CN106985153A - Manipulator with regulation clamping aperture - Google Patents
Manipulator with regulation clamping aperture Download PDFInfo
- Publication number
- CN106985153A CN106985153A CN201710293040.3A CN201710293040A CN106985153A CN 106985153 A CN106985153 A CN 106985153A CN 201710293040 A CN201710293040 A CN 201710293040A CN 106985153 A CN106985153 A CN 106985153A
- Authority
- CN
- China
- Prior art keywords
- clamp
- regulation
- rotating disk
- gripper
- keeping body
- 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
Classifications
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0042—V-shaped gripping surfaces
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator that there is regulation to clamp aperture, including：Keeping body；Two gripper clamps；Rotating disk, it is spindle rotationally arranged in the afterbody of the keeping body；Connecting rod；Two rocking bars；Motor, the motor drives the rotating disk to rotate, the rotating disk drives the connecting rod to drive bearing of trend of the mutual pivoting point of rocking bar described in two along the keeping body to move, so that the angle of rocking bar described in two changes to drive gripper clamp described in two to pivot to clamp the workpiece or clamp workpiece releasing.By motor-driven rotation disk, two gripper clamps are caused to realize holding action by connecting rod and rocking bar.The present invention is converted to the rotary motion of motor the holding action of gripper clamp, ingenious in design, and the holding action and releasing holding action of gripper clamp can be realized as without counter motion.
Description
Technical field
The present invention relates to parts machining technical field, more particularly to it is a kind of be used to clamping workpiece there is regulation clamping to open
The manipulator of degree.
Background technology
Manipulator with regulation clamping aperture is mainly made up of hand, motion and control system three parts.Hand
Portion is the part for grasping workpiece (or instrument), according to by the shape of grasping object, size, weight, material and job requirements
And have multiple structural forms, such as clamp-type, holding type and absorbent-type.Motion, make hand complete it is various rotate (swing),
Mobile or compound motion realizes defined action, changes by the position of grasping object and posture.The lifting of motion, stretch
The self-movement modes such as contracting, rotation, the free degree of the manipulator referred to as with regulation clamping aperture.It is any in space in order to capture
Position and the object in orientation, need to there is 6 frees degree.The free degree is the key parameter of manipulator design.The free degree is more, with tune
The flexibility of the manipulator of section clamping aperture is bigger, and versatility is wider, and its structure is also more complicated.It is general special with regulation clamping
The manipulator of aperture has 2~3 frees degree.Control system is by each free degree of manipulator to clamping aperture with regulation
Motor control, to complete specific action.The information of sensor feedback is received simultaneously, forms stable closed-loop control.Control
The core of system is typically to be made up of the microcontroller chip such as single-chip microcomputer or dsp, by wanting function to its programming realization.
For the manipulator with regulation clamping aperture of clamp-type, clamped more by the pivotal action of the caliper of two clampings
Object.However, two calipers of the manipulator of the prior art that there is regulation to clamp aperture a, caliper keeps fixing, it is another
Caliper realizes clamping by pivoting, and this certainly will cause the diminution using scope, and practicality is not high.
The content of the invention
For above-mentioned technical problem present in prior art, there is regulation clamping The embodiment provides one kind
The manipulator of aperture.
In order to solve the above technical problems, the technical scheme that embodiments of the invention are used is：
A kind of manipulator that there is regulation to clamp aperture, for clamping workpiece, including：
Keeping body；
Two gripper clamps, it is oppositely arranged, and cramping body described in two is articulated in the head of the keeping body；
Rotating disk, it is spindle rotationally arranged in the afterbody of the keeping body；
Connecting rod, its one end is articulated on the rotating disk, pivoting point the turning to the rotating disk of the connecting rod and the rotating disk
Dynamic center has preset distance；
Two rocking bars, both one end are pivotally connected with the afterbody of gripper clamp described in two respectively, and the other end of rocking bar described in two is mutual
Pivot joint, the mutual pivoting point of the other end of the connecting rod and the rocking bar is pivotally connected；
Motor, it is installed in the afterbody of the keeping body, for driving the rotating disk to rotate, wherein,
The motor drives the rotating disk to rotate, and the rotating disk drives the connecting rod to drive the mutual of rocking bar described in two
Bearing of trend of the pivoting point along the keeping body is moved, so that the angle of rocking bar described in two changes to drive gripper clamp pivot described in two
Turn to clamp to clamp the workpiece or release workpiece；Wherein,
The gripper clamp includes the first caliper and the second caliper, and first caliper offers jack, second caliper
It is formed with inserting column, the inserting column and offers some spaced arc-shaped recess, the inserting column inserts the jack, described the
Open up jagged on one caliper, an arc key is arranged in the breach, and coordinate to limit described insert with the arc-shaped recess
Post is moved.
