CN102581845B - Preparation method of manipulator and manipulator prepared by same - Google Patents
Preparation method of manipulator and manipulator prepared by same Download PDFInfo
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- CN102581845B CN102581845B CN201210066763.7A CN201210066763A CN102581845B CN 102581845 B CN102581845 B CN 102581845B CN 201210066763 A CN201210066763 A CN 201210066763A CN 102581845 B CN102581845 B CN 102581845B
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Abstract
The invention discloses a preparation method of a manipulator, which comprises the following steps that: an arm assembly, a fixed clamping part and a movable clamping part are prepared, the fixed clamping part is arranged on the arm assembly, a third positioning structure of the fixed clamping rod is clamped at a first positioning structure, a second positioning structure is fixed at the bottom of the fixed clamping rod, and a fixed clamping block extends out of the top of a base; a hinged assembly of the movable clamping part is matched with a first hinged hole on the fixed clamping rod to ensure the movable clamping part to be hinged to the fixed clamping part, the bottom of the movable clamping rod is positioned right above an ejection structure, an elastic element is arranged at the position of the hinged assembly, and a movable clamping block and the fixed clamping block are kept in an open state when being not applied with the acting force of the ejection structure; and when the ejection structure is driven by gas to jack up, the tail end of the movable clamping rod is stressed to swing upwards, so that the movable clamping block is close to the fixed clamping block to clamp an object arranged between the movable clamping block and the fixed clamping block. The invention also discloses the manipulator.
Description
Technical field
The present invention relates to automation equipment, particularly a kind of preparation method of manipulator and a kind of manipulator obtained by this method.
Background technology
In modern society, due to developing rapidly of automatic technology, in industrial production, some regular operational sequences, or labour intensity large, in operation that operator's healthy existence is threatened, manipulator is widely used.By the application of manipulator, can reduce staff's usage quantity, improve the efficiency of production and reliability of operation quality etc.The application of manipulator has a lot of benefits to industrial production.But current on the market some are applied to the manipulator that clamps little article place, for example should be used for the place place of clamping cloth, leather and so on, the robot manipulator structure design adopting is unreasonable, its volume is larger, parts are too much, cause the price of manipulator higher, and be difficult to use flexibly in little place, little space.
Summary of the invention
The object of the invention is to, a kind of preparation method of manipulator is provided, by the use of the method, can produce the manipulator of simple and ingenious structure, this manipulator design is reasonable, and volume is little, parts are few, can be in little place, little space flexible Application, and price is lower, easy to utilize.
The present invention also provides a kind of preparation method by this manipulator prepared manipulator.
The technical scheme that the present invention adopted is for achieving the above object:
A preparation method for manipulator, it comprises the following steps:
(1) prepare an arm component, this arm component comprises a pedestal, one side at this pedestal top is provided with one first location structure, is provided with one second location structure under this first location structure, is provided with an ejecting structure by gas-powered in the opposite side at this pedestal top;
(2) prepare certain clamping section, this is determined clamping section and comprises certain clamp and certain clamping bar, this determines the top that clamp is arranged at this and determines clamping bar, this top of determining clamping bar is provided with one first hinge hole, and this bottom of determining clamping bar is provided with the 3rd location structure matching with described the first location structure;
(3) prepare a moving clamping section, this moving clamping section comprises a moving clamp and a moving clamping bar, and this moving clamp is arranged at the top of this moving clamping bar, and the top of this moving clamping bar is provided with one and determines with this hinge assembly that the first hinge hole on clamping bar matches;
(4) determine clamping section and be installed on this arm component described, this 3rd location structure of determining clamping bar is placed in this first location structure place, the bottom that this second location structure is fixed this and determined clamping bar, and this is determined clamp and stretches out this pedestal top;
(5) hinge assembly of this moving clamping section is determined the first hinge hole on clamping bar with this and is matched and make this moving clamping section be articulated with this to determine on clamping section, this moving clamp is with to determine clamp corresponding, the bottom of this moving clamping bar is directly over this ejecting structure, this hinge assembly place is provided with a flexible member, and this flexible member makes this moving clamp and determine clamp in the time not being subject to the active force of ejecting structure, to keep open configuration;
(6) when ejecting structure is in the time being subject to gas-powered jack-up, now flexible member is subject to force compresses, the stressed upwards swing of end of this moving clamping bar, thereby moving clamp is closed up to determining clamp, the article that are placed in this moving clamp and determine between clamp are clamped, in the time that ejecting structure is not subject to gas-powered, flexible member is replied original shape, upwards swing thereby promote this moving clamp, this moving clamp leaves determines clamp, and the article that are placed in this moving clamp and determine between clamp are unclamped.
