CN107199573A - A kind of production line clamping workpiece manipulator - Google Patents
A kind of production line clamping workpiece manipulator Download PDFInfo
- Publication number
- CN107199573A CN107199573A CN201710553422.5A CN201710553422A CN107199573A CN 107199573 A CN107199573 A CN 107199573A CN 201710553422 A CN201710553422 A CN 201710553422A CN 107199573 A CN107199573 A CN 107199573A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- connecting plate
- production line
- rotation seat
- drawstring
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of production line clamping workpiece manipulator, including connecting plate, rotation seat, the first swing arm, the second swing arm, clamping device and drawstring；The rotation seat is provided with the downside of the connecting plate, the internal slide of connecting plate is provided with rack, and the internal symmetry of the rotation seat is provided with driving gear and driven gear；First swing arm, which has, is hinged with the second swing arm on the downside of two, the first swing arm, the telescopic end of the second swing arm is provided with clamping device；The inside of the grip block is hollow structure, and the surface of grip block is provided with some balls.The present invention can control the first swing arm and the second swing arm to rotate simultaneously, manipulator is met actual clamping demand, prevent workpiece from coming off；Telescopic ball is also provided with clamping device, rough workpiece is also fitted clamping device, further prevents workpiece from coming off.
Description
Technical field
The present invention relates to manipulator technical field, specifically a kind of production line clamping workpiece manipulator.
Background technology
Manipulator is a kind of new device grown up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator is widely applied in automatic assembly line, and the development and production of robot turn into high-tech sector, fast
The emerging technology that speed grows up, it more promotes the development of manipulator so that manipulator can be better achieved with
Mechanization and the combination of automation.Although manipulator is flexible like that not as good as human hand, it has can continuous repeated work
And work, do not know fatigue, be fearless of danger, the characteristics of strength of snatch weight is bigger than people hand-power, therefore, manipulator is by many
The attention of department, and applied more and more widely.
Existing manipulator to workpiece when clamping, because the governor motion of manipulator in itself is more single, it is difficult to
Manipulator is clamped workpiece completely, easily cause workpiece and come off, bring unnecessary loss；Due to the workpiece surface on production line
It is uneven, and the surface of existing manipulator clamping device is more smooth, it is difficult to workpiece is clamped completely.
The content of the invention
It is an object of the invention to provide a kind of production line clamping workpiece manipulator, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical scheme：
A kind of production line clamping workpiece manipulator, including connecting plate, rotation seat, the first swing arm, the second swing arm, folder
Hold device and drawstring；The rotation seat, the hollow knot of the inner homogeneous of connecting plate and rotation seat are provided with the downside of the connecting plate
Structure, and the inside of connecting plate and rotation seat is interconnected；The internal slide of the connecting plate is provided with rack, the right side of connecting plate
The retractor device for driving connecting plate to move left and right is additionally provided with, the internal symmetry of the rotation seat is provided with driving gear and driven
Gear；First swing arm has two, and two the first swing arms pass through connecting rod and driving gear and driven gear respectively
It is fixedly connected；It is hinged with the second swing arm on the downside of first swing arm, the second swing arm is stretching structure, and second swings
The telescopic end of arm is provided with clamping device；The clamping device is made up of the torsion spring of two grip blocks of two grip blocks and connection；
The inside of the grip block is hollow structure, and the surface of grip block is additionally provided with some balls, and ball is fixed by expansion link pacifies
Second spring is arranged with mounted in the inside of grip block, and on expansion link；First swing arm and second swing arm it is interior
Side is installed with stop collar and limited block respectively, and the bottom of the rotation seat is additionally provided with spacing ring, the lower end of the drawstring
It is fixedly connected with limited block, the upper end of drawstring sequentially passes through stop collar and spacing ring.
It is used as further scheme of the invention：Mounting seat is provided with the upside of the connecting plate.
It is used as further scheme of the invention：The driving gear is located at the left side of the driven gear, driving gear
Engaged with driven gear, and driving tooth wheel and rack is engaged.
It is used as further scheme of the invention：The material of the ball be rubber, and ball surface be provided with it is some
It is raised.
It is used as further scheme of the invention：Be additionally provided with the first spring on the drawstring, the upper end of the first spring with
Stop collar is fixedly connected, and the lower end of the first spring is fixedly connected with limited block.
