (8) is sleeved on the pull bar (1) between base plate (6) and the top board (2), and can be along the endwisely slipping of pull bar, and the gripping arm inner surface of supporting plate (8) external peripheral surface and handgrip (5) one ends be tangent; Pole (3) is passed supporting plate (8), and the two ends of each pole (3) are fixing with base plate (6) and top board (2) respectively; Spring (9) is sleeved on the pull bar (1) that is positioned between top board (2) and the supporting plate (8); Pull bar (1) stretches out top board (2) end one side surface to be had along the straight-tooth of pull bar length direction, this straight-tooth and the gears engaged that is installed on the stepper motor output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102218116A CN101920496B (en) | 2010-07-08 | 2010-07-08 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102218116A CN101920496B (en) | 2010-07-08 | 2010-07-08 | Manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101920496A true CN101920496A (en) | 2010-12-22 |
| CN101920496B CN101920496B (en) | 2011-09-14 |
Family
ID=43335837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102218116A Expired - Fee Related CN101920496B (en) | 2010-07-08 | 2010-07-08 | Manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN101920496B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106964936A (en) * | 2017-03-13 | 2017-07-21 | 广东尚高科技有限公司 | A kind of basketry welding tooling |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| CN2408861Y (en) * | 1999-12-05 | 2000-12-06 | 方辉 | Massage machine hand |
| CN2558623Y (en) * | 2002-05-28 | 2003-07-02 | 山西焦煤集团有限责任公司 | Multifunctional hydraulic manupulator |
| CN2587601Y (en) * | 2002-11-29 | 2003-11-26 | 陕西科技大学 | Cam steel ball type robot |
| CN2630960Y (en) * | 2003-07-09 | 2004-08-04 | 唐向明 | Delivery device for automatic vending machine |
| JP2004268147A (en) * | 2003-03-04 | 2004-09-30 | Ricoh Co Ltd | Gripping device |
| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101347319A (en) * | 2008-08-29 | 2009-01-21 | 华中科技大学 | Dishwasher |
-
2010
- 2010-07-08 CN CN2010102218116A patent/CN101920496B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| CN2408861Y (en) * | 1999-12-05 | 2000-12-06 | 方辉 | Massage machine hand |
| CN2558623Y (en) * | 2002-05-28 | 2003-07-02 | 山西焦煤集团有限责任公司 | Multifunctional hydraulic manupulator |
| CN2587601Y (en) * | 2002-11-29 | 2003-11-26 | 陕西科技大学 | Cam steel ball type robot |
| JP2004268147A (en) * | 2003-03-04 | 2004-09-30 | Ricoh Co Ltd | Gripping device |
| CN2630960Y (en) * | 2003-07-09 | 2004-08-04 | 唐向明 | Delivery device for automatic vending machine |
| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101347319A (en) * | 2008-08-29 | 2009-01-21 | 华中科技大学 | Dishwasher |
Non-Patent Citations (1)
| Title |
|---|
| 《组合机床与自动化加工技术》 19870530 机构设计实用图集(5) , 第05期 2 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106964936A (en) * | 2017-03-13 | 2017-07-21 | 广东尚高科技有限公司 | A kind of basketry welding tooling |
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| Publication number | Publication date |
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| CN101920496B (en) | 2011-09-14 |
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