This first location structure comprises identical being set up in parallel in the upper block at this pedestal left surface top of two structures, and on this, the lower end of block is provided with one first locating slot, in this on two between block, the left surface of this pedestal is provided with one second groove;
On this pedestal this on two block under be provided with a depression, described the second location structure comprises the locating hole of being located at this recess, in this locating hole, set gradually from top to bottom a locating dowel and a spring, in this locating dowel, be provided with a screw that penetrates this locating hole sidewall in the left surface of this pedestal; By DRIVE SCREWS in this screw, locating dowel is locked.
This ejecting structure comprises a pneumatic channel, this pneumatic channel comprises that an inlet channel and drives passage, described inlet channel by this pedestal right flank to this base interior horizontal-extending, this driving channel vertical is arranged in this pedestal and runs through the top of this pedestal, this inlet channel is communicated with in the bottom place of this driving passage by a connection channel with driving passage, the diameter of described interface channel is less than the diameter of this driving passage, and a push rod can be arranged in this driving passage up or down.
The 3rd location structure comprises corresponding locating convex block, a lower baffle plate and the guide pad of two first locating slots with this first location structure that two structures are identical, this two locating convex block is set up in parallel in this determines both sides, clamping bar lower end, this lower baffle plate be arranged at this determine clamping bar towards the lower end, side of this pedestal, this guide pad be arranged at this lower baffle plate directly over.
This hinge assembly comprises identical being set up in parallel in the articulated jib on this moving clamping bar top of two structures, the end of this articulated jib is provided with second hinge hole identical with this first hinge hole size, described flexible member is fixed between this two articulated jib, and the top of clamping bar is determined with this respectively in the two ends of this flexible member, the top of moving clamping bar contacts.
Describedly determine clamp, moving clamp is circular arc, describedly determine clamp, move clamp side in opposite directions and be provided with the double wedge of the enhancing frictional force matching;
The both sides in opposite directions of described pedestal bottom are respectively equipped with one and are convenient to this pedestal and are fixed to the step on other mechanical part, are provided with one the 3rd hinge hole in this step place.
The prepared manipulator of a kind of preparation method by aforementioned manipulator, it comprises an arm component, certain clamping section and a moving clamping section, this arm component comprises a pedestal, one side at this pedestal top is provided with one first location structure, under this first location structure, be provided with one second location structure, be provided with an ejecting structure by gas-powered in the opposite side at this pedestal top; This is determined clamping section and comprises certain clamp and certain clamping bar, this determines the top that clamp is arranged at this and determines clamping bar, this top of determining clamping bar is provided with one first hinge hole, and this bottom of determining clamping bar is provided with the 3rd location structure matching with described the first location structure; This moving clamping section comprises a moving clamp and a moving clamping bar, and this moving clamp is arranged at the top of this moving clamping bar, and the top of this moving clamping bar is provided with one and determines with this hinge assembly that the first hinge hole on clamping bar matches; Describedly determine clamping section and be arranged on this arm component, this 3rd location structure of determining clamping bar is placed in this first location structure place, the bottom that this second location structure is fixed this and determined clamping bar, and this is determined clamp and stretches out this pedestal top; The hinge assembly of this moving clamping section is determined the first hinge hole on clamping bar with this and is matched and make this moving clamping section be articulated with this to determine on clamping section, this moving clamp is with to determine clamp corresponding, the bottom of this moving clamping bar is directly over this ejecting structure, this hinge assembly place is provided with a flexible member, and this flexible member makes this moving clamp and determine clamp in the time not being subject to the active force of ejecting structure, to keep open configuration.
