CN102152305B - Gear rack type manipulator - Google Patents
Gear rack type manipulator Download PDFInfo
- Publication number
- CN102152305B CN102152305B CN201110087963A CN201110087963A CN102152305B CN 102152305 B CN102152305 B CN 102152305B CN 201110087963 A CN201110087963 A CN 201110087963A CN 201110087963 A CN201110087963 A CN 201110087963A CN 102152305 B CN102152305 B CN 102152305B
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- Prior art keywords
- gear
- push rod
- gear case
- rod
- driving lever
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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Abstract
The invention discloses a gear rack type manipulator which comprises a left gear box (1) and a right gear box (2), wherein a gear (8) is arranged in the left gear box; a movable switching block (9) connected the gear is arranged in the right gear box; a guide rod (11) is arranged on the movable switching block; the lower end of the guide rod is respectively provided with a deflector rod (14) through connecting rods (13) at two sides of the guide rod; the lower end of each deflector rod is provided with a push rod (19); a clamping end of each push rod is provided with a clamp (20); and the gear is connected with a left rack (10). The gear rack type manipulator adopts a mechanical type (gear rack transmission, gear movable switching block transmission, and lever type connecting rod and deflector rod driving) motions, can push the push rods to lead the clamps to clamp a workpiece, and can also push the push rods to rotate so as to rotate the workpiece by a certain angle. The gear rack type manipulator has the advantages of simple structure, sensitive and reliable motions, quick manufacture, low cost, convenience for installation, working time saving, and benefit improving; moreover, spare parts are simple, wear-resistant, and reliable; therefore, the working service of the spare parts is prolonged.
Description
Technical field
The present invention relates to a kind of manipulator.
Background technology
At present; The manipulator that uses in the machinery industry mostly adopts the pneumatic element fabricated structure to form; Often adopt a plurality of pneumatic elements (cylinder) combinations to accomplish its action, function in the process of implementation, structurally volume is big, control is complicated, noise is higher, cost is high again to impel manipulator, action lost efficacy sometimes (like not in place, instability etc.) in carrying out its function; Problems such as easy to wear, fragile can appear in pneumatic element frequent movement in use, need often to change pneumatic element.And because difficult often generation of assembling installed problems such as not in place, that action is smooth and easy inadequately, in use the life-span shortens the difficult assurance of work quality to pneumatic element relatively.
Summary of the invention
The technical problem that (one) will solve
The present invention be directed to the deficiency of prior art, a kind of pinion and-rack manipulator is provided, solve problems such as the original structure volume is big, control is complicated, noise is higher, cost is high again.
(2) technical scheme
The technical solution adopted for the present invention to solve the technical problems is: a kind of pinion and-rack manipulator; Comprise left gear case and right gear case, in the said left gear case gear is housed, the activity switching piece that links with said gear is housed in the said right gear case; On this activity switching piece guide rod is housed; Driving lever respectively is equipped with through the connecting rod on its both sides in the lower end of guide rod, and push rod is equipped with in the lower end of said driving lever, and the bare terminal end of said push rod is equipped with anchor clamps; Said gear is connected with left tooth bar, and left gear case, right gear case, left tooth bar, connecting rod, driving lever, push rod all are contained in the pedestal.
In said left gear case, the right gear case gear train is housed all; Between the cogging in the gear train power transmission shaft is housed; Lower gear in the gear train all is equipped with upper belt pulley through gear shaft; The other end of said push rod is equipped with down belt pulley, and upper belt pulley links through belt and following belt pulley, and the gear train in the right gear case is connected with right tooth bar.
Push rod is equipped with through sleeve type driving lever pin in the lower end of said driving lever, and said sleeve type driving lever pin is contained on the push rod, and said anchor clamps are perhaps " U " shaped clamp of " V " shape; Said push rod can rotate, and the workpiece of clamp clamps can rotate and turn to up and down.
(3) beneficial effect
The present invention compared with prior art; Has following beneficial effect: adopt mechanical type (piece transmission that rack-and-pinion drives, the gear activity is transferred, the drive of lever connecting rod driving lever, belt transmission) motion; Can promote push rod earlier and make anchor clamps grasp workpiece, after make push rod rotation and workpiece rotated a certain angle.It is simple in structure, be active in one's movements reliable, not only fast, cost but also low on making, easy for installation, practice thrift man-hour, benefit improves, parts are simple, wear-resisting, reliable, make its working life growth etc.
Description of drawings
Fig. 1 looks outline drawing for the master of pinion and-rack manipulator of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the side view of Fig. 1.
