CN103481284B - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
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- CN103481284B CN103481284B CN201310439928.5A CN201310439928A CN103481284B CN 103481284 B CN103481284 B CN 103481284B CN 201310439928 A CN201310439928 A CN 201310439928A CN 103481284 B CN103481284 B CN 103481284B
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- plate
- crawl
- manipulator
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- cylinder
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Abstract
A kind of manipulator, including frame plate, the first cylinder, multiple clamping devices, driving plate and tooth bar, first cylinder are fixed on the frame plate；The driving plate is connected with the piston rod of first cylinder, is slidably connected on the frame plate, and the lower end of the driving plate is fixed with tooth bar；Each described clamping device includes：Gear, traction wheel and two blocks of crawl plates；The gear is engaged with the tooth bar, and the traction wheel is connected with the axle of the gear, and two blocks of crawl plates are connected by two connecting rods be arrangeding in parallel with the traction wheel respectively.The present invention can simultaneously drive multiple clamping devices using the design of the single-power Trinity, a power source, and simple structure realizes the function that manipulator once captures more than one piece article, improves operating efficiency.
Description
Technical field
The present invention relates to a kind of manipulator simultaneously, and in particular to an a kind of power source drives the machinery of multiple clamping devices
Hand.
Background technology
Manipulator is used to capture and carry article, realizes automatic charging and blanking.Calibrating or recovery such as in electric energy meter are flowed
On waterline, generally using jaw manipulator, its structure is that multiple clamping devices are fixed with installing plate, the knot of each clamping device
Structure is：Linear bearing is set with the guide bar, and tong mounting bar can be along guide post slide anteroposterior, the cylinder bottom and piston rod point of cylinder
It is not connected with two tong mounting bars, multiple tongs is fixed with tong mounting bar.Each clamping device of the device needs list
Only air cylinder driven, complex structure.
The content of the invention
It is independent to solve above-mentioned existing manipulator each clamping device needs it is an object of the invention to provide a kind of manipulator
Air cylinder driven, baroque problem
Technical scheme is as follows：
A kind of manipulator, including frame plate, the first cylinder, multiple clamping devices, driving plate and tooth bar, first cylinder
It is fixed on the frame plate；The driving plate is connected with the piston rod of first cylinder, is slidably connected at the frame plate
On, the lower end of the driving plate is fixed with tooth bar；
Each described clamping device includes：Gear, traction wheel and two blocks of crawl plates；The gear is engaged with the tooth bar,
The traction wheel is connected with the axle of the gear, two pieces it is described crawl plate respectively by two connecting rods be arrangeding in parallel with it is described
Traction wheel is connected；
First cylinder drives the driving plate linear motion, and the driving plate drives the tooth bar, the tooth bar to drive
The pinion rotation of each clamping device is moved, the gear drives the traction wheel by axle, and the traction wheel is by opposite
The connecting rod of motion drives the crawl plate movement.
Further：The driving plate and the frame plate be slidably connected including：First slide rail, it is edge-on to be fixed on the machine
On frame plate；First sliding block, is fixed on the back side of the driving plate, and the driving plate is slided by first sliding block along described first
Rail is slided.
Further：Two connecting rods are respectively first connecting rod and second connecting rod, and two blocks of crawl plates are respectively first
Crawl plate and the second crawl plate；
The clamping device also includes：The two pieces of connecting plates and spring being slidably connected with the frame plate；Two pieces of companies
Fishplate bar is respectively the first connecting plate and the second connecting plate；
The first connecting rod is connected by bearing pin with the spring, the two ends of first connecting plate respectively with the spring
Connected with the described first crawl plate；The second connecting rod is connected by second connecting plate with the described second crawl plate；It is described
The rotation of traction wheel drives the connecting plate to move by the connecting rod, so as to realize the movement of the crawl plate.
Further：Between the connecting plate and the frame plate be slidably connected including：Second slide rail, is horizontally fixed on institute
State on frame plate；Second sliding block, is fixed on the bottom surface of the connecting plate, and the connecting plate is by second sliding block along described the
Two slide rails are slided.
Further：Two adjacent clamping devices are respectively the first clamping device and the second clamping device, described first
Second crawl plate of clamping device is adjacent with the first crawl plate of second clamping device, and the first crawl plate is finger
Shape, the second crawl plate is provided with groove, after the first crawl plate and the second crawl plate overlap, the first crawl plate
It is stuck in the groove, its thickness is one piece of thickness of crawl plate.
