CN106892263A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106892263A CN106892263A CN201510967167.XA CN201510967167A CN106892263A CN 106892263 A CN106892263 A CN 106892263A CN 201510967167 A CN201510967167 A CN 201510967167A CN 106892263 A CN106892263 A CN 106892263A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- finger
- clamp assemblies
- supporting plate
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000712 assembly Effects 0.000 claims abstract description 24
- 238000000429 assembly Methods 0.000 claims abstract description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 3
- 206010009696 Clumsiness Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of manipulator, including supporting plate, shifting axle, clamp assemblies and linkage, the linkage includes connecting rod C, connecting rod D and connecting rod E, connecting rod C and connecting rod D arranged crosswises and being rotated by bearing pin in point of intersection is connected on the supporting plate, one end of connecting rod C and connecting rod D are connected to one group of clamp assemblies, every group of clamp assemblies include finger, connecting rod A and connecting rod B, one end of connecting rod C is connected with one end rotation of a group of one end and finger of the connecting rod B of clamp assemblies, one end of connecting rod D is connected with one end rotation of another group of one end and finger of the connecting rod B of clamp assemblies, the other end of connecting rod B rotates the slide being connected and in connecting shaft and supporting plate with one end of connecting rod A and coordinates, the other end of connecting rod A is rotated with finger middle part and is connected.Simple structure of the present invention, clamping are accurately, clamping dynamics is good, it is accurate, easy to use to act, and can be engaged in numerous and diverse work, and stable performance instead of people well, and reliability is high.
Description
Technical field
The present invention relates to automation equipment field, more particularly to a kind of manipulator.
Background technology
Through surveying and studying, city-level (provincial capital) educational system provides teacher's qualification certificate, every year about 2
Wan Ben；PSC grading certificate, every year about 100,000；Colleges and universities' diploma annual about 30
Wan Ben；City-level public security department, provides nearly 200,000 of passport, and resident's household register is thin by about 300,000.Currently, on
The dispensing flow path for stating these certificates is substantially that neck witness hands over the perfect instruments such as identity card or neck card voucher
To staff, after staff's cross-check information, the certificate of neck witness is found out in up to ten thousand certificates simultaneously
Issue neck witness, getting for certificate is accomplished by taking a long time, and the main time be exactly
The process of cross-check information and certificate lookup.When leading witness relatively more and concentrating to lead card, situation can become
It is worse.
Automation access part is the inexorable trend of development, and manipulator is used to imitate some actions of staff, complete
Into the automatic crawl object under fixed routine control, it can substitute the mankind and be engaged in numerous and diverse work, carry
High workload efficiency, manipulator is fast-developing from clumsiness to dexterous direction from simply to complexity, existing
Need a kind of manipulator that object can be captured in super small space.
The content of the invention
The present invention is intended to provide one kind clamped in super small space accurately, clamping dynamics it is good, easy to use,
Action is accurate, the manipulator of simple structure.
To reach above-mentioned purpose, the present invention is realized using following technical scheme：
A kind of manipulator disclosed by the invention, including supporting plate, shifting axle, clamp assemblies and linkage,
One end of the supporting plate is provided with chute, and the linkage includes connecting rod C, connecting rod D and connecting rod E, institute
State connecting rod C and connecting rod D arranged crosswises and rotated by bearing pin in point of intersection and be connected on the supporting plate,
The connecting rod E has two, is respectively hinged at one end of connecting rod C and connecting rod D, connecting rod C's and connecting rod D
The other end is connected to one group of clamp assemblies, and two groups of clamp assemblies are arranged in parallel, every group of clamping group
Part includes finger, connecting rod A and connecting rod B, and the finger be arranged in parallel with connecting rod B, and the connecting rod C is remote
It is connected with one end rotation of a group of one end and finger of the connecting rod B of clamp assemblies from one end of connecting rod E, even
The one end and another group of one end rotation of one end and finger of the connecting rod B of clamp assemblies of bar D away from connecting rod E
Connection, the other end of the connecting rod B is rotated with one end of connecting rod A and is connected and in connecting shaft and supporting plate
Slide coordinates, and the other end of connecting rod A is rotated with finger middle part and is connected.
Further, the supporting plate is respectively arranged at two ends with U-shaped breach A and U-shaped breach B, the cunning
Groove is located at U-shaped breach A one end, and the finger is located at U-shaped breach A inner sides.