This first location structure comprises identical being set up in parallel in the upper block at this pedestal left surface top of two structures, and on this, the lower end of block is provided with one first locating slot, in this on two between block, the left surface of this pedestal is provided with one second groove; On this pedestal this on two block under be provided with a depression, described the second location structure comprises the locating hole of being located at this recess, in this locating hole, set gradually from top to bottom a locating dowel and a spring, in this locating dowel, be provided with a screw that penetrates this locating hole sidewall in the left surface of this pedestal;
This ejecting structure comprises a pneumatic channel, this pneumatic channel comprises that an inlet channel and drives passage, described inlet channel by this pedestal right flank to this base interior horizontal-extending, this driving channel vertical is arranged in this pedestal and runs through the top of this pedestal, this inlet channel is communicated with in the bottom place of this driving passage by a connection channel with driving passage, the diameter of described interface channel is less than the diameter of this driving passage, and a push rod can be arranged in this driving passage up or down.
The 3rd location structure comprises corresponding locating convex block, a lower baffle plate and the guide pad of two first locating slots with this first location structure that two structures are identical, this two locating convex block is set up in parallel in this determines both sides, clamping bar lower end, this lower baffle plate be arranged at this determine clamping bar towards the lower end, side of this pedestal, this guide pad be arranged at this lower baffle plate directly over.
This hinge assembly comprises identical being set up in parallel in the articulated jib on this moving clamping bar top of two structures, the end of this articulated jib is provided with second hinge hole identical with this first hinge hole size, described flexible member is fixed between this two articulated jib, and the top of clamping bar is determined with this respectively in the two ends of this flexible member, the top of moving clamping bar contacts.
Describedly determine clamp, moving clamp is circular arc, describedly determine clamp, move clamp side in opposite directions and be provided with the double wedge of the enhancing frictional force matching;
The both sides in opposite directions of described pedestal bottom are respectively equipped with one and are convenient to this pedestal and are fixed to the step on other mechanical part, are provided with one the 3rd hinge hole in this step place.
Beneficial effect of the present invention is: by the use of the method, can produce the manipulator of simple and ingenious structure, this manipulator design is reasonable, and volume is little, and parts are few, can be in little place, little space flexible Application, and price is lower, easy to utilize.
Below in conjunction with accompanying drawing and embodiment, the present invention is further described.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of pedestal in Fig. 1;
Fig. 3 is the perspective view of pedestal in Fig. 1;
Fig. 4 is the side view of determining clamping section in Fig. 1.
The specific embodiment
Embodiment: see Fig. 1 to Fig. 4, the preparation method of a kind of manipulator of the present invention, it comprises the following steps:
(1) prepare an arm component 1, this arm component 1 comprises a pedestal 11, one side at these pedestal 11 tops is provided with one first location structure 12, under this first location structure 12, be provided with one second location structure 13, be provided with an ejecting structure 14 by gas-powered in the opposite side at these pedestal 11 tops;
(2) prepare certain clamping section 2, this is determined clamping section 2 and comprises certain clamp 21 and certain clamping bar 22, this determines the top that clamp 21 is arranged at this and determines clamping bar 22, this top of determining clamping bar 22 is provided with one first hinge hole 23, and this bottom of determining clamping bar 22 is provided with the 3rd location structure 24 matching with described the first location structure 12;
(3) prepare a moving clamping section 3, this moving clamping section 3 comprises a moving clamp 31 and a moving clamping bar 32, this moving clamp 31 is arranged at the top of this moving clamping bar 32, and the top of this moving clamping bar 32 is provided with one and determines with this hinge assembly 33 that the first hinge hole 23 on clamping bar 22 matches;
