CN105082164A - Clamping type manipulator device - Google Patents
Clamping type manipulator device Download PDFInfo
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- CN105082164A CN105082164A CN201510547187.1A CN201510547187A CN105082164A CN 105082164 A CN105082164 A CN 105082164A CN 201510547187 A CN201510547187 A CN 201510547187A CN 105082164 A CN105082164 A CN 105082164A
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Abstract
The invention discloses a clamping type manipulator device. The clamping type manipulator device comprises a rack, two sliding tables, two clamping jaws, two dual gears, a sliding rod and a driving mechanism, wherein a longitudinal sliding groove is formed in the rear portion of the rack, and a transverse sliding groove is formed in the front portion of the rack; the two sliding tables are arranged in the transverse sliding groove in a left and right slidable mode and each provided with a first rack portion; the rear ends of the two clamping jaws are arranged on the corresponding sliding tables; the two dual gears are arranged on the rack, and lower gears of the two dual gears are each connected with the first rack portion of the corresponding sliding table in an engaged mode; the sliding rod is arranged in the longitudinal sliding groove in a front and back sliding mode, the left side and the right side of the sliding rod are each provided with a second rack portion, and each second rack portion is in engaged connection with an upper gear of the corresponding dual gear; the driving mechanism is used for driving the sliding rod to slide. The clamping type manipulator device is simple and compact in structure, large in operation space, accurate in positioning and high in reliability.
Description
Technical field
The present invention relates to manipulator field, particularly a kind of clamping type manipulator device.
Background technology
Manipulator is a kind of high-tech automated production equipment that development in recent years is got up; it can replace people to carry out heavy labor to realize mechanization and the automation of production; and can operate to protect personal safety under hostile environment; it has the advantage of people and machine uniqueness concurrently on structure and performance; thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, manipulator has wide application and development prospect at all fields of national economy.
Existing clamping type manipulator is the automatic pilot for capturing, carrying object or operation tool, and it is often for be controlled by hydraulic pressure or air pressure, its oil circuit or gas circuit complicated layout, maintenance trouble, and the operating space of manipulator is little.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of clamping type manipulator device, thus overcome the complex structure of existing clamping type manipulator and the little shortcoming in operating space.
For achieving the above object, the invention provides a kind of clamping type manipulator device, wherein, comprising: frame, its rear portion is provided with a longitudinal chute, and the front portion of this frame is provided with a horizontal concrete chute; Two slide units, these two slide units are respectively arranged in described horizontal concrete chute in the mode that can horizontally slip; And the rear end of these two slide units is respectively provided with one first tooth-strip part; Two jaws, the rear end of these two jaws is respectively arranged on a described slide unit; Two duplicate gears, these two duplicate gears are arranged in described frame, and described longitudinal chute is between these two duplicate gears; The lower gear of these two duplicate gears is each to be connected with a joggle with the first tooth-strip part of a described slide unit; Slide bar, it is can the mode of slide anteroposterior be arranged in described longitudinal chute, this slide bar be each side provided with one second tooth-strip part, and the second tooth-strip part of the left and right sides of this slide bar is each is connected with a joggle with cogging of a described duplicate gear; And driving mechanism, it carries out slide anteroposterior for driving described slide bar.
Preferably, in technique scheme, described driving mechanism comprises: slide block, and it is can the mode of slide anteroposterior be arranged in described longitudinal chute, and this slide block is connected with the rear end of described slide bar; This slide block is convex is provided with a sliding pin; And driving lever, its front portion offers an elongated slot; The middle part of this driving lever is articulated with in described frame, and described sliding pin active card is embedded in the elongated slot of this driving lever.
Preferably, in technique scheme, between described two slide units, be folded with spring.
Preferably, in technique scheme, the inner side of the rear end of described jaw is articulated with on described slide unit, and described slide unit is provided with the arc groove that is the center of circle with the hinged place of the inner side of described jaw and described slide unit, the outside of the rear end of described jaw is embedded in described arc groove by a bolt active card, and described bolt is locked by nut.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention drives opening of two jaws or closed by rack-and-pinion auxiliary driving, and it is simple and compact for structure, and accurately and reliably, intermediate link loss is little, and reliability is high in power transmission.And its flexible movements, the operating space of two jaws is large.