Further, also including pedestal, the pedestal is provided with U-shaped breach B one end and is connected with supporting plate,
Slide is additionally provided with pedestal, breach C, the breach C is additionally provided with the slide and is slided with shifting axle and matched somebody with somebody
Close, briquetting is additionally provided with breach C openings, shifting axle middle part outer circumference surface is provided with stopper slot, institute
Briquetting is stated positioned at stopper slot top.
Further, the connecting rod C and connecting rod D are the short side of L-shaped connecting rod, connecting rod C and connecting rod D
Rotated with the connecting rod B and finger of clamp assemblies and be connected, the medium position bending stepped in side long of connecting rod C.
Further, at least two connecting rod A of every group of clamp assemblies, the connecting rod A parallel arrangements are set
Between finger and connecting rod B, connecting rod A is rotation and is connected with finger and connecting rod B.
Further, drive device is additionally provided with the pedestal, the drive device is stepper motor, institute
Stepper motor is stated to be connected by feed screw nut with shifting axle.
The invention has the advantages that：Simple structure, clamping are accurate, clamping dynamics is good, user
Just, hard work, and stable performance can be engaged in instead of people well, reliability is high.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is supporting plate structure schematic diagram；
Fig. 3 is connecting rod C front views；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is connecting rod D front views；
Fig. 6 is the top view of Fig. 5.
In figure：1- fingers, 2- connecting rod A, 3- connecting rod B, 4- connecting rod C, 5- connecting rod D, 6- connecting rods E, 7
Supporting plate, 8- shifting axles, 9- slides, 10- motor cabinets, 11- briquettings, 12- feed screw nut, 13- are spacing
Groove, 14- chutes, 15-U v notch v A, 16-U v notch vs B.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing,
The present invention will be described in further detail.
As shown in figs 1 to 6, a kind of manipulator disclosed by the invention, including supporting plate 7, motor cabinet 10,
Slide 9, shifting axle 8, clamp assemblies and linkage, supporting plate 7 are respectively arranged at two ends with U-shaped breach
A15 and U-shaped breach B16, supporting plate 7 is provided with U-shaped breach A15 one end and is additionally provided with chute 14, electricity
Support 10 is fixed on the one end of supporting plate 7, and slide 9 is arranged on motor cabinet 10, jagged on slide 9,
Shifting axle 8 is slidably matched with the breach on slide 9, and the breach oral area of slide 9 is additionally provided with briquetting 11, moves
The middle part outer circumference surface of moving axis 8 is provided with stopper slot 13, and briquetting 11 is located at the top of stopper slot 13, motor cabinet
Stepper motor is further fixed on 10, is connected by feed screw nut 12 between stepper motor and shifting axle 8,
For driving shifting axle 8 to do linear reciprocating motion, clamp assemblies have two groups and be arranged in parallel, every group of clamping
Component includes a finger 1, two connecting rod A2 and connecting rod B3, and finger 1 is parallel with connecting rod B3 to be set
Put, finger 1 is located at U-shaped breach A15 inner sides, two connecting rod A2 are set in parallel in finger 1 and connecting rod
Between B3, connecting rod A2 is rotation and is connected with finger 1 and connecting rod B3, wherein a connecting rod A2 one end
It is hinged with connecting rod B3 one end and jointed shaft is slidably matched with the chute 14 in supporting plate 7, connecting rod A2 is another
End is hinged with the middle part of finger 1；Linkage includes connecting rod C4, connecting rod D5 and connecting rod E6, connecting rod C4
It is rotatably connected on by bearing pin in supporting plate 7 with connecting rod D5 arranged crosswises and in point of intersection, connecting rod E6 has
Two, scissor structure is constituted with connecting rod C4 and connecting rod D5, two one end of connecting rod E6 are and shifting axle
8 one end rotate connection, and two other ends of connecting rod E6 are rotated with one end of connecting rod C4 and connecting rod D5 respectively
Connection, the other end of connecting rod C4 is connected with one end rotation of a group of connecting rod B3 and finger 1 of clamp assemblies,
The other end of connecting rod D5 is connected with one end rotation of another group of the connecting rod B3 and finger 1 of clamp assemblies.