It is used as further scheme of the invention：Coiling electric motor is also installed with the connecting plate, coiling electric motor
Output end is fixedly connected with the upper end of the drawstring.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention can control the first swing arm and second simultaneously
Swing arm is rotated, and manipulator is met actual clamping demand, is prevented workpiece from coming off；Also it is provided with clamping device scalable
Ball, rough workpiece is also fitted clamping device, further prevent workpiece from coming off.
Brief description of the drawings
Fig. 1 is the structural representation of production line clamping workpiece manipulator.
Fig. 2 is the side view of production line clamping workpiece manipulator.
Fig. 3 is the structural representation of grip block in production line clamping workpiece manipulator.
Fig. 4 is the structural representation of clamping device in production line clamping workpiece manipulator.
In figure：1- mounting seats, 2- connecting plates, 3- racks, 4- rotation seats, 5- driving gears, 6- connecting rods, 7- first are swung
Arm, the swing arms of 8- second, 9- clamping devices, 10- retractor devices, 11- driven gears, 12- spacing rings, 13- drawstrings, 14- are spacing
Set, the springs of 15- first, 16- limited blocks, 17- grip blocks, 18- coiling electric motors, 19- expansion links, 20- second springs, 21- balls,
22- torsion springs.
Embodiment
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 carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer in Fig. 1~4, the embodiment of the present invention, a kind of production line clamping workpiece manipulator, including connecting plate 2, turn
Dynamic seat 4, the first swing arm 7, the second swing arm 8, clamping device 9 and drawstring 13；The upside of the connecting plate 2 is provided with mounting seat
1, so as to the installation of manipulator, the downside of connecting plate 2 is provided with the inner homogeneous of the rotation seat 4, connecting plate 2 and rotation seat 4
Hollow structure, and the inside of connecting plate 2 and rotation seat 4 is interconnected；The internal slide of the connecting plate 2 is provided with rack 3, tooth
Bar 3 can be moved left and right in the inside of connecting plate 2, and the right side of connecting plate 2 is additionally provided with the flexible dress for driving connecting plate 2 to move left and right
10 are put, the internal symmetry of the rotation seat 4 is provided with driving gear 5 and driven gear 11, and driving gear 5 is located at driven gear 11
Left side, driving gear 5 is intermeshed with driven gear 11, and driving gear 5 is engaged with rack 3, driven gear 11 not with tooth
Bar 3 is engaged, and extends the telescopic end of retractor device 10, and rack 3 is moved to the left, and rack 3 drives driving gear 5 to rotate counterclockwise, main
Moving gear 5 drives driven gear 11 to rotate clockwise；First swing arm 7 has two, and two the first swing arms 7 lead to respectively
Cross connecting rod 6 to be fixedly connected with driving gear 5 and driven gear 11, when driving gear 5 is rotated counterclockwise, the first of left side swings
Arm 7 turns right, when driven gear 11 is rotated clockwise, and first swing arm 7 on right side turns left, so as to realize two first
Swing arm 7 is mutually clamped；The downside of first swing arm 7 is hinged with the second swing arm 8, and the second swing arm 8 is stretching structure,
And second the telescopic end of swing arm 8 be provided with clamping device 9, to be clamped to workpiece；The clamping device 9 is by two folders
The torsion spring 22 for holding two grip blocks 17 of block 17 and connection is constituted, and clamping device 9 is in clamping workpiece, and torsion spring 22 is acted on by external force
4 open two grip blocks 17, grip block 17 is clamped workpiece；The inside of the grip block 17 is hollow structure, grip block 17
Surface be additionally provided with some balls 21, ball 21 is fixedly mounted on the inside of grip block 17, and expansion link by expansion link 19
Second spring 20 is arranged with 19, ball 21 can be close on rough workpiece surface by expansion link 19, the ball
21 material is rubber, and the surface of ball 21 is provided with some projections, to increase the frictional force between ball 21 and workpiece,
Prevent workpiece from coming off；The inner side of first swing arm 7 and second swing arm 8 is installed with stop collar 14 and limit respectively
Position block 16, the bottom of the rotation seat 4 is additionally provided with spacing ring 16, and the lower end of the drawstring 13 is fixedly connected with limited block 16,
The upper end of drawstring 13 sequentially passes through stop collar 14 and spacing ring 12；The first spring 15, the first bullet are additionally provided with the drawstring 13
The upper end of spring 15 is fixedly connected with stop collar 14, and the lower end of the first spring 15 is fixedly connected with limited block 16, on the connecting plate 2
Coiling electric motor 18 is also installed with, the output end of coiling electric motor 18 is fixedly connected with the upper end of drawstring 13, and coiling electric motor 18 is suitable
When hour hands are rotated, drawstring 13 is tightened up upwards, and the first spring 15 compresses, and two the second swing arms 8 are drawn in centre, coiling electric motor 18
When rotating counterclockwise, drawstring 13 relaxes, and the first spring 15 recovers former length, and two the first swing arms 8 restore to the original state.