Fig. 4 is the cutaway view of Fig. 1.
Fig. 5 is the inner section on left gear case among Fig. 4, right gear case and pedestal top.
Fig. 6 is the stereogram of Fig. 1.
The specific embodiment
With embodiment the present invention is done further detailed description with reference to the accompanying drawings.
Referring to figs. 1 through Fig. 6; Pinion and-rack manipulator of the present invention; Comprise left gear case 1 and right gear case 2, in the said left gear case 1 gear 8 is housed, the activity switching piece 9 that links with said gear 8 is housed in the said right gear case 2; On this activity switching piece 9 guide rod (for column type) 11 (guide rod is contained in again in the guide rod seat 12) is housed; Driving lever 14 (driving lever 14 is contained in the pedestal 16 through removable pin 15) respectively is equipped with through the connecting rod 13 on its both sides in the lower end of guide rod 11, and the lower end of said driving lever 14 (through sleeve type driving lever pin 18) is equipped with push rod 19, and the bare terminal end of said push rod 19 is equipped with anchor clamps 20; Said gear 8 is connected with left tooth bar 10, and left gear case 1, right gear case 2, left tooth bar 10, connecting rod 13, driving lever 14, push rod 19 all are contained in the pedestal 16.
For push rod is rotated; So that the workpiece of the anchor clamps clamping on it also can rotate a certain angle; Like Fig. 4, shown in Figure 5, gear train 3 (about being two groups) all is housed in said left gear case 1, the right gear case 2, cogging in the gear train 3 is equipped with power transmission shaft 6 between 24; Lower gear 25 in the gear train 3 all is equipped with upper belt pulley 5 (in outside pedestal 16 tops of left and right tooth roller box) through gear shaft 23; The other end of said push rod 19 is equipped with down belt pulley 17, and upper belt pulley 5 links through belt 21 and following belt pulley 17, and the gear train 3 in the right gear case 2 is connected with right tooth bar 7.
Wherein, left gear case 1, right gear case 2 all are connected with its bearing at end plate 4 separately, and upper belt pulley 5 runs through shaft bearing plate 4 be connected with gear train 3 (as shown in Figure 5) separately; Power transmission shaft 6 runs through left gear case 1, right gear case 2 be connected with gear train 3 in it (as shown in Figure 5); Right tooth bar 7, left tooth bar 10 all are connected with tooth bar thrust unit (can be pneumatic type) separately; Said sleeve type driving lever pin 18 is contained on the push rod 19, makes things convenient for push rod can do side-to-side movement, and (as shown in Figure 4) also can rotate; Said anchor clamps 20 are perhaps " U " shaped clamp of " V " shape, can be used as clamping commutator 22 especially and use (like Fig. 4, shown in Figure 6); Two covers about gear train 3, shaft bearing plate 4, gear shaft 23, connecting rod 13, driving lever 14, push rod 19, upper belt pulley 5, following belt pulley 17 are.
Operation principle of the present invention is: before the tooth bar thrust unit promotes left tooth bar 10 so that driven gear 8 rotate; Make the activity switching piece 9 that is connected with gear 8 make up and down beat and drive guide rod 11 linearly to lower slider; And connecting rod 13, driving lever 14 activities of promotion both sides; Driving lever 14 moves as lever connecting rod along removable pin 15, the driving lever 14 of both sides stir sleeve type driving lever pin 18 separately and make push rod 19, anchor clamps 20 simultaneously inwardly activities clamp workpiece 22 (can be commutator).At this moment; The gear train 3 that promotes before the right tooth bar 7 and then drive in the right gear case 2 rotates; Rotate through the gear train 3 that cogs 24, power transmission shaft 6 also drives in the left gear case 1; The lower gear 25 of two groups of gear trains drives upper belt pulley 5 rotation separately, drives down through belt 21 that belt pulley 17 can rotate push rod 19, and the workpiece 22 that this moment, anchor clamps 20 were clamped can be done rotatablely moves (0-360 °) and turn to up and down.When being commutator, mainly be that the commutator Rotate 180 ° is turned to up and down and on slotter, carries out groove milling processing for workpiece.