As shown in figures 3 to 6, connecting rod C4 and connecting rod D5 are L-shaped connecting rod, connecting rod C4 and connecting rod D5
Short side and the connecting rod B3 of clamp assemblies rotated with the one end of finger 1 and be connected, position in the side long of connecting rod C4
Put bending stepped.
Operation principle of the invention is as follows：When shifting axle 8 in the presence of stepper motor to the one end of finger 1
When mobile, connecting rod C4 and connecting rod the D5 front end of linkage are opened laterally respectively, and drive clamping group
Part parallel motion laterally, while driving the parallel motion laterally respectively of two fingers 1, it is ensured that two
The distance that the front-end and back-end of finger 1 are opened is all identical, similarly, when shifting axle 8 is moved to stepper motor one end
When dynamic, connecting rod C4 and connecting rod the D5 front end of the linkage parallel closure in side respectively inwards, and drive clamping
Component is to inner side parallel motion, it is ensured that two parallel closures in the front-end and back-end of finger 1, and clamping article,
So that the space for gripping same object is substantially reduced.
Certainly, the present invention can also have other various embodiments, without departing substantially from spiritual and its essence of the invention
In the case of, those of ordinary skill in the art can make various corresponding changes and deformation according to the present invention,
But these corresponding changes and deformation should all belong to the protection domain of appended claims of the invention.
Claims (6)
1. a kind of manipulator, it is characterised in that：Including supporting plate, shifting axle, clamp assemblies and connecting rod machine
Structure, one end of the supporting plate is provided with chute, and the linkage includes connecting rod C, connecting rod D and connecting rod E,
The connecting rod C and connecting rod D arranged crosswises and being rotated by bearing pin in point of intersection is connected on the supporting plate,
The connecting rod E has two, is respectively hinged at one end of connecting rod C and connecting rod D, connecting rod C's and connecting rod D
The other end is connected to one group of clamp assemblies, and two groups of clamp assemblies are arranged in parallel, every group of clamping group
Part includes finger, connecting rod A and connecting rod B, and the finger be arranged in parallel with connecting rod B, and the connecting rod C is remote
It is connected with one end rotation of a group of one end and finger of the connecting rod B of clamp assemblies from one end of connecting rod E, even
The one end and another group of one end rotation of one end and finger of the connecting rod B of clamp assemblies of bar D away from connecting rod E
Connection, the other end of the connecting rod B is rotated with one end of connecting rod A and is connected and in connecting shaft and supporting plate
Slide coordinates, and the other end of connecting rod A is rotated with finger middle part and is connected.
2. manipulator according to claim 1, it is characterised in that：The supporting plate two ends set respectively
There is U-shaped breach A and U-shaped breach B, the chute is located at U-shaped breach A one end, and the finger is located at U
V notch v A inner sides.
3. manipulator according to claim 2, it is characterised in that：Also include pedestal, the pedestal
U-shaped breach B one end is provided with supporting plate to be connected, slide is additionally provided with pedestal, be additionally provided with the slide
Breach C, the breach C are slidably matched with shifting axle, and briquetting, the shifting are additionally provided with breach C openings
Moving axis middle part outer circumference surface is provided with stopper slot, and the briquetting is located at stopper slot top.
4. manipulator according to claim 1, it is characterised in that：The connecting rod C and connecting rod D
L-shaped connecting rod is, the short side of connecting rod C and connecting rod D is rotated with the connecting rod B and finger of clamp assemblies and is connected,
The medium position bending stepped in side long of connecting rod C.
5. manipulator according to claim 1, it is characterised in that：Every group of clamp assemblies at least two
Root connecting rod A, the connecting rod A parallel arrangements are arranged between finger and connecting rod B, connecting rod A and finger and
Connecting rod B is rotation connection.