(4) determine clamping section 2 and be installed on this arm component 1 described, this the 3rd location structure 24 of determining clamping bar 22 is placed in this first location structure 12 places, the bottom that this second location structure 13 is fixed this and determined clamping bar 22, this is determined clamp 21 and stretches out this pedestal 11 tops;
(5) hinge assembly 33 of this moving clamping section 3 is determined the first hinge hole 23 on clamping bar 22 with this and is matched and make this moving clamping section 3 be articulated with this to determine on clamping section 2, this moving clamp 31 is with to determine clamp 21 corresponding, the bottom of this moving clamping bar 32 is directly over this ejecting structure 14, these hinge assembly 33 places are provided with a flexible member, and this flexible member makes this moving clamp 31 and determine clamp 21 in the time not being subject to the active force of ejecting structure 14, to keep open configuration;
(6) when ejecting structure 14 is in the time being subject to gas-powered jack-up, now flexible member is subject to force compresses, the stressed upwards swing of end of this moving clamping bar 32, thereby moving clamp 31 is closed up to determining clamp 21, the article that are placed in this moving clamp 31 and determine between clamp 21 are clamped, in the time that ejecting structure 14 is not subject to gas-powered, flexible member is replied original shape, thereby promoting this moving clamp 31 upwards swings, this moving clamp 31 leaves determines clamp 21, and the article that are placed in this moving clamp 31 and determine between clamp 21 are unclamped.
This first location structure 12 comprises identical being set up in parallel in the upper block 121 at this pedestal 11 left surface tops of two structures, on this, the lower end of block 121 is provided with one first locating slot 122, in this on two between block 121, the left surface of this pedestal 11 is provided with one second groove 123;
On this pedestal 11 this on two block 121 under be provided with a depression 15, described the second location structure 13 comprises the locating hole 131 of being located at these depression 15 places, in this locating hole 131, set gradually from top to bottom a locating dowel and a spring, in this locating dowel, be provided with a screw 134 that penetrates these locating hole 131 sidewalls in the left surface of this pedestal 11; By DRIVE SCREWS in this screw 134, locating dowel is locked.
This ejecting structure 14 comprises a pneumatic channel 141, this pneumatic channel 141 comprises that an inlet channel 1411 and drives passage 1412, described inlet channel 1411 is extended to these pedestal 11 inner horizontal by these pedestal 11 right flanks, this driving passage 1412 is vertically installed in this pedestal 11 and runs through the top of this pedestal 11, this inlet channel 1411 is communicated with in the bottom place of this driving passage 1412 by a connection channel 1413 with driving passage 1412, the diameter of described interface channel 1413 is less than the diameter of this driving passage 1412, one push rod 142 can be arranged in this driving passage 1412 up or down.
The 3rd location structure 24 comprises corresponding locating convex block 241, a lower baffle plate 242 and the guide pad 243 of two first locating slots 122 with this first location structure 12 that two structures are identical, this two locating convex block 241 is set up in parallel in this determines clamping bar 22 both sides, lower end, this lower baffle plate 242 be arranged at this determine clamping bar 22 towards the lower end, side of this pedestal 11, this guide pad 243 be arranged at this lower baffle plate 242 directly over.
This hinge assembly 33 comprises identical being set up in parallel in the articulated jib 331 on these moving clamping bar 32 tops of two structures, the end of this articulated jib 331 is provided with second hinge hole 332 identical with these the first hinge hole 23 sizes, described flexible member is fixed between this two articulated jib 331, and the top of clamping bar 22 is determined with this respectively in the two ends of this flexible member, the top of moving clamping bar 32 contacts.
Describedly determine clamp 21, moving clamp 31 is circular arc, describedly determine clamp 21, move clamp 31 side in opposite directions and be provided with the double wedge 50 of the enhancing frictional force matching;
The both sides in opposite directions of described pedestal 11 bottoms are respectively equipped with one and are convenient to this pedestal 11 and are fixed to the step 111 on other mechanical part, are provided with one the 3rd hinge hole 112 in this step place.