Further：Also include：Horizontal mounting plate and the second cylinder；The installing plate is fixed on the centre of the frame plate,
The piston rod of second cylinder is fixed on the installing plate；The height change of the extension and contraction control manipulator of the second cylinder.
Further：Fixed plate and outside link plate, the fixed plate are arranged on the side of second cylinder, the fixed plate
It is connected with the outside link plate, for connecting external equipment.
Further：Two relative surfaces of the crawl plate are provided with slipmat.
Further：The manipulator is aluminum material.
Further：The quantity of the clamping device is 3.
The beneficial effects of the invention are as follows：
1st, using the design of the single-power Trinity, a power source can simultaneously drive multiple clamping devices, structure to the present invention
Simply, the function that manipulator once captures more than one piece article is realized, operating efficiency is improve.
2nd, the moving up and down of manipulator of the present invention, capture the moving left and right with guide cylinder, additional setting slide rail, energy of plate
Manipulator crawl plate stable movement, accurate is enough ensured, so as to improve the crawl degree of accuracy.
3rd, the present invention installs spring additional by capturing plate at each, by the decrement of spring being applicable the electric energy of different in width
Table, accurate positioning；Soft rubber cushion is employed on the inside of crawl plate, it is possible to prevente effectively from the damage to electric energy meter.
4th, crawl plate of the invention is designed using concaveconvex structure, and the thickness after two blocks of crawl plates overlap only has one block of crawl plate
Thickness, can be used for the Turnover Box of table spacing very little.
5th, the present invention is light using aluminum profile extrusion overall weight, is provided with installing plate and is easily achieved connection with external equipment.
6th, safe and reliable, simple structure of the invention, easy to operate, crawl are accurate, it is easy to promotion and implementation, with good warp
Ji benefit.
Brief description of the drawings
The structural representation of manipulator in Fig. 1 alternative embodiments；
Fig. 2 is the partial enlarged drawing of A in Fig. 1；
Fig. 3 is the rearview of manipulator shown in Fig. 1.
Specific embodiment
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in figure 1, being the structural representation of manipulator.Manipulator includes frame plate 1, the first cylinder 2, tooth bar and multiple
The parts such as clamping device.Preferably, the quantity of clamping device is 3.
First cylinder 2 is fixed on frame plate 1, it is preferable that frame plate 1 is provided with the hole position for fixing each part, the
One cylinder 2 is fixed on frame plate 1 by screw by hole position.The piston rod of the first cylinder 2 is connected with driving plate 5, and driving plate 5 is slided
Dynamic to be connected on frame plate 1, the positive lower end of driving plate 5 is fixed with tooth bar.
As shown in Fig. 2 each clamping device includes：Gear 6, traction wheel 9 and two blocks of crawl plates；Gear 6 is engaged with tooth bar,
Traction wheel 9 is connected with the axle of gear 6, it is possible to achieve synchronous axial system, and traction wheel 9 is fixed on frame plate 1 by support 8.Two
Block crawl plate is connected by two connecting rods 7 be arrangeding in parallel with traction wheel 9 respectively.The flexible drive of the piston rod of the first cylinder 2
Driving plate 5 is moved, and with carry-over bar, the gear 6 of rack drives each clamping devices is rotated driving plate 5, and gear 6 is driven by axle and led
Running wheel 9, the traction wheel 9 drives crawl plate to move by the connecting rod 7 of move toward one another.
As shown in figure 3, driving plate 5 and frame plate 1 be slidably connected including：First slide rail 51 and the first sliding block 3.Frame plate
The first slide rail 51 is further fixed on 1, it is preferable that the first slide rail 51 is fixed on frame plate 1 by screw by the way that hole position is edge-on.First
The piston rod of cylinder 2 is connected by screw with driving plate 5, and the back side of driving plate 5 is additionally provided with the first sliding block 3, and driving plate 5 is by the
One sliding block 3 is slided on the first slide rail 51.
Two pieces of connecting plates 10 are respectively the first connecting plate and the second connecting plate, and two connecting rods 7 are respectively first connecting rod and the
Two connecting rods, two blocks of crawl plates are respectively the first crawl plate 41 and the second crawl plate 42.