Preferably, the mutual articulated section of rocking bar described in two is equipped with lead, the keeping body and offered along keeping body
Bearing of trend extension long guiding hole, the lead wears the long guiding hole, and being capable of prolonging along the long guiding hole
Stretch direction slip.
Preferably, it is provided with dynamic clamping head and quiet clamping head between gripper clamp described in two.
Preferably, the dynamic clamping head and quiet clamping head is back-moving spring, and the back-moving spring clamps for the releasing of gripper clamp described in two
Reset force is provided.
Preferably, it is provided with pad on the relative side in the head of the gripper clamp.
Preferably, relative side is padded described in two and offers arc-shaped concave, to clamp the work when gripper clamp described in two
During part, arc-shaped concave described in two coats the outer peripheral face of the workpiece.
Preferably, relative side is padded described in two and offers V-arrangement concave surface, with when gripper clamp clamping workpiece described in two,
V-arrangement concave surface described in two coats the outer peripheral face of the workpiece.
Preferably, the pad is made up of elastic rubber material.
Preferably, the rectangular strip of the keeping body.
Compared with prior art, the beneficial effect of the manipulator with regulation clamping aperture of the invention is：Pass through motor
Rotation dish is driven, causes two gripper clamps to realize holding action by connecting rod and rocking bar.Rotary motion of the invention by motor
The holding action of gripper clamp is converted to, it is ingenious in design, the holding action of gripper clamp and release holding action without counter motion just
It can realize.
Brief description of the drawings
The front view for the manipulator with regulation clamping aperture that Fig. 1 provides for embodiments of the invention.
The right view for the manipulator with regulation clamping aperture that Fig. 2 provides for embodiments of the invention.
Fig. 3 for Fig. 2 A-A to sectional view.
In figure：
101- gripper clamps；102- keeping bodies；The calipers of 1021- second；The calipers of 1022- first；1023- inserting columns；1024- arcs
Depression；1025- arc keys；1026- cover plates；1027- fasteners；103- connecting rods；104- rocking bars；105- back-moving springs；106- is served as a contrast
Pad；107- rotating disks；108- motors；109- long guiding holes.
Embodiment
To make those skilled in the art be better understood from technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula elaborates to the present invention.
As shown in Figure 1, Figure 2, Figure 3 shows, embodiment of the invention discloses that a kind of manipulator that there is regulation to clamp aperture, is used
In clamping workpiece, including：Keeping body 102, two gripper clamps 101, rotating disk 107, connecting rod 103, two rocking bars 104, motor 108.
Keeping body 102；Two gripper clamps 101 are oppositely arranged, and cramping body described in two is articulated in the head of the keeping body 102；Rotating disk 107 can
The afterbody for being arranged on the keeping body 102 rotated；One end of connecting rod 103 is articulated on the rotating disk 107, the connecting rod 103
There is preset distance with the center of rotation of pivoting point to the rotating disk 107 of the rotating disk 107；One end difference of two rocking bars 104
It is pivotally connected with the afterbody of gripper clamp described in two 101, the other end of rocking bar 104 is mutually pivotally connected described in two, the other end of the connecting rod 103
It is pivotally connected with the mutual pivoting point of the rocking bar 104；Motor 108, it is installed in the afterbody of the keeping body 102, for driving
The rotating disk 107 is moved to rotate, wherein, the motor 108 drives the rotating disk 107 to rotate, and the rotating disk 107 drives described
Connecting rod 103 drives bearing of trend of the mutual pivoting point of rocking bar 104 described in two along the keeping body 102 to move, so that described in two
The angle of rocking bar 104 changes to drive gripper clamp 101 described in two to pivot to clamp the workpiece or release clamping to workpiece.It is described
Gripper clamp 101 includes the first caliper 1022 and the second caliper 1021, and first caliper 1022 offers jack, second pincers
Body 1021 is formed with inserting column 1023, the inserting column 1023 and offers some spaced arc-shaped recess 1024, the inserting column
Open up jagged on the 1023 insertion jacks, first caliper 1022, an arc key 1025 is arranged in the breach, and
Fixed by cover plate 1026 and fastener 1027, and coordinate with the arc-shaped recess 1024 and moved with limiting the inserting column 1023.
