CN103273488A - Clamping manipulator - Google Patents
Clamping manipulator Download PDFInfo
- Publication number
- CN103273488A CN103273488A CN2013102483172A CN201310248317A CN103273488A CN 103273488 A CN103273488 A CN 103273488A CN 2013102483172 A CN2013102483172 A CN 2013102483172A CN 201310248317 A CN201310248317 A CN 201310248317A CN 103273488 A CN103273488 A CN 103273488A
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- China
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- connecting rod
- chute
- clamping manipulator
- clamping
- ring flange
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Abstract
The invention relates to a clamping manipulator which comprises a support. Two manipulator fingers for clamping are arranged on the support, a sliding groove is arranged on the support, and the fingers telescope, open and close along the sliding groove through a driving mechanism arranged on the support. The clamping manipulator is controlled by a motor to perform actions in multiple degrees of freedom such as telescoping, opening, closing, and the like, the driving mechanism is simple in structure, and manufacturing costs are reduced.
Description
Technical field
The present invention relates to a kind of manipulator, relate in particular to a kind of clamping manipulator.
Background technology
Manipulator can imitate some holding function of staff and arm; in order to the automatic pilot that grasps, carries object or operation tool by fixed routine; it can replace people's mechanization and the automation of heavy work to realize producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
Existing clamp-type manipulator changes position and the posture of being grabbed object by driving mechanism, self-movement modes such as the lifting of motion, flexible, rotation, the free degree that is called manipulator, the manipulator of general clamp-type has 2～3 each free degree, and each free degree is by Electric Machine Control.This shows that existing motion structure is complicated, need to cooperate a plurality of motors to finish a plurality of frees degree.
Summary of the invention
The present invention has overcome the deficiencies in the prior art, provides a kind of motion simple, can be by the manipulator of a plurality of frees degree of Electric Machine Control.
For achieving the above object, the technical solution used in the present invention is: a kind of clamping manipulator, comprise bearing, described bearing is provided with two manipulator fingers that are used for clamping, it is characterized in that: described bearing is provided with chute, and described finger is by being arranged on the driving mechanism flexible and folding along described chute on the described bearing.
In a preferred embodiment of the present invention, comprise that further described driving mechanism comprises the ring flange that is arranged on the described bearing, be arranged on the first connecting rod on the described ring flange, the second connecting rod that connects described first connecting rod and finger, described second connecting rod and described chute are slidingly connected, and described ring flange is rotated by motor-driven.
In a preferred embodiment of the present invention, further comprise on described first connecting rod, the second connecting rod end being equipped with the circular hole that matches, run through described circular hole and chute and described chute by straight pin and be slidingly connected.
In a preferred embodiment of the present invention, comprise that further described finger end inwall is provided with liner.
In a preferred embodiment of the present invention, further comprise between described two fingers being connected with spring.
In a preferred embodiment of the present invention, further comprise between described second connecting rod and the described finger and pass through bolting.
In a preferred embodiment of the present invention, comprise that further described ring flange is for circular.
The invention solves the defective that exists in the background technology, clamping manipulator of the present invention is by the action of a plurality of frees degree such as flexible, folding of Electric Machine Control machinery hand, and driving mechanism structure is simple, has reduced manufacturing cost.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structural front view of the preferred embodiments of the present invention;
Fig. 2 is the structure side view of the preferred embodiments of the present invention;
Among the figure: 10, bearing, 20, finger, 30, chute, 40, ring flange, 50, first connecting rod, 60, second connecting rod, 70, motor, 81, straight pin, 82, bolt, 90, liner, 100, spring.
The specific embodiment
The present invention is further detailed explanation in conjunction with the accompanying drawings and embodiments now, and these accompanying drawings are the schematic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only shows the formation relevant with the present invention.
As depicted in figs. 1 and 2, a kind of clamping manipulator, be used for producing extracting, clamping product to be processed on the line, comprise manipulator bearing 10, bearing 10 is provided with two manipulator fingers 20 that are used for extracting and clamping, flexible and folding by two fingers 20 realizes grasping and holding action, can offer chute 30 at bearing 10, and finger 20 is realized flexible and opening and closing movement by the driving mechanism that is arranged on the bearing 10 along chute 30.