Clamping device also includes：The two pieces of connecting plates 10 and spring 14 being slidably connected with frame plate 1；First connecting rod passes through pin
Axle 17 is connected with spring 14, and the two ends of the first connecting plate are connected with the crawl plate 41 of spring 14 and first respectively；Second connecting rod passes through
Second connecting plate is connected with the second crawl plate 42；The rotation of traction wheel 9 drives connecting plate 10 to move by connecting rod 7, so as to realize
Capture the movement of plate.
Between connecting plate 10 and frame plate 1 be slidably connected including：Second slide rail 11 and the second sliding block 12.Connecting plate 10
Bottom surface is provided with the second sliding block 12, and the second slide rail 11 is horizontally fixed on frame plate 1, and the rotation of traction wheel 9 connects bullet by connecting rod 7
Spring 14 drives connecting plate to be reciprocatingly slided on the second slide rail 11 by the second sliding block 12.Preferably, the second slide rail 11 is led to by screw
Hole position is crossed to be horizontally fixed on frame plate 1.
Two relative surfaces of crawl plate are provided with slipmat, it is to avoid cause to capture skidding between plate and electric energy meter or
Scratch electric energy meter phenomenon.
In multiple clamping devices of manipulator, two adjacent clamping devices are respectively the first clamping device and the second clamping machine
Structure, the second crawl plate of the first clamping device is adjacent with the first crawl plate of the second clamping device, and the first crawl plate is finger-shaped,
Second crawl plate is provided with groove, and after the first crawl plate and the second crawl plate overlap, in groove, its thickness is the first crawl board
One piece of thickness of crawl plate.
Manipulator is additionally provided with the cylinder 18 of horizontal mounting plate 16 and second, and installing plate 16 is fixed by screws in frame plate 1
Centre, installing plate 16 is provided with hole position, and the piston rod of the second cylinder 18 is fixed on installing plate 16 by screw by hole position, by
Two cylinders 18 it is flexible come control machinery hand height change, the side of the second cylinder 18 is provided with fixed plate 19, fixed plate 19
It is connected with outside link plate 20, for connecting external equipment.
Preferably, the above-mentioned mode of being connected is to be fixed by screw.
Each part of manipulator is aluminum material.
Claims (9)
1. a kind of manipulator, including frame plate, the first cylinder, multiple clamping devices, first cylinder are fixed on the frame
On plate, it is characterised in that also include：Driving plate and tooth bar；
The driving plate is connected with the piston rod of first cylinder, is slidably connected on the frame plate, the driving plate
Lower end is fixed with tooth bar；
Each described clamping device includes：Gear, traction wheel and two blocks of crawl plates；The gear is engaged with the tooth bar, described
Traction wheel is connected with the axle of the gear, and two blocks of crawl plates pass through two connecting rods be arrangeding in parallel and the traction respectively
Wheel connection；
First cylinder drives the driving plate linear motion, and the driving plate drives the tooth bar, and the rack drives are every
The pinion rotation of the individual clamping device, the gear drives the traction wheel, the traction wheel to pass through move toward one another by axle
The connecting rod drive it is described crawl plate movement；
Two connecting rods are respectively first connecting rod and second connecting rod, and two blocks of crawl plates are respectively the first crawl plate and second
Crawl plate；
The clamping device also includes：The two pieces of connecting plates and spring being slidably connected with the frame plate；Two pieces of connecting plates
Respectively the first connecting plate and the second connecting plate；
The first connecting rod is connected by bearing pin with the spring, the two ends of first connecting plate respectively with the spring and institute
State the connection of the first crawl plate；The second connecting rod is connected by second connecting plate with the described second crawl plate；The traction
The rotation of wheel drives the connecting plate to move by the connecting rod, so as to realize the movement of the crawl plate.
2. manipulator as claimed in claim 1, it is characterised in that the bag that is slidably connected of the driving plate and the frame plate
Include：
First slide rail, it is edge-on to be fixed on the frame plate；
First sliding block, is fixed on the back side of the driving plate, and the driving plate is by first sliding block along first slide rail
Slide.
3. manipulator as claimed in claim 1, it is characterised in that being slidably connected between the connecting plate and the frame plate
Including：
Second slide rail, is horizontally fixed on the frame plate；
Second sliding block, is fixed on the bottom surface of the connecting plate, and the connecting plate is by second sliding block along second slide rail
Slide.