2, jaw of the present invention is articulated with on slide unit, and can swing, and to adjust the distance between two jaws flexibly according to the size of workpiece, thus increases the operating space of two jaws further.
Accompanying drawing explanation
Fig. 1 is the structural representation according to clamping type manipulator device of the present invention.
Main Reference Numerals illustrates:
1-frame, 11-horizontal concrete chute, the longitudinal chute of 12-; 2-slide unit, 21-first tooth-strip part, 22-connecting plate, 23-arc groove; 3-jaw; 4-duplicate gear; 5-slide bar, 51-second tooth-strip part; 52-slide block, 53-sliding pin, 54-driving lever, 55-elongated slot; 6-spring.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of detailed description of the invention.
Clearly represent unless otherwise other, otherwise in whole description and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or part, and do not get rid of other element or other part.
As shown in Figure 1, a kind of embodiment according to the specific embodiment of the invention is: a kind of clamping type manipulator device, and it comprises: frame 1, slide unit 2, jaw 3, duplicate gear 4, slide bar 5 and driving mechanism, wherein:
The front portion of frame 1 is provided with a horizontal concrete chute 11, and the rear portion of frame 1 is provided with a longitudinal chute 12.Two slide units 2 are respectively arranged in horizontal concrete chute 11 in the mode that can horizontally slip, and one of them slide unit 2 is positioned at the left side of horizontal concrete chute 11, and another slide unit 2 is positioned at the right side of horizontal concrete chute 11.The rear end of each slide unit 2 is provided with the first tooth-strip part 21 of a cross direction profiles.The rear end of two jaws 3 is respectively arranged on a slide unit 2, two jaws 3 are driven to move left and right respectively by moving left and right of two slide units 2, thus control opening or closing of two jaws 3, the size that two jaws 3 are opened is decided by the stroke of two slide units 2, thus can ensure that two jaws 3 have larger operating space.Preferably, as shown in Figure 1, each slide unit 2 is convexly equipped with forward a plate 22, the inner side of the rear end of each jaw 3 is articulated with on the connecting plate 22 of slide unit 2, and the connecting plate 22 of slide unit 2 is provided with the arc groove 23 that is the center of circle with the hinged place of the inner side of jaw 3 and slide unit 2, the outside of the rear end of jaw 3 is embedded in arc groove 23 by a bolt active card, and bolt is locked by nut, when unclamping nut, jaw 3 can rotate, thus distance when making two jaws 3 can adjust closed according to the size of workpiece, again by nut again clamping screw after adjusting, fix to make the position of two jaws 3.Certain jaw 3 is also locked by other mode.Two jaws 3 of the present invention adjust distance by rotating, thus can clamp the workpiece of different size, to improve the operating space of jaw 3 further, thus increase the scope of application of manipulator.
Two duplicate gears 4 are arranged in frame 1, and longitudinal chute 12 is between two duplicate gears 4.The lower gear of two duplicate gears 4 is each to be connected with a joggle with the first tooth-strip part 21 of the rear end of the slide unit 2 of its homonymy with one.Slide bar 5 is can the mode of slide anteroposterior be arranged in longitudinal chute 12 of frame 1, slide bar 5 be each side provided with one second tooth-strip part 51, and the second tooth-strip part 51 of the left and right sides of slide bar 5 is each is connected with a joggle with the cogging of duplicate gear 4 of its homonymy with one.Driving mechanism carries out slide anteroposterior for driving slide bar 5.As shown in Figure 1, when slide bar 5 forward slip, second tooth-strip part 51 in left side drives the duplicate gear 4 in left side to rotate counterclockwise, the duplicate gear 4 in left side drives the slide unit 2 in left side to slide left by the first tooth-strip part 21, second tooth-strip part 51 on right side drives the duplicate gear 4 on right side to rotate clockwise, the duplicate gear 4 on right side just drives the slide unit 2 on right side to slide to the right, finally makes two jaws 3 open.And when slide bar 5 slides backward, then two jaws 3 just close.Preferably, be folded with spring 6 between two slide units 2, spring 6 can make the tooth of the first tooth-strip part of the tooth of the lower gear of duplicate gear 4 and slide unit 2 keep fitting tightly, and to eliminate the gap of between cog, to ensure stable drive, alleviates the attrition of tooth.