Driving mechanism among the present invention specifically can comprise the circular flange dish 40 that is parallel to bearing 10 settings, be arranged on the first connecting rod 50 on the ring flange 40, two second connecting rods 60 that connect first connecting rod 50 and two fingers 20, second connecting rod 60 is slidingly connected with chute 30, and ring flange 40 drives rotation by motor 70; Can offer a circular hole that has an internal tooth on the ring flange 40, rotating shaft and the circular hole of motor 70 are connected with a joggle, and can drive ring flange 40 rotations; One end of first connecting rod 50 be fixed on ring flange 40 on, when ring flange 40 rotation, the end that ring flange 40 drives first connecting rods 50 moves in a circle; The other end of first connecting rod 50 is connected with the end of two second connecting rods 60, specifically can on the end of first connecting rod 50, second connecting rod 60, all offer identical circular hole, utilize straight pin 81 to run through these two circular holes and run through chute 30, second connecting rod 60 and chute 30 are slidingly connected, first connecting rod 50 is followed ring flange 40 when moving in a circle, and first connecting rod 50 pulling second connecting rods 60 are flexible along chute 30; Because second connecting rod 60 is connected with two manipulator fingers 20, can be fixing by bolt 82 between second connecting rod 60 and the finger 20, two fingers 20 of pulling were also done expanding-contracting action when second connecting rod 60 stretched, also can between two fingers 20, connect a spring 100, when two fingers 20 are flexible along chute 30 directions, two fingers 20 of two second connecting rod 60 pullings are opened and closure, finish the action of extracting, clamping processed product, be arranged on two 100 reset responses of spring between the finger 20, make the opening action of two fingers 20 more smooth and easy.
For increasing the frictional force of manipulator finger 20 clampings, can antiskid pad 90 be set at finger 20 end inwalls.
Clamping manipulator of the present invention is by the action of a plurality of frees degree such as flexible, folding of Electric Machine Control machinery hand, and driving mechanism structure is simple, has reduced manufacturing cost.
Above foundation desirable embodiment of the present invention is enlightenment, and by above-mentioned description, the related personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the specification, must determine technical scope according to the claim scope.
Claims (7)
1. a clamping manipulator comprises bearing, and described bearing is provided with two manipulator fingers that are used for clamping, and it is characterized in that: described bearing is provided with chute, and described finger is by being arranged on the driving mechanism flexible and folding along described chute on the described bearing.
2. a kind of clamping manipulator according to claim 1, it is characterized in that: described driving mechanism comprises the ring flange that is arranged on the described bearing, be arranged on the first connecting rod on the described ring flange, the second connecting rod that connects described first connecting rod and finger, described second connecting rod and described chute are slidingly connected, and described ring flange is rotated by motor-driven.
3. a kind of clamping manipulator according to claim 2 is characterized in that: be equipped with the circular hole that matches on described first connecting rod, the second connecting rod end, run through described circular hole and chute and described chute by straight pin and be slidingly connected.
4. a kind of clamping manipulator according to claim 3, it is characterized in that: described finger end inwall is provided with liner.
5. a kind of clamping manipulator according to claim 4 is characterized in that: be connected with spring between described two fingers.
6. a kind of clamping manipulator according to claim 5 is characterized in that: pass through bolting between described second connecting rod and the described finger.
7. a kind of clamping manipulator according to claim 6 is characterized in that: described ring flange is for circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102483172A CN103273488A (en) | 2013-06-21 | 2013-06-21 | Clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102483172A CN103273488A (en) | 2013-06-21 | 2013-06-21 | Clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103273488A true CN103273488A (en) | 2013-09-04 |
Family