6. manipulator according to claim 3, it is characterised in that：Driving is additionally provided with the pedestal
Device, the drive device is stepper motor, and the stepper motor is connected with shifting axle by feed screw nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510967167.XA CN106892263A (en) | 2015-12-21 | 2015-12-21 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510967167.XA CN106892263A (en) | 2015-12-21 | 2015-12-21 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106892263A true CN106892263A (en) | 2017-06-27 |
Family
ID=59191099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510967167.XA Pending CN106892263A (en) | 2015-12-21 | 2015-12-21 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106892263A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718035A (en) * | 2017-11-10 | 2018-02-23 | 瑞安市中凯自动化科技有限公司 | Clamp manipulator |
| CN107934348A (en) * | 2017-12-12 | 2018-04-20 | 柏涛涛 | A kind of auxiliary conveying device of cylindrical parts object |
| CN108161942A (en) * | 2017-12-01 | 2018-06-15 | 山东科技大学 | A kind of feed auxiliary robot |
| CN108773668A (en) * | 2018-06-26 | 2018-11-09 | 湖南乾康科技有限公司 | A kind of test strips automatic clamping mechanism |
| CN109940647A (en) * | 2019-04-16 | 2019-06-28 | 芜湖新兴铸管有限责任公司 | Plug clamping manipulator used in cast tube production process |
| CN111037502A (en) * | 2019-12-31 | 2020-04-21 | 中国第一汽车股份有限公司 | Clamp spring pincers |
| CN111764598A (en) * | 2020-07-07 | 2020-10-13 | 徐子桐 | Wooden door installation construction method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009039809A (en) * | 2007-08-08 | 2009-02-26 | Nachi Fujikoshi Corp | Industrial robot |
| CN202687476U (en) * | 2012-05-03 | 2013-01-23 | 成都智利达科技有限公司 | Plane parallel motion connecting rod type griping device |
| CN104400379A (en) * | 2014-11-28 | 2015-03-11 | 江阴吉爱倍万达精工有限公司 | Adjustable clamping mechanism of bearing conveying device |
| CN204283259U (en) * | 2014-11-07 | 2015-04-22 | 湖南三一石油科技有限公司 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
| CN204384433U (en) * | 2015-01-13 | 2015-06-10 | 三峡大学 | A kind of holding device of casing class goods |
| CN205240719U (en) * | 2015-12-21 | 2016-05-18 | 董鹏钦 | Manipulator |
-
2015
- 2015-12-21 CN CN201510967167.XA patent/CN106892263A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009039809A (en) * | 2007-08-08 | 2009-02-26 | Nachi Fujikoshi Corp | Industrial robot |
| CN202687476U (en) * | 2012-05-03 | 2013-01-23 | 成都智利达科技有限公司 | Plane parallel motion connecting rod type griping device |
| CN204283259U (en) * | 2014-11-07 | 2015-04-22 | 湖南三一石油科技有限公司 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
| CN104400379A (en) * | 2014-11-28 | 2015-03-11 | 江阴吉爱倍万达精工有限公司 | Adjustable clamping mechanism of bearing conveying device |
| CN204384433U (en) * | 2015-01-13 | 2015-06-10 | 三峡大学 | A kind of holding device of casing class goods |
| CN205240719U (en) * | 2015-12-21 | 2016-05-18 | 董鹏钦 | Manipulator |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718035A (en) * | 2017-11-10 | 2018-02-23 | 瑞安市中凯自动化科技有限公司 | Clamp manipulator |
| CN108161942A (en) * | 2017-12-01 | 2018-06-15 | 山东科技大学 | A kind of feed auxiliary robot |
| CN108161942B (en) * | 2017-12-01 | 2020-07-28 | 山东科技大学 | Food-feeding auxiliary robot |
| CN107934348A (en) * | 2017-12-12 | 2018-04-20 | 柏涛涛 | A kind of auxiliary conveying device of cylindrical parts object |
| CN108773668A (en) * | 2018-06-26 | 2018-11-09 | 湖南乾康科技有限公司 | A kind of test strips automatic clamping mechanism |
| CN109940647A (en) * | 2019-04-16 | 2019-06-28 | 芜湖新兴铸管有限责任公司 | Plug clamping manipulator used in cast tube production process |
| CN111037502A (en) * | 2019-12-31 | 2020-04-21 | 中国第一汽车股份有限公司 | Clamp spring pincers |
| CN111037502B (en) * | 2019-12-31 | 2022-04-12 | 中国第一汽车股份有限公司 | Clamp spring pincers |
| CN111764598A (en) * | 2020-07-07 | 2020-10-13 | 徐子桐 | Wooden door installation construction method |
| CN111764598B (en) * | 2020-07-07 | 2021-12-10 | 莆田晟熙贸易有限公司 | Wooden door installation construction method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170627 |