The prepared manipulator of a kind of preparation method by aforementioned manipulator, it comprises an arm component 1, certain clamping section 2 and a moving clamping section 3, this arm component 1 comprises a pedestal 11, one side at these pedestal 11 tops is provided with one first location structure 12, under this first location structure 12, be provided with one second location structure 13, be provided with an ejecting structure 14 by gas-powered in the opposite side at these pedestal 11 tops; This is determined clamping section 2 and comprises certain clamp 21 and certain clamping bar 22, this determines the top that clamp 21 is arranged at this and determines clamping bar 22, this top of determining clamping bar 22 is provided with one first hinge hole 23, and this bottom of determining clamping bar 22 is provided with the 3rd location structure 24 matching with described the first location structure 12; This moving clamping section 3 comprises a moving clamp 31 and a moving clamping bar 32, and this moving clamp 31 is arranged at the top of this moving clamping bar 32, and the top of this moving clamping bar 32 is provided with one and determines with this hinge assembly 33 that the first hinge hole 23 on clamping bar 22 matches; Describedly determine clamping section 2 and be arranged on this arm component 1, this 3rd location structure 24 of determining clamping bar 22 is placed in this first location structure 12 places, the bottom that this second location structure 13 is fixed this and determined clamping bar 22, and this is determined clamp 21 and stretches out this pedestal 11 tops; Hinge assembly 33 and this of this moving clamping section 3 determined the first hinge hole 23 on clamping bar 22 and matched and make this moving clamping section 3 be articulated with this to determine on clamping section 2, this moving clamp 31 is with to determine clamp 21 corresponding, the bottom of this moving clamping bar 32 is directly over this ejecting structure 14, these hinge assembly 33 places are provided with a flexible member, and this flexible member makes this moving clamp 31 and determine clamp 21 in the time not being subject to the active force of ejecting structure, to keep open configuration.
This first location structure 12 comprises identical being set up in parallel in the upper block 121 at this pedestal 11 left surface tops of two structures, on this, the lower end of block 121 is provided with one first locating slot 122, in this on two between block 121, the left surface of this pedestal 11 is provided with one second groove 123; On this pedestal 11 this on two block 121 under be provided with a depression 15, described the second location structure 13 comprises the locating hole 131 of being located at these depression 15 places, in this locating hole 131, set gradually from top to bottom a locating dowel and a spring, in this locating dowel, be provided with a screw 134 that penetrates these locating hole 131 sidewalls in the left surface of this pedestal 11;
This ejecting structure 14 comprises a pneumatic channel 141, this pneumatic channel 141 comprises that an inlet channel 1411 and drives passage 1412, described inlet channel 1411 is extended to these pedestal 11 inner horizontal by these pedestal 11 right flanks, this driving passage 1412 is vertically installed in this pedestal 11 and runs through the top of this pedestal 11, this inlet channel 1411 is communicated with in the bottom place of this driving passage 1412 by a connection channel 1413 with driving passage 1412, the diameter of described interface channel 1413 is less than the diameter of this driving passage 1412, one push rod 142 can be arranged in this driving passage 1412 up or down.
The 3rd location structure 24 comprises corresponding locating convex block 241, a lower baffle plate 242 and the guide pad 243 of two first locating slots 122 with this first location structure 12 that two structures are identical, this two locating convex block 241 is set up in parallel in this determines clamping bar 22 both sides, lower end, this lower baffle plate 242 be arranged at this determine clamping bar 22 towards the lower end, side of this pedestal 11, this guide pad 243 be arranged at this lower baffle plate 242 directly over.
This hinge assembly 33 comprises identical being set up in parallel in the articulated jib 331 on these moving clamping bar 32 tops of two structures, the end of this articulated jib 331 is provided with second hinge hole 332 identical with these the first hinge hole 23 sizes, described flexible member is fixed between this two articulated jib 331, and the top of clamping bar 22 is determined with this respectively in the two ends of this flexible member, the top of moving clamping bar 32 contacts.