ID=49056164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102483172A Pending CN103273488A (en) | 2013-06-21 | 2013-06-21 | Clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103273488A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103728317A (en) * | 2013-12-14 | 2014-04-16 | 山东新华医疗器械股份有限公司 | Clamping type ampoule bottle carrying mechanism for automatic lamp inspection machine |
| CN103921279A (en) * | 2013-09-30 | 2014-07-16 | 安徽兴科门窗幕墙有限公司 | Mechanical arm |
| CN104326111A (en) * | 2014-10-23 | 2015-02-04 | 苏州思莱特电子科技有限公司 | Electronic product packaging machine clamping structure |
| CN104526709A (en) * | 2014-11-28 | 2015-04-22 | 赖卫华 | Mechanical material sending arm |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN104827465A (en) * | 2015-05-08 | 2015-08-12 | 上海交通大学 | High-driving-speed and great-driving-force mechanical transmission device |
| CN104959995A (en) * | 2015-07-01 | 2015-10-07 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | Robot grabbing hand |
| CN105538422A (en) * | 2015-11-30 | 2016-05-04 | 李松 | Automatic feeding device of wood slicing machine |
| CN105922253A (en) * | 2016-06-30 | 2016-09-07 | 苏州塞默机械有限公司 | Efficient intelligent clamping manipulator |
| CN106443036A (en) * | 2016-10-26 | 2017-02-22 | 安图实验仪器(郑州)有限公司 | Sample rack bearing device provided with double-side opening and closing mechanism |
| CN106965166A (en) * | 2017-04-28 | 2017-07-21 | 防城港市海洋局 | Feeding mechanical arm |
| CN114008695A (en) * | 2019-07-23 | 2022-02-01 | 日本金钱机械株式会社 | Mechanical arm |
| US11790720B2 (en) | 2019-07-23 | 2023-10-17 | Japan Cash Machine Co., Ltd. | Automatic bill handling system |
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| CN2447130Y (en) * | 2000-11-07 | 2001-09-12 | 中国船舶重工集团公司七五零试验场 | Hand-held manipulator |
| CN202491242U (en) * | 2012-04-03 | 2012-10-17 | 张雪燕 | Mechanical arm for medical container machining tool |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN203003892U (en) * | 2012-12-05 | 2013-06-19 | 黄广禧 | Garbage cracking furnace rod feeding mechanical arm mechanism |
| CN203371544U (en) * | 2013-06-21 | 2014-01-01 | 苏州速腾电子科技有限公司 | Clamping manipulator |
-
2013
- 2013-06-21 CN CN2013102483172A patent/CN103273488A/en active Pending
Patent Citations (5)
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|---|---|---|---|---|
| CN2447130Y (en) * | 2000-11-07 | 2001-09-12 | 中国船舶重工集团公司七五零试验场 | Hand-held manipulator |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN202491242U (en) * | 2012-04-03 | 2012-10-17 | 张雪燕 | Mechanical arm for medical container machining tool |
| CN203003892U (en) * | 2012-12-05 | 2013-06-19 | 黄广禧 | Garbage cracking furnace rod feeding mechanical arm mechanism |
| CN203371544U (en) * | 2013-06-21 | 2014-01-01 | 苏州速腾电子科技有限公司 | Clamping manipulator |
Non-Patent Citations (1)
| Title |
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| 张福学: "《机器人技术及其应用》", 31 January 2000, article "手爪", pages: 454 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921279A (en) * | 2013-09-30 | 2014-07-16 | 安徽兴科门窗幕墙有限公司 | Mechanical arm |
| CN103728317B (en) * | 2013-12-14 | 2015-12-30 | 山东新华医疗器械股份有限公司 | The clipping ampoule bottle Zai Ping mechanism of automatic lamp-checking machine |
| CN103728317A (en) * | 2013-12-14 | 2014-04-16 | 山东新华医疗器械股份有限公司 | Clamping type ampoule bottle carrying mechanism for automatic lamp inspection machine |
| CN104326111A (en) * | 2014-10-23 | 2015-02-04 | 苏州思莱特电子科技有限公司 | Electronic product packaging machine clamping structure |
| CN104526709A (en) * | 2014-11-28 | 2015-04-22 | 赖卫华 | Mechanical material sending arm |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN104827465B (en) * | 2015-05-08 | 2016-10-12 | 上海交通大学 | A kind of mechanical driving device with high actuating speed and large driving force |
| CN104827465A (en) * | 2015-05-08 | 2015-08-12 | 上海交通大学 | High-driving-speed and great-driving-force mechanical transmission device |
| CN104959995A (en) * | 2015-07-01 | 2015-10-07 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | Robot grabbing hand |
| CN105538422A (en) * | 2015-11-30 | 2016-05-04 | 李松 | Automatic feeding device of wood slicing machine |
| CN105922253A (en) * | 2016-06-30 | 2016-09-07 | 苏州塞默机械有限公司 | Efficient intelligent clamping manipulator |
| CN106443036A (en) * | 2016-10-26 | 2017-02-22 | 安图实验仪器(郑州)有限公司 | Sample rack bearing device provided with double-side opening and closing mechanism |
| CN106965166A (en) * | 2017-04-28 | 2017-07-21 | 防城港市海洋局 | Feeding mechanical arm |
| CN114008695A (en) * | 2019-07-23 | 2022-02-01 | 日本金钱机械株式会社 | Mechanical arm |
| US11790720B2 (en) | 2019-07-23 | 2023-10-17 | Japan Cash Machine Co., Ltd. | Automatic bill handling system |
| CN114008695B (en) * | 2019-07-23 | 2024-01-30 | 日本金钱机械株式会社 | Mechanical arm |
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Application publication date: 20130904 |