CN103831838A - Manipulator - Google Patents
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- CN103831838A CN103831838A CN201410090419.0A CN201410090419A CN103831838A CN 103831838 A CN103831838 A CN 103831838A CN 201410090419 A CN201410090419 A CN 201410090419A CN 103831838 A CN103831838 A CN 103831838A
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- paw
- cam disc
- shaft part
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- manipulator
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Abstract
The invention discloses a manipulator which comprises a frame and at least two claws arranged on the frame. The frame is provided with a rotary shaft, the lower end of the rotary shaft is fixedly connected with a cam disc, recessed first arced curves and raised second arced curves connected with the first arced curves are arranged on the outline of the cam disc, and the number of the first arced curves is equal to that of the claws. The claws are arranged on the outer portion of the cam disc, and the claws are connected with tension springs which enable the claws to cling to the outline of the cam disc. On the manipulator, the cam disc with recessed and raised curves and the tension springs act on the claws to form a force closure cam mechanism, and the operation process includes that a handle is rotated, the cam disc is driven to rotate by the central rotating shaft, the claws are spread, the handle is kept rotating to enable the claws to pick up articles under tension of the tension springs, and so on.
Description
Technical field
The present invention relates to the grasping mechanism of a kind of manipulator and robot, be specifically related to a kind of cam spring manipulator, be particularly useful for the crawl of the irregularly shaped article of lightweight.
Background technology
Manipulator is the pith in robot, and the application of robot is played an important role, and manipulator is arranged on the end of mechanical arm, is commonly referred to as end effector, is the mechanical part of the operation such as holding tool, workpiece or article of robot.
Micromanipulator both domestic and external is general adopts small servomotor through transmission system rear drive, exist obviously not enough from the angle of efficiency and cost performance, as: after traditional servomotor high-speed cruising, need there is deceleration device, could drive handgrip through underspeeding, cause its structure and transmission system complexity, expensive, simultaneously this type of robot manipulator structure and driving is rigidity, lacks compliance.
Summary of the invention
The present invention is directed to above-mentioned prior art deficiency, propose a kind of linear irregularity and open and the cam spring manipulator of gripping, to reach easy maintenance, with low cost, the object that efficiency is high.
The technical solution adopted in the present invention:
A kind of manipulator, comprise frame and be arranged at least two paws in frame, it is characterized in that: in described frame, be provided with a rotating shaft, be fixedly connected with a cam disc in the lower end of this rotating shaft, the second arc curve of the evagination that is provided with the first arc curve of indent and described the first arc curve transition is connected on this cam disc outline, the first described arc curve quantity is identical with described paw quantity; Described paw is arranged on the outside of cam disc, is also connected with respectively one described paw is adjacent to the extension spring of described cam disc outline on described paw.
Lower end at described cam disc is provided with center ring, and described extension spring the inner is connected on this center ring.
On described paw, be provided with roller, this roller is positioned at described paw and cam disc touching position.
Described frame comprises matrix dish and position-arresting disk, is provided with shaft part, middle shaft part and lower shaft part in described rotating shaft, and the diameter of described middle shaft part is less than described upper shaft part and lower shaft part; Described position-arresting disk is arranged on described middle shaft part, and described matrix dish is fixedly connected with position-arresting disk.
Described matrix dish is arranged on described upper shaft part.
At the handle that is fixed with on the top of described rotating shaft.
Described paw is three, and is distributed in described frame.
Described position-arresting disk is made up of two half symmetrical position-arresting disks.
Have matrix dish hinge hole in the arranged outside of described matrix dish, be provided with paw hinge hole in described paw upper end, it is hinged that described paw is through safety pin and matrix dish on described matrix dish hinge hole and paw hinge hole by one.
Has rubber bush in described paw lower end.
Manipulator of the present invention, cam disc and extension spring that employing has inner concave curve act on paw, form the cam mechanism of a force closure, the course of work is: turning handle, cam disc rotates under the drive of central rotating shaft, and then handgrip is strutted, and is rotated further handle, handgrip is firmly grasped article under the pulling force of extension spring, circulates with this.
