CN102490176A - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN102490176A
CN102490176A CN2011103730479A CN201110373047A CN102490176A CN 102490176 A CN102490176 A CN 102490176A CN 2011103730479 A CN2011103730479 A CN 2011103730479A CN 201110373047 A CN201110373047 A CN 201110373047A CN 102490176 A CN102490176 A CN 102490176A
Authority
CN
China
Prior art keywords
rod
rotating disk
manipulator
pin joint
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2011103730479A
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Chinese (zh)
Inventor
郑友林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Haike Mechanical Equipment Manufacturing Co Ltd
Original Assignee
Chengdu Haike Mechanical Equipment Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chengdu Haike Mechanical Equipment Manufacturing Co Ltd filed Critical Chengdu Haike Mechanical Equipment Manufacturing Co Ltd
Priority to CN2011103730479A priority Critical patent/CN102490176A/en
Publication of CN102490176A publication Critical patent/CN102490176A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a manipulator, which comprises a base assembly, two manipulator bodies A and B, a turntable and a rotary driving mechanism. The manipulator bodies A and B are symmetrically distributed, rear ends of the manipulator bodies A and B distributed symmetrically are respectively hinged with the base assembly, front ends of the manipulator bodies A and B are respectively hinged with one end of a connecting rod A and one end of a connecting rod B, the connecting rod A and the connecting rod B respectively correspond to the manipulator bodies A and B, the other ends of the connecting rod A and B are hinged with the turntable, the turntable is fixed onto the base assembly, and a rotary shaft of the turntable is connected with the rotary driving mechanism. By the aid of structural designs of the turntable and the connecting rods connected with the manipulator bodies, the two manipulator bodies can be driven by the rotary driving mechanism to open and close circularly, accordingly, corresponding components connected with the two manipulator bodies are driven to realize the same action, and accordingly corresponding processing needs are met. The manipulator is simple in structure and convenient in control, requirements on completing corresponding actions to realize continuous production and processing can be met completely, and problems of low processing efficiency and high labor intensity and production cost of an existing manual operation mode are effectively solved.