Describedly determine clamp 21, moving clamp 31 is circular arc, describedly determine clamp 21, move clamp 31 side in opposite directions and be provided with the double wedge 50 of the enhancing frictional force matching;
The both sides in opposite directions of described pedestal 11 bottoms are respectively equipped with one and are convenient to this pedestal 11 and are fixed to the step 111 on other mechanical part, are provided with one the 3rd hinge hole 112 in these step 111 places.
When using product of the present invention, this is determined to clamping section 2 and is fixed to this pedestal 11 left sides, the location in this second groove 123 of first guide pad 243 being planted, thereby make two locating convex blocks 241 corresponding with two first locating slot 122 positions, this is determined to clamping section 2 and up moves, this two locating convex block 241 is stuck in this first locating slot 122, in described locating hole 131, put into successively spring, locating dowel, due to the elastic force of spring, making the top of locating dowel hold out against this determines the bottom of clamping bar 22 and fixes this and determine clamping section 2, now this lower baffle plate 242 is close to the top of this depression 15, in this screw 134, screwing in a screw locks locating dowel.This moving clamping section 3 is articulated with to this and determines on clamping section 2, determine clamp 21 corresponding with moving clamp 31, between two articulated jibs 331 of moving clamping section 3, a flexible member is set, this flexible member makes to determine clamp 21 and does not close up with moving clamp 31.One push rod 142 is planted in this driving passage 1412, and these push rod 142 lower dimension are slightly less than this driving passage 1412 lower dimension, in the sheathed sealing ring of this push rod 142 end, increase this push rod 142 and drive the air-tightness between passage 1412 lower inner wall.When the external tracheae of inlet channel 1411, and when importing gas, this push rod 142 of gas push moves up, thereby moving clamp 31 is moved to determining clamp 21, clamp being placed in these article of determining between clamp 21 and moving clamp 31, when the source of the gas that breaks makes, flexible member is arranged moving clamp 31, thereby has unclamped clamped article.
By the use of the method, can produce the manipulator of simple and ingenious structure, this manipulator design is reasonable, volume is little, parts are few, can be in little place, little space flexible Application, and price is lower, easy to utilize.
As described in the present embodiment of the invention, with preparation method and the manipulator obtained by this method of other manipulators of the same or similar structure of the present invention, all in protection domain of the present invention.
Claims (8)
1. a preparation method for manipulator, is characterized in that: it comprises the following steps:
(1) prepare an arm component, this arm component comprises a pedestal, one side at this pedestal top is provided with one first location structure, is provided with one second location structure under this first location structure, is provided with an ejecting structure by gas-powered in the opposite side at this pedestal top;
(2) prepare certain clamping section, this is determined clamping section and comprises certain clamp and certain clamping bar, this determines the top that clamp is arranged at this and determines clamping bar, this top of determining clamping bar is provided with one first hinge hole, and this bottom of determining clamping bar is provided with the 3rd location structure matching with described the first location structure;
(3) prepare a moving clamping section, this moving clamping section comprises a moving clamp and a moving clamping bar, and this moving clamp is arranged at the top of this moving clamping bar, and the top of this moving clamping bar is provided with one and determines with this hinge assembly that the first hinge hole on clamping bar matches;
(4) determine clamping section and be installed on this arm component described, this 3rd location structure of determining clamping bar is placed in this first location structure place, the bottom that this second location structure is fixed this and determined clamping bar, and this is determined clamp and stretches out this pedestal top;
(5) hinge assembly of this moving clamping section is determined the first hinge hole on clamping bar with this and is matched and make this moving clamping section be articulated with this to determine on clamping section, this moving clamp is with to determine clamp corresponding, the bottom of this moving clamping bar is directly over this ejecting structure, this hinge assembly place is provided with a flexible member, and this flexible member makes this moving clamp and determine clamp in the time not being subject to the active force of ejecting structure, to keep open configuration;
(6) when ejecting structure is in the time being subject to gas-powered jack-up, now flexible member is subject to force compresses, the stressed upwards swing of end of this moving clamping bar, thereby moving clamp is closed up to determining clamp, the article that are placed in this moving clamp and determine between clamp are clamped, in the time that ejecting structure is not subject to gas-powered, flexible member is replied original shape, upwards swing thereby promote this moving clamp, this moving clamp leaves determines clamp, and the article that are placed in this moving clamp and determine between clamp are unclamped;
This first location structure comprises identical being set up in parallel in the upper block at this pedestal left surface top of two structures, and on this, the lower end of block is provided with one first locating slot, in this on two between block, the left surface of this pedestal is provided with one second groove;
On this pedestal this on two block under be provided with a depression, described the second location structure comprises the locating hole of being located at this recess, in this locating hole, set gradually from top to bottom a locating dowel and a spring, in this locating dowel, be provided with a screw that penetrates this locating hole sidewall in the left surface of this pedestal;
This ejecting structure comprises a pneumatic channel, this pneumatic channel comprises that an inlet channel and drives passage, described inlet channel by this pedestal right flank to this base interior horizontal-extending, this driving channel vertical is arranged in this pedestal and runs through the top of this pedestal, this inlet channel is communicated with in the bottom place of this driving passage by a connection channel with driving passage, the diameter of described interface channel is less than the diameter of this driving passage, and a push rod can be arranged in this driving passage up or down.