Further preferably, as shown in Figure 1, driving mechanism comprises slide block 52 and driving lever 54, and slide block 52 is can the mode of slide anteroposterior be arranged in longitudinal chute 12, and slide block 52 is connected with the rear end of slide bar 5, and slide block 52 is convex is provided with a sliding pin 53.The front portion of driving lever 54 offers an elongated slot 55, and the middle part of driving lever 55 is articulated with in frame 1, and sliding pin 53 active card is embedded in the elongated slot 55 of driving lever 54.The upper side opening of elongated slot 55 is greater than open lower side, and the upper end of sliding pin 53 is greater than lower end, the open lower side of elongated slot 55 can be passed in the lower end of sliding pin 53, but the upper end of sliding pin 53 is greater than the open lower side of elongated slot 55, thus sliding pin 53 is coordinated with driving lever 54 is stable, driving lever 54 can not upwards depart from sliding pin 53.When driving driving lever 54 to carry out swing by artificial or other actuating units, driving lever 54 just can drive slide block 52 to carry out slide anteroposterior by sliding pin 53, with drive slide bar 5 along the longitudinal chute 12 carry out slide anteroposterior.Driving mechanism of the present invention the circular motion of driving lever 54 can be converted to the rectilinear motion of slide bar 5, and its structure is simple, drives convenient and strength-saving.
The present invention drives opening of two jaws 3 or closed by rack-and-pinion auxiliary driving, and it is simple and compact for structure, and accurately and reliably, intermediate link loss is little, and reliability is high in power transmission.And flexible movements of the present invention, the operating space of two jaws 3 is large.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (4)
1. a clamping type manipulator device, is characterized in that, comprising:
Frame, its rear portion is provided with a longitudinal chute, and the front portion of this frame is provided with a horizontal concrete chute;
Two slide units, these two slide units are respectively arranged in described horizontal concrete chute in the mode that can horizontally slip; And the rear end of these two slide units is respectively provided with one first tooth-strip part;
Two jaws, the rear end of these two jaws is respectively arranged on a described slide unit;
Two duplicate gears, these two duplicate gears are arranged in described frame, and described longitudinal chute is between these two duplicate gears; The lower gear of these two duplicate gears is each to be connected with a joggle with the first tooth-strip part of a described slide unit;
Slide bar, it is can the mode of slide anteroposterior be arranged in described longitudinal chute, this slide bar be each side provided with one second tooth-strip part, and the second tooth-strip part of the left and right sides of this slide bar is each is connected with a joggle with cogging of a described duplicate gear; And
Driving mechanism, it carries out slide anteroposterior for driving described slide bar.
2. clamping type manipulator device according to claim 1, is characterized in that, described driving mechanism comprises:
Slide block, it is can the mode of slide anteroposterior be arranged in described longitudinal chute, and this slide block is connected with the rear end of described slide bar; This slide block is convex is provided with a sliding pin; And
Driving lever, its front portion offers an elongated slot; The middle part of this driving lever is articulated with in described frame, and described sliding pin active card is embedded in the elongated slot of this driving lever.
3. clamping type manipulator device according to claim 1, is characterized in that, is folded with spring between described two slide units.