Compare the common manipulator on market, beneficial effect of the present invention:
Configuration is ingenious, utilizes the sealed cam mechanism of non-coplanar force, realizes the quick opening and closing of handgrip by simple handle rotational, can realize efficiently the pick-and-place to article; With low cost, material requested part is the standard component that can directly buy, and as extension spring, safety pin, bolt, other is all the workpiece to there being ripe processing technology, and required step is also comparatively simple, therefore can greatly reduce single product price of manipulator; Adapt to article, due to this novel mechanical on hand by extension spring as force-applying piece, and paw lower end is with rubber bush, so promptly can also guaranteeing that article are not damaged in article, and can realize the crawl to irregularly shaped article.Institute is produced in the concrete application of the present invention imagination: small-sized manufacturing works, and for example food processing factory, plastic products factory, down toy factories etc., all can embody the advantage of the pick-and-place of the present invention to the irregularly shaped article of lightweight.
Accompanying drawing explanation
Fig. 1: organigram of the present invention;
Fig. 2: part paw front view in the present invention;
Fig. 3: Central of the parts rotating shaft front view in the present invention;
Fig. 4: part base solid dish top view in the present invention;
Fig. 5: part position-arresting disk top view in the present invention;
Fig. 6: part cam top view in the present invention;
Fig. 7: one of the embodiment of the present invention one procedure chart;
Fig. 8: two of the embodiment of the present invention one procedure chart;
Fig. 9: one of the embodiment of the present invention two procedure charts;
Figure 10: two of the embodiment of the present invention two procedure charts.
In figure 1, paw, 2, bolt, 3, handle, 4, central rotating shaft, 5, matrix dish, 6, safety pin, 7, position-arresting disk, 8, cam disc, 9, extension spring, 10, center ring, 101, paw hinge hole, 102, roller, 103, shackle, 104, rubber bush, 401, upper shaft part, 402, middle shaft part, 403, lower shaft part, 501, matrix dish hinge hole, 502, matrix dish mesopore, 503, matrix dish connecting hole, 504, fixing hole, 701, position-arresting disk connecting hole, 702, position-arresting disk mesopore, 703, half position-arresting disk, 801, cam hole.
The specific embodiment
The present invention relates to the grasping mechanism of a kind of manipulator and robot, a kind of cam spring manipulator is specifically provided, be particularly useful for the crawl of the irregularly shaped article of lightweight.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the present embodiment, other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work, belong to the scope of protection of the invention.
1, refer to accompanying drawing 1, the invention discloses a kind of cam spring manipulator, be particularly useful for the crawl of the irregularly shaped article of lightweight.Main part is the force closure cam mechanism in space, formed the frame of said mechanism by matrix dish 5 and position-arresting disk 7, central rotating shaft 4 welds the tumbler as said mechanism mutually with the handle 3 on top, the cam disc 8 of bottom respectively, the paw 1 of at least two distributions that are centrosymmetric is as tongs, the second arc curve of the evagination that is provided with the first arc curve of indent on these cam disc 8 outlines and the first arc curve transition is connected, the first arc curve of each indent all can be regarded a cam profile curve as.In the time that cam disc 8 rotates, be positioned at cam disc 8 outsides and open or reset with the paw of cam disc outline laminating.Paw 1 is three in the present embodiment, and three extension springs that connected by center ring 10 9 provide the grip of manipulator.
2, refer to accompanying drawing 1 ~ 6, this cam spring manipulator:
Position-arresting disk 7 is made up of two half symmetrical position-arresting disks 703.
Central rotating shaft 4 has upper shaft part 401, middle shaft part 402 and lower shaft part 403, and wherein the diameter of middle shaft part 402 is less than shaft part 401 and lower shaft part 403, and upper shaft part 401 and middle shaft part 402 are respectively at matrix dish mesopore 702 and position-arresting disk mesopore 702 matched in clearance.
Refer to accompanying drawing 7 ~ 10, turning handle, cam rotates under the drive of central rotating shaft, and then handgrip is strutted, and is rotated further handle, and handgrip is firmly grasped article under the pulling force of extension spring, circulates with this.
3, embodiment mono-: referring to accompanying drawing 7 ~ 8, this example is demonstrated the pick-and-place to spherical article, turning handle 3, cam disc 8 is propped up three paw 1 equal angles, be placed in behind appropriate location, article top, be rotated further the centre symmetry of handle 3 due to cam face, paw 1 is gathered the pulling force Xia Xiang center at spring 9, and then article promptly, complete this grasping movement, if continue rotary handle 3, handgrip will unclamp article again, complete and place action, circulate with this.