2. the preparation method of manipulator according to claim 1, it is characterized in that, the 3rd location structure comprises corresponding locating convex block, a lower baffle plate and the guide pad of two first locating slots with this first location structure that two structures are identical, this two locating convex block is set up in parallel in this determines both sides, clamping bar lower end, this lower baffle plate be arranged at this determine clamping bar towards the lower end, side of this pedestal, this guide pad be arranged at this lower baffle plate directly over.
3. the preparation method of manipulator according to claim 2, it is characterized in that, this hinge assembly comprises identical being set up in parallel in the articulated jib on this moving clamping bar top of two structures, the end of this articulated jib is provided with second hinge hole identical with this first hinge hole size, described flexible member is fixed between this two articulated jib, and the top of clamping bar is determined with this respectively in the two ends of this flexible member, the top of moving clamping bar contacts.
4. the preparation method of manipulator according to claim 3, is characterized in that, describedly determines clamp, moving clamp is circular arc, describedly determine clamp, moves clamp side in opposite directions and be provided with the double wedge of the enhancing frictional force matching;
The both sides in opposite directions of described pedestal bottom are respectively equipped with one and are convenient to this pedestal and are fixed to the step on other mechanical part, are provided with one the 3rd hinge hole in this step place.
5. the prepared manipulator of the preparation method by manipulator described in claim 1, it is characterized in that: it comprises an arm component, certain clamping section and a moving clamping section, this arm component comprises a pedestal, one side at this pedestal top is provided with one first location structure, under this first location structure, be provided with one second location structure, be provided with an ejecting structure by gas-powered in the opposite side at this pedestal top; This is determined clamping section and comprises certain clamp and certain clamping bar, this determines the top that clamp is arranged at this and determines clamping bar, this top of determining clamping bar is provided with one first hinge hole, and this bottom of determining clamping bar is provided with the 3rd location structure matching with described the first location structure; This moving clamping section comprises a moving clamp and a moving clamping bar, and this moving clamp is arranged at the top of this moving clamping bar, and the top of this moving clamping bar is provided with one and determines with this hinge assembly that the first hinge hole on clamping bar matches; Describedly determine clamping section and be arranged on this arm component, this 3rd location structure of determining clamping bar is placed in this first location structure place, the bottom that this second location structure is fixed this and determined clamping bar, and this is determined clamp and stretches out this pedestal top; The hinge assembly of this moving clamping section is determined the first hinge hole on clamping bar with this and is matched and make this moving clamping section be articulated with this to determine on clamping section, this moving clamp is with to determine clamp corresponding, the bottom of this moving clamping bar is directly over this ejecting structure, this hinge assembly place is provided with a flexible member, and this flexible member makes this moving clamp and determine clamp in the time not being subject to the active force of ejecting structure, to keep open configuration;
This first location structure comprises identical being set up in parallel in the upper block at this pedestal left surface top of two structures, and on this, the lower end of block is provided with one first locating slot, in this on two between block, the left surface of this pedestal is provided with one second groove; On this pedestal this on two block under be provided with a depression, described the second location structure comprises the locating hole of being located at this recess, in this locating hole, set gradually from top to bottom a locating dowel and a spring, in this locating dowel, be provided with a screw that penetrates this locating hole sidewall in the left surface of this pedestal;
This ejecting structure comprises a pneumatic channel, this pneumatic channel comprises that an inlet channel and drives passage, described inlet channel by this pedestal right flank to this base interior horizontal-extending, this driving channel vertical is arranged in this pedestal and runs through the top of this pedestal, this inlet channel is communicated with in the bottom place of this driving passage by a connection channel with driving passage, the diameter of described interface channel is less than the diameter of this driving passage, and a push rod can be arranged in this driving passage up or down.