Description

A kind of manipulator
Technical field
The present invention relates to the mechanical automation technical field, particularly a kind of manipulator.
Background technology
In machining machinery field, need to realize a kind of driving mechanism that corresponding two parts open, closed circulation is moved that makes usually, be in realizing the production line that serialization is produced by it.
Chinese invention patent (application number: disclosed in a kind of full-automatic vertical vacuum packing machine 201010208334.X) " when using this packing machine; servomotor food bag to be processed is sent in the slit that two parallel feed belts form through manipulator, and feed belt transmits food bag under the drive of cylinder backward for example." in said structure; food bag to be processed is before getting between two parallel feed belts, and two parallel feed belts fit tightly together, if will food bag to be processed be sent between two parallel feed belts; two parallel feed belts that then need utilize manipulator will fit tightly together open; after treating the food bag entering, control the manipulator closure again, fits tightly together once more food bag is clamped thereby drive two parallel feed belts.
In the traditional processing mode, need manual work to operate usually, can't realize the automatic assembly line of serialization, so that production efficiency is lower, labour intensity is big, and production cost is high.
Summary of the invention
Goal of the invention of the present invention is, to the problem of above-mentioned existence, provides a kind of and can realize that corresponding two parts open, the manipulator of closed circulation action, to satisfy the production requirement of serialization.
Technical scheme of the present invention is achieved in that a kind of manipulator; It is characterized in that: the mechanical arm A, B, rotating disk and the rotary drive mechanism that comprise base assembly, two symmetrical distributions; The mechanical arm A of said two symmetrical distributions, B rear end are hinged with the base assembly respectively; Its front end is hinged with each self-corresponding connecting rod A, B one end respectively; The other end and the rotating disk of said connecting rod A, B are hinged, and said rotating disk is fixed on the base assembly through bearing block, and the rotating shaft of said rotating disk is connected with rotary drive mechanism.
Manipulator of the present invention; Its said connecting rod A, B are hinged on the upper surface of rotating disk respectively; Under the closed state of the mechanical arm A of said two symmetrical distributions, B, the line of the pin joint d of the pin joint c of the pin joint b of the pin joint a of said connecting rod A and mechanical arm A, connecting rod A and rotating disk, connecting rod B and rotating disk and connecting rod B and mechanical arm B is similar Z font.
Manipulator of the present invention; The pin joint c of pin joint b, connecting rod B and the rotating disk of its said connecting rod A and rotating disk and the axial centre point of rotating disk are on same straight line, and the pin joint d of the pin joint a of said connecting rod A and mechanical arm A, connecting rod B and mechanical arm B and the axial centre point of rotating disk are on same straight line.
Manipulator of the present invention, the pin joint b of its said connecting rod A and rotating disk and the pin joint c of connecting rod B and rotating disk are the center, are symmetrically distributed in the marginal portion of rotating disk with the axis of rotating disk.
Manipulator of the present invention, it is under the open state of mechanical arm A, the B of said two symmetrical distributions, and the axial centre of said pin joint a, pin joint b, rotating disk, pin joint c and pin joint d are on same straight line.
The rotation of rotating shaft on same direction that manipulator of the present invention, its said rotary drive mechanism drive rotating disk can not surpass a circle.
Manipulator of the present invention, its said rotary drive mechanism comprise tail end and the hinged driving cylinder of journal stirrup and the hinged connecting rod C in piston rod end of an end and said driving cylinder are installed that the other end of said connecting rod C is fixedly connected with the rotating shaft of rotating disk.
Manipulator of the present invention; Its said base assembly is made up of bearing A and bearing B; Said bearing A and bearing B connect as one through screw, and the mechanical arm A of said two symmetrical distributions, B rear end are hinged with bearing A upper surface respectively, and said rotating disk is fixed on the bearing B through bearing block.
Manipulator of the present invention, it is set with in said bearing A upper surface and is fixed seat, the mechanical arm A of said two symmetrical distributions, B rear end respectively be fixed the seat hinged.
Manipulator of the present invention, the last mounting groove that is respectively arranged with of its mechanical arm A, B in said two symmetrical distributions.
The present invention is through rotating disk and the structural design that is connected the mechanical arm connecting rod; Under the drive of rotary drive mechanism; Can make two mechanical arms realize opening and closed do action, make same movement thereby drive the corresponding component that is attached thereto, to satisfy corresponding processing needs.The present invention is simple in structure, and control is convenient, can realize accomplishing the serialization production and processing requirement of corresponding actions fully, efficiently solves the existing problem that the manually-operated working (machining) efficiency is low, labour intensity is big, production cost is high.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 be the present invention under closure state, the location arrangements figure of pin joint between mechanical arm A, B and connecting rod A, B and the rotating disk three.
Fig. 3 is the front view of Fig. 1.
Fig. 4 is the side view of Fig. 1.
Mark among the figure: 1a is mechanical arm A, and 1b is mechanical arm B, and 2 is rotating disk, and 3a is connecting rod A, and 3b is connecting rod B; 4 is bearing block, and 5 is pin joint a, and 6 is pin joint b, and 7 is pin joint c, and 8 is pin joint d; 9 for driving cylinder, and 10 is piston rod, and 11 is connecting rod C, and 12 is bearing A; 13 is bearing B, and 14 for being fixed seat, and 15 for installing journal stirrup, and 16 is mounting groove.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is done detailed explanation.
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Like Fig. 1, shown in 3 and 4; A kind of manipulator; The mechanical arm A1a, B1b, rotating disk 2 and the rotary drive mechanism that comprise base assembly, two symmetrical distributions; Said base assembly is made up of bearing A12 and bearing B13, and said bearing A12 and bearing B13 connect as one through screw, is set with in said bearing A12 upper surface to be fixed seat 14; The said seat that is fixed is concave shape with the cross section at mechanical arm tie point place; The mechanical arm A1a of said two symmetrical distributions, B1b rear end are inserted respectively and are fixed in the seat through bolt with to be fixed seat 14 hinged, and said rotating disk 2 is fixed on the bearing B13 through bearing block 4, and the rotating shaft of said rotating disk 2 is connected with rotary drive mechanism; At the last mounting groove 16 that is respectively arranged with of mechanical arm A1a, the B1b of said two symmetrical distributions, can connect corresponding parts through mounting groove, so that the parts that connect are with the opening or closedly do identical action of mechanical arm, to satisfy corresponding processing needs.