4, embodiment bis-: referring to accompanying drawing 9 ~ 10, this example is demonstrated the pick-and-place to irregularly shaped article, turning handle 3, cam disc 8 is propped up paw 1 equal angles, be placed in behind appropriate location, article top, be rotated further the centre symmetry of handle 3 due to cam face, paw is gathered the pulling force Xia Xiang center at spring 9, when three paws 1 all touch after article, extension spring 9 stops shrinking just now, because paw 1 upper end is hinged constraint, force-applying piece is spring, all there is flexibility and changeability, when so these article are firmly grasped three paws 1 to prop up angle unequal, complete whereby the crawl to irregularly shaped article, if continue again rotary handle 3, handgrip will unclamp article, complete and place action, circulate with this.
Claims (10)
1. a manipulator, comprise frame and be arranged at least two paws in frame, it is characterized in that: in described frame, be provided with a rotating shaft, be fixedly connected with a cam disc in the lower end of this rotating shaft, the second arc curve of the evagination that is provided with the first arc curve of indent and described the first arc curve transition is connected on this cam disc outline, the first described arc curve quantity is identical with described paw quantity; Described paw is arranged on the outside of cam disc, is also connected with respectively one described paw is adjacent to the extension spring of described cam disc outline on described paw.
2. manipulator according to claim 1, is characterized in that: described frame comprises matrix dish and position-arresting disk, is provided with shaft part, middle shaft part and lower shaft part in described rotating shaft, and the diameter of described middle shaft part is less than described upper shaft part and lower shaft part; Described position-arresting disk is arranged on described middle shaft part, and described matrix dish is fixedly connected with position-arresting disk.
3. manipulator according to claim 2, is characterized in that: described position-arresting disk is made up of two half symmetrical position-arresting disks.
4. manipulator according to claim 2, is characterized in that: described matrix dish is arranged on described upper shaft part.
5. manipulator according to claim 2, it is characterized in that: have matrix dish hinge hole in the arranged outside of described matrix dish, be provided with paw hinge hole in described paw upper end, it is hinged that described paw is through safety pin and matrix dish on described matrix dish hinge hole and paw hinge hole by one.
6. manipulator according to claim 1 and 2, is characterized in that: the lower end at described cam disc is provided with center ring, and described extension spring the inner is connected on this center ring.
7. manipulator according to claim 1 and 2, is characterized in that: on described paw, be provided with roller, this roller is positioned at described paw and cam disc touching position.
8. manipulator according to claim 1 and 2, is characterized in that: at the handle that is fixed with on the top of described rotating shaft.
9. manipulator according to claim 1 and 2, is characterized in that: described paw is three, and is distributed in described frame.
10. manipulator according to claim 1 and 2, is characterized in that: have rubber bush in described paw lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410090419.0A CN103831838A (en) | 2014-03-13 | 2014-03-13 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410090419.0A CN103831838A (en) | 2014-03-13 | 2014-03-13 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103831838A true CN103831838A (en) | 2014-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410090419.0A Pending CN103831838A (en) | 2014-03-13 | 2014-03-13 | Manipulator |
Country Status (1)
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| CN (1) | CN103831838A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881573A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Manipulator component for universal robot |
| CN106129768A (en) * | 2016-08-23 | 2016-11-16 | 徐晓荣 | A kind of assembly equipment |
| CN106737610A (en) * | 2017-02-22 | 2017-05-31 | 上海云线娃娃信息科技有限公司 | A kind of manipulator with advance decline line and backbone |
| CN106808491A (en) * | 2017-03-16 | 2017-06-09 | 上海云线娃娃信息科技有限公司 | A kind of clamp structure driven by cam structure |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