Understood according to above-mentioned, by motor-driven rotation disk, cause two gripper clamp 101 real by connecting rod 103 and rocking bar 104
Existing holding action.The present invention is converted to the rotary motion of motor 108 holding action of gripper clamp 101, ingenious in design, folder
Hold the holding action of pincers 101 and release holding action and can be realized as without counter motion.
Due to being provided with jack and inserting column 1023 so that the depth that the length of caliper inserts jack by inserting column 1023 is determined
Fixed, and the length of caliper determines the aperture of this two caliper, therefore, manipulator of the invention can be by changing the length of caliper
Change the clamping aperture of manipulator.
In a preferred embodiment of the invention, as shown in figure 1, the mutual articulated section of rocking bar 104 described in two is equipped with
The long guiding hole 109 along the bearing of trend extension of keeping body 102, the lead are offered in lead, the keeping body 102
The long guiding hole 109 is worn, and can be slided along the bearing of trend of the long guiding hole 109.
In a preferred embodiment of the invention, as shown in figure 1, setting flexible multiple between gripper clamp 101 described in two
Position part.
In a preferred embodiment of the invention, it is described as shown in figure 1, the dynamic clamping head and quiet clamping head is back-moving spring 105
The releasing clamping of the gripper clamp 101 described in two of back-moving spring 105 provides reset force.
In a preferred embodiment of the invention, as shown in figure 1, on the relative side in the head of the gripper clamp 101
It is provided with pad 106.
In a preferred embodiment of the invention, as shown in figure 1,106 relative sides are padded described in two offers arc
Shape concave surface, so that when gripper clamp 101 clamps the workpiece described in two, arc-shaped concave described in two coats the outer peripheral face of the workpiece.
In a preferred embodiment of the invention, as shown in figure 1,106 relative sides are padded described in two offers V-arrangement
Concave surface, so that when 101 clamping workpiece of gripper clamp described in two, V-arrangement concave surface described in two coats the outer peripheral face of the workpiece.
In a preferred embodiment of the invention, as shown in figure 1, the pad 106 is made up of elastic rubber material.
In a preferred embodiment of the invention, as shown in figure 1, the rectangular strip of the keeping body 102.
Above example is only the exemplary embodiment of the present invention, is not used in the limitation present invention, protection scope of the present invention
It is defined by the claims.Those skilled in the art can make respectively in the essence and protection domain of the present invention to the present invention
Modification or equivalent substitution are planted, this modification or equivalent substitution also should be regarded as being within the scope of the present invention.
Claims (9)
1. a kind of manipulator that there is regulation to clamp aperture, for clamping workpiece, it is characterised in that including：
Keeping body；
Two gripper clamps, it is oppositely arranged, and cramping body described in two is articulated in the head of the keeping body；
Rotating disk, it is spindle rotationally arranged in the afterbody of the keeping body；
Connecting rod, its one end is articulated on the rotating disk, and the pivoting point of the connecting rod and the rotating disk is into the rotation of the rotating disk
The heart has preset distance；
Two rocking bars, both one end are pivotally connected with the afterbody of gripper clamp described in two respectively, and the other end of rocking bar described in two is mutually pivotally connected,
The mutual pivoting point of the other end of the connecting rod and the rocking bar is pivotally connected；
Motor, it is installed in the afterbody of the keeping body, for driving the rotating disk to rotate, wherein,
The motor drives the rotating disk to rotate, and the rotating disk drives the mutual pivot joint of rocking bar described in the connecting rod drive two
Point is moved along the bearing of trend of the keeping body so that the angle of rocking bar described in two change with drive described in two gripper clamp to pivot with
Clamp the workpiece or workpiece is released and clamp；Wherein,
The gripper clamp includes the first caliper and the second caliper, and first caliper offers jack, and second caliper is formed
Have and some spaced arc-shaped recess are offered on inserting column, the inserting column, the inserting column inserts the jack, first pincers
Open up jagged on body, an arc key is arranged in the breach, and coordinate to limit the inserting column shifting with the arc-shaped recess
It is dynamic.