4. the clamping type manipulator device according to any one of claim 1-3, it is characterized in that, the inner side of the rear end of described jaw is articulated with on described slide unit, and described slide unit is provided with the arc groove that is the center of circle with the hinged place of the inner side of described jaw and described slide unit, the outside of the rear end of described jaw is embedded in described arc groove by a bolt active card, and described bolt is locked by nut.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510547187.1A CN105082164A (en) | 2015-08-31 | 2015-08-31 | Clamping type manipulator device |
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| CN201510547187.1A CN105082164A (en) | 2015-08-31 | 2015-08-31 | Clamping type manipulator device |
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| CN105417144A (en) * | 2015-12-16 | 2016-03-23 | 苏州百狮腾电气有限公司 | Stator-rotor carrying mechanical arm |
| CN105881409A (en) * | 2016-06-16 | 2016-08-24 | 常州欣博特减速机有限公司 | Hardware part fixing device with good fixing effect |
| CN106112184A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of full-automatic solder machine for inductive transformer tin sticky |
| CN106112188A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of full-automatic solder machine being exclusively used in inductive transformer tin sticky |
| CN106112187A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of automatic tin dipping machine being exclusively used in inductive transformer tin sticky |
| CN106112186A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of full-automatic solder machine of inductive transformer |
| CN106112185A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of automatic tin dipping machine for inductive transformer tin sticky |
| CN106141361A (en) * | 2016-08-04 | 2016-11-23 | 桐乡市耀润电子有限公司 | A kind of solder machine |
| CN106141360A (en) * | 2016-08-04 | 2016-11-23 | 桐乡市耀润电子有限公司 | A kind of solder machine being exclusively used in inductive transformer tin sticky |
| CN106142116A (en) * | 2016-08-08 | 2016-11-23 | 上海大学 | A kind of translation varying-speed machinery paw |
| CN106141359A (en) * | 2016-08-04 | 2016-11-23 | 桐乡市耀润电子有限公司 | A kind of solder machine for inductive transformer tin sticky |
| CN106550654A (en) * | 2016-11-09 | 2017-04-05 | 广西大学 | A kind of fixed mechanism of cutting Caulis Sacchari sinensis |
| CN106625745A (en) * | 2016-12-30 | 2017-05-10 | 宁波市奥特曼自动化设备有限公司 | Multi-claw manipulator |
| CN106926217A (en) * | 2015-12-31 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of micromanipulator |
| CN107081736A (en) * | 2017-06-28 | 2017-08-22 | 合肥超赢工业设计有限公司 | A kind of cargo transparting device for workshop |
| CN107671805A (en) * | 2017-09-18 | 2018-02-09 | 郑兴 | A kind of turnable apparatus for examination and repair of instrument and meter |
| CN108085883A (en) * | 2018-02-09 | 2018-05-29 | 佛山市德显自动化设备有限公司 | A kind of folded plate transmission mechanism of flat seam machine |
| CN108098813A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of plate object clamping device available for transfer robot |
| CN108749895A (en) * | 2018-06-05 | 2018-11-06 | 江北建设有限公司 | A kind of apparatus for building for building greening top surface |
| CN108748105A (en) * | 2018-06-11 | 2018-11-06 | 黄素兰 | Clamping device with clamping jaw structure |
| CN109965037A (en) * | 2019-04-03 | 2019-07-05 | 陈耀锋 | The recycling equipment of broken tea after a kind of tea dry sorting |
| CN110154075A (en) * | 2019-06-20 | 2019-08-23 | 三峡大学 | Flatly moving type mechanical paw and operating method based on Double-gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417144A (en) * | 2015-12-16 | 2016-03-23 | 苏州百狮腾电气有限公司 | Stator-rotor carrying mechanical arm |
| CN106926217A (en) * | 2015-12-31 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of micromanipulator |
| CN105881409A (en) * | 2016-06-16 | 2016-08-24 | 常州欣博特减速机有限公司 | Hardware part fixing device with good fixing effect |
| CN106141360A (en) * | 2016-08-04 | 2016-11-23 | 桐乡市耀润电子有限公司 | A kind of solder machine being exclusively used in inductive transformer tin sticky |