Claims (2)
1. pinion and-rack manipulator; Comprise left gear case (1) and right gear case (2), it is characterized in that: gear (8) is housed in the said left gear case (1), the activity switching piece (9) that links with said gear (8) is housed in the said right gear case (2); On this activity switching piece (9) guide rod (11) is housed; Driving lever (14) respectively is equipped with through the connecting rod (13) on its both sides in the lower end of guide rod (11), and push rod (19) is equipped with in the lower end of said driving lever (14), and the bare terminal end of said push rod (19) is equipped with anchor clamps (20); Said gear (8) is connected with left tooth bar (10), and left gear case (1), right gear case (2), left tooth bar (10), connecting rod (13), driving lever (14), push rod (19) all are contained in the pedestal (16); In said left gear case (1), the right gear case (2) gear train (3) is housed all; Cogging in the gear train (3) is equipped with power transmission shaft (6) between (24); Lower gear (25) in the gear train (3) all is equipped with upper belt pulley (5) through gear shaft (23); The other end of said push rod (19) is equipped with down belt pulley (17), and upper belt pulley (5) links through belt (21) and following belt pulley (17), and the gear train (3) in the right gear case (2) is connected with right tooth bar (7); Said push rod (19) can rotate, and the workpiece (22) that anchor clamps (20) are clamped can rotate and turn to up and down.
2. like claims 1 described pinion and-rack manipulator; It is characterized in that: push rod (19) is equipped with through sleeve type driving lever pin (18) in the lower end of said driving lever (14); Said sleeve type driving lever pin (18) is contained on the push rod (19), and said anchor clamps (20) are perhaps " U " shaped clamp of " V " shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110087963A CN102152305B (en) | 2011-03-31 | 2011-03-31 | Gear rack type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110087963A CN102152305B (en) | 2011-03-31 | 2011-03-31 | Gear rack type manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102152305A CN102152305A (en) | 2011-08-17 |
| CN102152305B true CN102152305B (en) | 2012-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110087963A Expired - Fee Related CN102152305B (en) | 2011-03-31 | 2011-03-31 | Gear rack type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102152305B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361593B (en) * | 2019-07-16 | 2021-08-10 | 国网山东省电力公司招远市供电公司 | Distribution network line loss analyzer |
| CN112496903A (en) * | 2020-11-26 | 2021-03-16 | 吉明芳 | Metal product is with auxiliary mechanism of high-efficient clearance mar |
| CN112677164B (en) * | 2020-12-31 | 2021-07-06 | 升励五金（深圳）有限公司 | Device and method for automatically replacing manipulator |
| CN115041419B (en) * | 2022-06-13 | 2024-01-23 | 嘉应学院 | Spherical fruit azimuth detecting and adjusting device based on image recognition |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2880409Y (en) * | 2006-03-23 | 2007-03-21 | 上海发那科机器人有限公司 | Cripping head for hood of engine |
| DE102005049494B3 (en) * | 2005-10-13 | 2007-04-19 | Thyssenkrupp Automotive Ag | A robotic handling system for components having a similar shape as motor vehicle body parts has two gripper chucks used alternately where one has a parking position when not used |
| CN201214244Y (en) * | 2008-05-19 | 2009-04-01 | 昆明理工大学 | Parallel holding paw for robot |
| CN201442187U (en) * | 2009-06-19 | 2010-04-28 | 高振华 | Automatic feed mechanism of instrument lathe |
| CN201511250U (en) * | 2009-08-21 | 2010-06-23 | 江苏省无锡探矿机械总厂有限公司 | Gear-rack type clamping mechanism |
| CN201960565U (en) * | 2011-03-31 | 2011-09-07 | 温州科奇比威自动化设备有限公司 | Rack and pinion manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200849446A (en) * | 2006-09-08 | 2008-12-16 | Oerlikon Assembly Equipment Pte Ltd | Gripper |
-
2011
- 2011-03-31 CN CN201110087963A patent/CN102152305B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005049494B3 (en) * | 2005-10-13 | 2007-04-19 | Thyssenkrupp Automotive Ag | A robotic handling system for components having a similar shape as motor vehicle body parts has two gripper chucks used alternately where one has a parking position when not used |
| CN2880409Y (en) * | 2006-03-23 | 2007-03-21 | 上海发那科机器人有限公司 | Cripping head for hood of engine |
| CN201214244Y (en) * | 2008-05-19 | 2009-04-01 | 昆明理工大学 | Parallel holding paw for robot |
| CN201442187U (en) * | 2009-06-19 | 2010-04-28 | 高振华 | Automatic feed mechanism of instrument lathe |
| CN201511250U (en) * | 2009-08-21 | 2010-06-23 | 江苏省无锡探矿机械总厂有限公司 | Gear-rack type clamping mechanism |
| CN201960565U (en) * | 2011-03-31 | 2011-09-07 | 温州科奇比威自动化设备有限公司 | Rack and pinion manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102152305A (en) | 2011-08-17 |
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