As shown in Figure 2; The mechanical arm A1a of said two symmetrical distributions, B1b front end are hinged with each self-corresponding connecting rod A3a, B3b one end respectively; The other end and rotating disk 2 upper surfaces of said connecting rod A3a, B3b are hinged; Under the closed state of the mechanical arm of said two symmetrical distributions, the line of the pin joint d8 of the pin joint c7 of the pin joint b6 of the pin joint a5 of said connecting rod A3a and mechanical arm A1a, connecting rod A3a and rotating disk 2, connecting rod B3b and rotating disk 2 and connecting rod B3b and mechanical arm B1b is similar Z font.
Wherein, The pin joint c7 of the pin joint b6 of said connecting rod A3a and rotating disk 2, connecting rod B3b and rotating disk 2 and the axial centre point of rotating disk 2 are on same straight line; The pin joint d8 of the pin joint a5 of said connecting rod A3a and mechanical arm A1a, connecting rod B3b and mechanical arm B1b and the axial centre point of rotating disk 2 are also on same straight line, and the pin joint c7 of the pin joint b6 of said connecting rod A3a and rotating disk 2 and connecting rod B3b and rotating disk 2 is the center, is symmetrically distributed in the marginal portion of rotating disk 2 with the axis of rotating disk 2.Under the open state of the mechanical arm of said two symmetrical distributions, the axial centre of said pin joint a5, pin joint b6, rotating disk 2, pin joint c7 and pin joint d8 are on same straight line.
Rotating shaft rotation of (clockwise or counterclockwise) on same direction that said rotary drive mechanism drives rotating disk 2 can not surpass a circle.
Wherein, said rotary drive mechanism comprises the driving cylinder 9 that tail end is hinged with journal stirrup 15 is installed and the hinged connecting rod C11 in piston rod 10 ends of an end and said driving cylinder 9, and the other end of said connecting rod C11 is fixedly connected with the rotating shaft of rotating disk 2.
Operation principle of the present invention: be illustrated in figure 1 as the closed state diagram of two manipulators, this moment is as shown in Figure 2, and in this embodiment, pin joint b and pin joint c are at horizontal level.At first control driving cylinder stretches out piston rod; Connecting rod C is rotated around the rotating shaft tie point of connecting rod C and rotating disk; Because the rotating shaft of connecting rod C and rotating disk is for being fixedly connected, then the rotating shaft of rotating disk rotates counterclockwise under the drive of connecting rod C, and rotating shaft drive rotating disk rotates counterclockwise equally then; The rotation of rotating disk make pin joint b and pin joint c rotate the dish axle center rotate counterclockwise; Drive the connecting rod A, the B that are connected with pin joint c with pin joint b then and do to move laterally the action of extending, thereby two mechanical arms that will be connected with connecting rod A, the B other end back down, and form the open state of mechanical arm; When axial centre, pin joint c and the pin joint d of pin joint a, pin joint b, rotating disk was on same straight line, two mechanical arms opened up into maximum rating.
After mechanical arm reaches maximum open configuration, continue to stretch out or withdraw if drive the piston rod of cylinder, mechanical arm then can slowly revert to closure state by maximum open configuration.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. manipulator; It is characterized in that: the mechanical arm A, B (1a, 1b), rotating disk (2) and the rotary drive mechanism that comprise base assembly, two symmetrical distributions; The mechanical arm A of said two symmetrical distributions, B (1a, 1b) rear end are hinged with the base assembly respectively; Its front end is hinged with each self-corresponding connecting rod A, B (3a, a 3b) end respectively; The other end and the rotating disk (2) of said connecting rod A, B (3a, 3b) are hinged, and said rotating disk (2) is fixed on the base assembly through bearing block (4), and the rotating shaft of said rotating disk (2) is connected with rotary drive mechanism.
2. manipulator according to claim 1; It is characterized in that: said connecting rod A, B (3a, 3b) are hinged on the upper surface of rotating disk (2) respectively; Under the closed state of the mechanical arm A of said two symmetrical distributions, B (1a, 1b), the pin joint c (7) of the pin joint b (6) of the pin joint a (5) of said connecting rod A (3a) and mechanical arm A (1a), connecting rod A (3a) and rotating disk (2), connecting rod B (3b) and rotating disk (2) and connecting rod B (3b) are similar Z font with the line of the pin joint d (8) of mechanical arm B (1b).
3. manipulator according to claim 2; It is characterized in that: the pin joint c (7) of the pin joint b (6) of said connecting rod A (3a) and rotating disk (2), connecting rod B (3b) and rotating disk (2) and the axial centre point of rotating disk (2) are on same straight line, and the pin joint d (8) of the pin joint a (5) of said connecting rod A (3a) and mechanical arm A (1a), connecting rod B (3b) and mechanical arm B (1b) and the axial centre point of rotating disk (2) are on same straight line.
4. manipulator according to claim 3 is characterized in that: the pin joint c (7) of the pin joint b (6) of said connecting rod A (3a) and rotating disk (2) and connecting rod B (3b) and rotating disk (2) is the center, is symmetrically distributed in the marginal portion of rotating disk (2) with the axis of rotating disk (2).
5. manipulator according to claim 4; It is characterized in that: under the mechanical arm A of said two symmetrical distributions, the open state of B (1a, 1b), the axial centre of said pin joint a (5), pin joint b (6), rotating disk (2), pin joint c (7) and pin joint d (8) are on same straight line.
6. according to any described manipulator in the claim 1 to 5, it is characterized in that: the rotation of rotating shaft on same direction that said rotary drive mechanism drives rotating disk (2) can not surpass a circle.
7. manipulator according to claim 6; It is characterized in that: said rotary drive mechanism comprises tail end and the hinged driving cylinder (9) of journal stirrup (15) and the hinged connecting rod C (11) in piston rod (10) end of an end and said driving cylinder (9) is installed that the other end of said connecting rod C (11) is fixedly connected with the rotating shaft of rotating disk (2).
8. manipulator according to claim 7; It is characterized in that: said base assembly is made up of bearing A (12) and bearing B (13); Said bearing A (12) and bearing B (13) connect as one through screw; The mechanical arm A of said two symmetrical distributions, B (1a, 1b) rear end are hinged with bearing A (12) upper surface respectively, and said rotating disk (2) is fixed on the bearing B (13) through bearing block (4).
9. manipulator according to claim 8; It is characterized in that: be set with in said bearing A (12) upper surface be fixed the seat (14), the mechanical arm A of said two symmetrical distributions, B (1a, 1b) rear end respectively be fixed the seat (14) hinged.
10. manipulator according to claim 9 is characterized in that: on the mechanical arm A of said two symmetrical distributions, B (1a, 1b), be respectively arranged with mounting groove (16).
CN2011103730479A 2011-11-22 2011-11-22 Manipulator Pending CN102490176A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011103730479A CN102490176A (en) 2011-11-22 2011-11-22 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011103730479A CN102490176A (en) 2011-11-22 2011-11-22 Manipulator