| CN107161681A (en) * | 2017-05-13 | 2017-09-15 | 蔡燕 | A kind of annular workpieces conveyer |
| CN107486852A (en) * | 2017-09-29 | 2017-12-19 | 广东美的制冷设备有限公司 | The clamping device of compressor and the transfer robot of compressor |
| CN107598954A (en) * | 2017-09-28 | 2018-01-19 | 深圳市优必选科技有限公司 | Robot arm |
| CN108445245A (en) * | 2018-06-06 | 2018-08-24 | 迈克医疗电子有限公司 | Kit loads and discharge mechanism, sample analyser |
| CN109605418A (en) * | 2018-12-13 | 2019-04-12 | 清华大学 | Gather formula and quickly grabs slide bar adaptive robot arm device |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| CN111993013A (en) * | 2020-08-17 | 2020-11-27 | 泉州市启明电子设备有限公司 | Automatic production line for main speed reducer |
| EP3766641A1 (en) * | 2019-06-28 | 2021-01-20 | Intelligrated Headquarters LLC | Item handling manipulator |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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| JPH05301189A (en) * | 1992-04-24 | 1993-11-16 | Sanyo Electric Co Ltd | Turret type robot and its hand |
| CN201257669Y (en) * | 2008-08-29 | 2009-06-17 | 长沙楚天科技有限公司 | Manipulator with double-layer arm-lock |
| CN102009412A (en) * | 2010-11-11 | 2011-04-13 | 卢晓龙 | Three-claw grip device |
| CN202225216U (en) * | 2011-07-14 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Hand part structure of manipulator |
| CN202318316U (en) * | 2011-11-23 | 2012-07-11 | 郝晓力 | Novel optical disk fetching device |
| CN103080749A (en) * | 2010-09-03 | 2013-05-01 | 株式会社日立高新技术 | Specimen transfer mechanism |
| CN103317508A (en) * | 2013-06-25 | 2013-09-25 | 东南大学 | Manipulator device for transfer of microporous plates |
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2014
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH05301189A (en) * | 1992-04-24 | 1993-11-16 | Sanyo Electric Co Ltd | Turret type robot and its hand |
| CN201257669Y (en) * | 2008-08-29 | 2009-06-17 | 长沙楚天科技有限公司 | Manipulator with double-layer arm-lock |
| CN103080749A (en) * | 2010-09-03 | 2013-05-01 | 株式会社日立高新技术 | Specimen transfer mechanism |
| CN102009412A (en) * | 2010-11-11 | 2011-04-13 | 卢晓龙 | Three-claw grip device |
| CN202225216U (en) * | 2011-07-14 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Hand part structure of manipulator |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881573A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Manipulator component for universal robot |
| CN106129768A (en) * | 2016-08-23 | 2016-11-16 | 徐晓荣 | A kind of assembly equipment |
| CN106129768B (en) * | 2016-08-23 | 2019-01-11 | 徐晓荣 | A kind of assembly equipment |
| CN107053226B (en) * | 2017-02-12 | 2023-11-17 | 玉沣科技(西安)有限公司 | Manipulator capable of simultaneously clamping and supporting articles |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
| CN106737610A (en) * | 2017-02-22 | 2017-05-31 | 上海云线娃娃信息科技有限公司 | A kind of manipulator with advance decline line and backbone |
| CN106808491A (en) * | 2017-03-16 | 2017-06-09 | 上海云线娃娃信息科技有限公司 | A kind of clamp structure driven by cam structure |
| CN107161681A (en) * | 2017-05-13 | 2017-09-15 | 蔡燕 | A kind of annular workpieces conveyer |
| CN107598954A (en) * | 2017-09-28 | 2018-01-19 | 深圳市优必选科技有限公司 | Robot arm |
| CN107486852A (en) * | 2017-09-29 | 2017-12-19 | 广东美的制冷设备有限公司 | The clamping device of compressor and the transfer robot of compressor |
| CN108445245A (en) * | 2018-06-06 | 2018-08-24 | 迈克医疗电子有限公司 | Kit loads and discharge mechanism, sample analyser |
| CN108445245B (en) * | 2018-06-06 | 2024-02-23 | 迈克医疗电子有限公司 | Reagent box loading and unloading device and sample analyzer |
| CN109605418A (en) * | 2018-12-13 | 2019-04-12 | 清华大学 | Gather formula and quickly grabs slide bar adaptive robot arm device |
| CN109605418B (en) * | 2018-12-13 | 2022-02-25 | 清华大学 | Self-adaptive robot hand device with gathering type quick grabbing sliding rods |
| EP3766641A1 (en) * | 2019-06-28 | 2021-01-20 | Intelligrated Headquarters LLC | Item handling manipulator |
| US11203124B2 (en) * | 2019-06-28 | 2021-12-21 | Intelligrated Headquarters, Llc | Item handling manipulator |
| CN115352878A (en) * | 2019-06-28 | 2022-11-18 | 因特利格雷特总部有限责任公司 | Article transport manipulator |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| CN111993013B (en) * | 2020-08-17 | 2021-07-23 | 义乌市亚威机械设备有限公司 | Automatic production line for main speed reducer |
| CN111993013A (en) * | 2020-08-17 | 2020-11-27 | 泉州市启明电子设备有限公司 | Automatic production line for main speed reducer |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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Application publication date: 20140604 |