6. manipulator according to claim 5, it is characterized in that, the 3rd location structure comprises corresponding locating convex block, a lower baffle plate and the guide pad of two first locating slots with this first location structure that two structures are identical, this two locating convex block is set up in parallel in this determines both sides, clamping bar lower end, this lower baffle plate be arranged at this determine clamping bar towards the lower end, side of this pedestal, this guide pad be arranged at this lower baffle plate directly over.
7. manipulator according to claim 6, it is characterized in that, this hinge assembly comprises identical being set up in parallel in the articulated jib on this moving clamping bar top of two structures, the end of this articulated jib is provided with second hinge hole identical with this first hinge hole size, described flexible member is fixed between this two articulated jib, and the top of clamping bar is determined with this respectively in the two ends of this flexible member, the top of moving clamping bar contacts.
8. manipulator according to claim 7, is characterized in that, describedly determines clamp, moving clamp is circular arc, describedly determine clamp, moves clamp side in opposite directions and be provided with the double wedge of the enhancing frictional force matching;
The both sides in opposite directions of described pedestal bottom are respectively equipped with one and are convenient to this pedestal and are fixed to the step on other mechanical part, are provided with one the 3rd hinge hole in this step place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210066763.7A CN102581845B (en) | 2012-03-15 | 2012-03-15 | Preparation method of manipulator and manipulator prepared by same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210066763.7A CN102581845B (en) | 2012-03-15 | 2012-03-15 | Preparation method of manipulator and manipulator prepared by same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102581845A CN102581845A (en) | 2012-07-18 |
| CN102581845B true CN102581845B (en) | 2014-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210066763.7A Active CN102581845B (en) | 2012-03-15 | 2012-03-15 | Preparation method of manipulator and manipulator prepared by same |
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| CN102848152B (en) * | 2012-09-14 | 2015-03-25 | 湖北航天三江红林机电科技有限公司 | Processing method of manipulators |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4400354A1 (en) * | 1994-01-08 | 1995-07-13 | Gerhard H Kottemann | Bar holder for mounting on lathe capstan |
| CN2276672Y (en) * | 1996-11-20 | 1998-03-18 | 刘祖清 | Pneumatic wire end ring crimping pliers |
| CN2501640Y (en) * | 2001-03-16 | 2002-07-24 | 陈进福 | Pliers with automatic reset structure |
| CN101277784A (en) * | 2005-11-07 | 2008-10-01 | 喜开理株式会社 | Clamp device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3602433B2 (en) * | 2000-11-27 | 2004-12-15 | Ｓｍｃ株式会社 | Clamping device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4400354A1 (en) * | 1994-01-08 | 1995-07-13 | Gerhard H Kottemann | Bar holder for mounting on lathe capstan |
| CN2276672Y (en) * | 1996-11-20 | 1998-03-18 | 刘祖清 | Pneumatic wire end ring crimping pliers |
| CN2501640Y (en) * | 2001-03-16 | 2002-07-24 | 陈进福 | Pliers with automatic reset structure |
| CN101277784A (en) * | 2005-11-07 | 2008-10-01 | 喜开理株式会社 | Clamp device |
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