| CN106141359A (en) * | 2016-08-04 | 2016-11-23 | 桐乡市耀润电子有限公司 | A kind of solder machine for inductive transformer tin sticky |
| CN106112186A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of full-automatic solder machine of inductive transformer |
| CN106112185A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of automatic tin dipping machine for inductive transformer tin sticky |
| CN106141361A (en) * | 2016-08-04 | 2016-11-23 | 桐乡市耀润电子有限公司 | A kind of solder machine |
| CN106112184A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of full-automatic solder machine for inductive transformer tin sticky |
| CN106112188A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of full-automatic solder machine being exclusively used in inductive transformer tin sticky |
| CN106112187A (en) * | 2016-08-04 | 2016-11-16 | 桐乡市耀润电子有限公司 | A kind of automatic tin dipping machine being exclusively used in inductive transformer tin sticky |
| CN106142116A (en) * | 2016-08-08 | 2016-11-23 | 上海大学 | A kind of translation varying-speed machinery paw |
| CN106142116B (en) * | 2016-08-08 | 2019-01-11 | 上海大学 | A kind of translation varying-speed machinery gripper |
| CN106550654A (en) * | 2016-11-09 | 2017-04-05 | 广西大学 | A kind of fixed mechanism of cutting Caulis Sacchari sinensis |
| CN106625745A (en) * | 2016-12-30 | 2017-05-10 | 宁波市奥特曼自动化设备有限公司 | Multi-claw manipulator |
| CN107081736A (en) * | 2017-06-28 | 2017-08-22 | 合肥超赢工业设计有限公司 | A kind of cargo transparting device for workshop |
| CN107671805A (en) * | 2017-09-18 | 2018-02-09 | 郑兴 | A kind of turnable apparatus for examination and repair of instrument and meter |
| CN108098813A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of plate object clamping device available for transfer robot |
| CN108085883A (en) * | 2018-02-09 | 2018-05-29 | 佛山市德显自动化设备有限公司 | A kind of folded plate transmission mechanism of flat seam machine |
| CN108749895A (en) * | 2018-06-05 | 2018-11-06 | 江北建设有限公司 | A kind of apparatus for building for building greening top surface |
| CN108748105A (en) * | 2018-06-11 | 2018-11-06 | 黄素兰 | Clamping device with clamping jaw structure |
| CN109965037B (en) * | 2019-04-03 | 2021-05-14 | 婺源县月亮湾实业有限公司 | Equipment of recycling of garrulous tealeaves after tealeaves is selected separately |
| CN109965037A (en) * | 2019-04-03 | 2019-07-05 | 陈耀锋 | The recycling equipment of broken tea after a kind of tea dry sorting |
| CN110154075A (en) * | 2019-06-20 | 2019-08-23 | 三峡大学 | Flatly moving type mechanical paw and operating method based on Double-gear |
| CN110193794A (en) * | 2019-06-27 | 2019-09-03 | 四川宏华石油设备有限公司 | A kind of clamping device |
| CN110465828A (en) * | 2019-08-11 | 2019-11-19 | 嘉兴勤慎智能技术有限公司 | Industrial robot is used in a kind of handling |
| CN111673793B (en) * | 2020-06-24 | 2022-07-26 | 北京工业大学 | But anchor clamps alternate form two claw manipulators |
| CN111673793A (en) * | 2020-06-24 | 2020-09-18 | 北京工业大学 | But anchor clamps alternate form two claw manipulators |
| CN112171710A (en) * | 2020-10-13 | 2021-01-05 | 上海非夕机器人科技有限公司 | Gripper and manipulator |
| CN112228431A (en) * | 2020-10-16 | 2021-01-15 | 湖南筑升信息科技有限公司 | Fastening device for mechanical equipment construction |
| CN112478761A (en) * | 2020-12-11 | 2021-03-12 | 平江县鼎峰激光模具有限公司 | Grabbing mechanism |
| CN113370255A (en) * | 2021-06-19 | 2021-09-10 | 南京科技职业学院 | Material taking and clamping device of robot for mechanical automation manufacturing |
| CN114633271A (en) * | 2022-03-10 | 2022-06-17 | 常州大学 | Flexible clamping manipulator with gear self-locking function |
| CN114633271B (en) * | 2022-03-10 | 2024-04-16 | 常州大学 | Flexible clamping manipulator with gear self-locking function |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115256436B (en) * | 2022-08-16 | 2023-03-03 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115847467A (en) * | 2023-02-09 | 2023-03-28 | 东莞市喜成电子科技有限公司 | Robot clamp |
| CN117644047A (en) * | 2024-01-26 | 2024-03-05 | 潍坊新茂机械配套有限公司 | Elbow intelligent conveying system |
| CN117644047B (en) * | 2024-01-26 | 2024-04-30 | 潍坊新茂机械配套有限公司 | Elbow intelligent conveying system |
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