Publications (1)

Publication Number Publication Date
CN102490176A true CN102490176A (en) 2012-06-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011103730479A Pending CN102490176A (en) 2011-11-22 2011-11-22 Manipulator

Country Status (1)

Country Link
CN (1) CN102490176A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102837972A (en) * 2012-09-14 2012-12-26 广东摩德娜科技股份有限公司 Novel automatic brick stacking device
CN103863624A (en) * 2014-04-02 2014-06-18 瑞安市智科包装机械有限公司 Flareout device of bag packaging machine
CN105006771A (en) * 2015-07-02 2015-10-28 洛阳理工学院 Barrier cleaning clamping mechanism used for deicing and barrier cleaning device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4696503A (en) * 1986-10-27 1987-09-29 The Singer Company Pneumatic actuated cam driven parallel gripper
US6626476B1 (en) * 2000-07-18 2003-09-30 Applied Materials, Inc. Robotic gripper apparatus
CN201405355Y (en) * 2009-05-15 2010-02-17 路松 Connecting rod-lever type pneumatic manipulator
CN101823261A (en) * 2010-05-19 2010-09-08 北京联合大学 Rotor gripper structure
CN202388501U (en) * 2011-11-22 2012-08-22 成都海科机械设备制造有限公司 Mechanical hand

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4696503A (en) * 1986-10-27 1987-09-29 The Singer Company Pneumatic actuated cam driven parallel gripper
US6626476B1 (en) * 2000-07-18 2003-09-30 Applied Materials, Inc. Robotic gripper apparatus
CN201405355Y (en) * 2009-05-15 2010-02-17 路松 Connecting rod-lever type pneumatic manipulator
CN101823261A (en) * 2010-05-19 2010-09-08 北京联合大学 Rotor gripper structure
CN202388501U (en) * 2011-11-22 2012-08-22 成都海科机械设备制造有限公司 Mechanical hand

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102837972A (en) * 2012-09-14 2012-12-26 广东摩德娜科技股份有限公司 Novel automatic brick stacking device
CN102837972B (en) * 2012-09-14 2014-11-05 广东摩德娜科技股份有限公司 Novel automatic brick stacking device
CN103863624A (en) * 2014-04-02 2014-06-18 瑞安市智科包装机械有限公司 Flareout device of bag packaging machine
CN105006771A (en) * 2015-07-02 2015-10-28 洛阳理工学院 Barrier cleaning clamping mechanism used for deicing and barrier cleaning device
CN105006771B (en) * 2015-07-02 2018-06-26 洛阳理工学院 A kind of clamping device of removing obstacles for deicing barrier clearing device

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Application publication date: 20120613