2. it is according to claim 1 have regulation clamping aperture manipulator, it is characterised in that rocking bar described in two it is mutual
Articulated section is equipped with the long guiding hole offered in lead, the keeping body along the bearing of trend extension of keeping body, described to lead
The long guiding hole is worn to post, and can be slided along the bearing of trend of the long guiding hole.
3. the manipulator according to claim 2 that there is regulation to clamp aperture, it is characterised in that between gripper clamp described in two
It is provided with dynamic clamping head and quiet clamping head.
4. the manipulator with regulation clamping aperture according to claim 3, it is characterised in that the dynamic clamping head and quiet clamping head is
Back-moving spring, the releasing clamping of back-moving spring gripper clamp described in two provides reset force.
5. the manipulator according to claim 1 that there is regulation to clamp aperture, it is characterised in that the head of the gripper clamp
Pad is provided with relative side.
6. the manipulator according to claim 5 that there is regulation to clamp aperture, it is characterised in that pad is relative described in two
Side offers arc-shaped concave, so that when gripper clamp described in two clamps the workpiece, arc-shaped concave described in two coats the workpiece
Outer peripheral face.
7. the manipulator according to claim 5 that there is regulation to clamp aperture, it is characterised in that pad is relative described in two
Side offers V-arrangement concave surface, so that when gripper clamp clamping workpiece described in two, V-arrangement concave surface described in two coats the periphery of the workpiece
Face.
8. the manipulator according to claim 5 that there is regulation to clamp aperture, it is characterised in that the pad is by elastic rubber
Glue material is made.
9. the manipulator according to claim 1 that there is regulation to clamp aperture, it is characterised in that the keeping body is rectangular
Strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710293040.3A CN106985153A (en) | 2017-04-28 | 2017-04-28 | Manipulator with regulation clamping aperture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710293040.3A CN106985153A (en) | 2017-04-28 | 2017-04-28 | Manipulator with regulation clamping aperture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985153A true CN106985153A (en) | 2017-07-28 |
Family
ID=59418765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710293040.3A Pending CN106985153A (en) | 2017-04-28 | 2017-04-28 | Manipulator with regulation clamping aperture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985153A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285019A (en) * | 2017-08-02 | 2017-10-24 | 芜湖挺优机电技术有限公司 | The controllable conveying robot of cursor |
| CN108908386A (en) * | 2018-07-13 | 2018-11-30 | 安徽派日特智能装备有限公司 | A kind of highly compatible industry pneumatic clamper |
| CN113855126A (en) * | 2021-12-03 | 2021-12-31 | 北京市延庆区医院(北京大学第三医院延庆医院) | Forceps type deep tissue suturing instrument capable of being continuously used |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202922590U (en) * | 2012-11-29 | 2013-05-08 | 浙江工贸职业技术学院 | Adjusting device for jaw of loading and unloading mechanical arm |
| CN204800628U (en) * | 2015-05-05 | 2015-11-25 | 安徽省振华科技工业有限公司 | Manipulator |
-
2017
- 2017-04-28 CN CN201710293040.3A patent/CN106985153A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202922590U (en) * | 2012-11-29 | 2013-05-08 | 浙江工贸职业技术学院 | Adjusting device for jaw of loading and unloading mechanical arm |
| CN204800628U (en) * | 2015-05-05 | 2015-11-25 | 安徽省振华科技工业有限公司 | Manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285019A (en) * | 2017-08-02 | 2017-10-24 | 芜湖挺优机电技术有限公司 | The controllable conveying robot of cursor |
| CN108908386A (en) * | 2018-07-13 | 2018-11-30 | 安徽派日特智能装备有限公司 | A kind of highly compatible industry pneumatic clamper |
| CN113855126A (en) * | 2021-12-03 | 2021-12-31 | 北京市延庆区医院(北京大学第三医院延庆医院) | Forceps type deep tissue suturing instrument capable of being continuously used |
| CN113855126B (en) * | 2021-12-03 | 2022-03-08 | 北京市延庆区医院(北京大学第三医院延庆医院) | Forceps type deep tissue suturing instrument capable of being continuously used |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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: 20170728 |