4. the manipulator as described in claim 1 or 3, it is characterised in that two adjacent clamping devices are respectively the first folder
Hold mechanism and the second clamping device, the second crawl plate of first clamping device and the first crawl of second clamping device
Plate is adjacent, and the first crawl plate is finger-shaped, and the second crawl plate is provided with groove, the first crawl plate and described second
After crawl plate overlaps, in the groove, its thickness is one piece of thickness of crawl plate to the first crawl board.
5. the manipulator as described in claims 1 to 3 any one claim, it is characterised in that also include：Horizontal mounting plate and
Second cylinder；The installing plate is fixed on the centre of the frame plate, and the piston rod of second cylinder is fixed on the installation
On plate；The height change of the extension and contraction control manipulator of the second cylinder.
6. manipulator as claimed in claim 5, it is characterised in that also include：Fixed plate and outside link plate, the fixed plate set
Put in the side of second cylinder, the fixed plate is connected with the outside link plate, for connecting external equipment.
7. manipulator as claimed in claim 1, it is characterised in that two relative surfaces of the crawl plate are provided with anti-skidding
Pad.
8. manipulator as claimed in claim 1, it is characterised in that the manipulator is aluminum material.
9. manipulator as claimed in claim 1, it is characterised in that the quantity of the clamping device is 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310439928.5A CN103481284B (en) | 2013-09-24 | 2013-09-24 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310439928.5A CN103481284B (en) | 2013-09-24 | 2013-09-24 | A kind of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103481284A CN103481284A (en) | 2014-01-01 |
| CN103481284B true CN103481284B (en) | 2017-06-23 |
Family
ID=49822053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310439928.5A Active CN103481284B (en) | 2013-09-24 | 2013-09-24 | A kind of manipulator |
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| Country | Link |
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| CN (1) | CN103481284B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552323B (en) * | 2014-12-30 | 2017-01-11 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN105598993B (en) * | 2016-03-28 | 2018-05-15 | 广东水利电力职业技术学院 | A kind of pantographic conveying robot and its clamp method |
| CN106625626B (en) * | 2016-10-27 | 2018-11-23 | 宁波三星医疗电气股份有限公司 | A kind of electric energy meter carrying mechanical manipulator and electric energy meter method for carrying |
| CN106743583A (en) * | 2017-02-27 | 2017-05-31 | 安徽信盟机电装备制造有限公司 | A kind of multi-joint adjustable conveying mechanism of single-power |
| JP6876476B2 (en) * | 2017-03-17 | 2021-05-26 | 株式会社東芝 | Holding mechanism, transfer device and handling robot system |
| CN106671117B (en) * | 2017-03-23 | 2018-12-07 | 严传玉 | A kind of manipulator collet |
| CN107825448B (en) * | 2017-11-27 | 2023-10-24 | 湖北天华智能装备股份有限公司 | Clamping lifting appliance |
| CN109926787A (en) * | 2019-01-25 | 2019-06-25 | 天津市银丰机械系统工程有限公司 | Flexible welding net indulges muscle clamping device |
| CN109573200A (en) * | 2019-01-30 | 2019-04-05 | 郑州莱发科技有限公司 | A kind of tableware automatic assembling combination unit |
| CN110978547A (en) * | 2019-12-23 | 2020-04-10 | 东莞鸿绩塑胶模具有限公司 | Cotton attached equipment of battery cover bubble |
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| JP2815966B2 (en) * | 1990-03-22 | 1998-10-27 | 日産自動車株式会社 | Bearing cap and bolt removal device |
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| 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 |
| US4735452A (en) * | 1986-12-19 | 1988-04-05 | Texas Instruments Incorporated | Article gripper assembly |
| CN1162097A (en) * | 1996-03-21 | 1997-10-15 | 三星电子株式会社 | Opening-closing device for suction inlet of air conditioner |
| CN101890721A (en) * | 2010-07-07 | 2010-11-24 | 绍兴电力设备成套公司 | Air-sac type meter grabbing device |
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| Publication number | Publication date |
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| CN103481284A (en) | 2014-01-01 |
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Address after: 225300, 16, Tai'an Road, hailing Industrial Zone, Hailing District, Jiangsu, Taizhou Applicant after: JIANGSU YUNCHONG ELECTRONIC TECHNOLOGY CO., LTD. Address before: 225300, building 98, 2 East Spring Road, hailing Industrial Zone, Hailing District, Jiangsu, Taizhou Applicant before: Jiangsu is electronics technology Co., Ltd like surging clouds |
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