The present invention operation principle be：The production line clamping workpiece manipulator, manipulator is fixed by mounting seat 1
Install on a production line, when being clamped to workpiece, extend the telescopic end of retractor device 10, rack 3 is moved to the left, rack 3
Driving gear 5 is driven to rotate counterclockwise, driving gear 5 drives driven gear 11 to rotate clockwise, and driving gear 5 is rotated counterclockwise
When, first swing arm 7 in left side is turned right, when driven gear 11 is rotated clockwise, and first swing arm 7 on right side is turned left
It is dynamic, so that two the first swing arms 7 be drawn in centre, and suitable position is adjusted to according to actual conditions；When the first swing
After the completion of arm 7 is adjusted, start coiling electric motor 18, and rotate clockwise coiling electric motor 18, when coiling electric motor 18 is rotated clockwise,
Drawstring 13 is tightened up upwards, and the first spring 15 compresses, and two the second swing arms 8 are drawn in centre, and the second swing arm 8 drives clamping dress
9 are put to draw close to centre and clamp workpiece；Because the second swing arm 8 is stretching structure, it can also be adjusted according to actual conditions
Save the length of the second swing arm 8.
The present invention can control the first swing arm and the second swing arm to rotate simultaneously, manipulator is met actual clamping need
Ask, prevent workpiece from coming off；Telescopic ball is also provided with clamping device, rough workpiece is also fitted folder
Device is held, further prevents workpiece from coming off.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (6)
1. a kind of production line clamping workpiece manipulator, it is characterised in that swung including connecting plate (2), rotation seat (4), first
Arm (7), the second swing arm (8), clamping device (9) and drawstring (13)；The rotation seat is provided with the downside of the connecting plate (2)
(4), the inner homogeneous hollow structure of connecting plate (2) and rotation seat (4), and connecting plate (2) mutually interconnects with the inside of rotation seat (4)
It is logical；The internal slide of the connecting plate (2), which is provided with the right side of rack (3), connecting plate (2), is additionally provided with drive connecting plate (2)
The retractor device (10) moved left and right, the internal symmetry of the rotation seat (4) is provided with driving gear (5) and driven gear
(11)；First swing arm (7) has two, and two the first swing arms (7) pass through connecting rod (6) and driving gear respectively
(5) it is fixedly connected with driven gear (11)；The second swing arm (8) is hinged with the downside of first swing arm (7), second swings
Arm (8) is stretching structure, and the telescopic end of the second swing arm (8) is provided with clamping device (9)；The clamping device (9) is by two
Torsion spring (22) composition of two grip blocks (17) of individual grip block (17) and connection；The inside of the grip block (17) is hollow knot
Structure, the surface of grip block (17) is additionally provided with some balls (21), and ball (21) is fixedly mounted on clamping by expansion link (19)
Second spring (20) is arranged with the inside of block (17), and expansion link (19)；First swing arm (7) and described second swings
The inner side of arm (8) is installed with stop collar (14) and limited block (16) respectively, and the bottom of the rotation seat (4) also sets up limited
Position ring (16), the lower end of the drawstring (13) is fixedly connected with limited block (16), and the upper end of drawstring (13) sequentially passes through stop collar
And spacing ring (12) (14).
2. production line clamping workpiece manipulator according to claim 1, it is characterised in that the connecting plate (2) it is upper
Side is provided with mounting seat (1).
3. production line clamping workpiece manipulator according to claim 1, it is characterised in that driving gear (5) position
Left side in the driven gear (11), driving gear (5) is engaged with driven gear (11), and driving gear (5) and rack (3)
Engagement.
4. production line clamping workpiece manipulator according to claim 1, it is characterised in that the material of the ball (21)
Surface for rubber, and ball (21) is provided with some projections.
5. production line clamping workpiece manipulator according to claim 1, it is characterised in that also set on the drawstring (13)
Be equipped with the first spring (15), the upper end of the first spring (15) is fixedly connected with stop collar (14), the lower end of the first spring (15) with
Limited block (16) is fixedly connected.
6. production line clamping workpiece manipulator according to claim 1, it is characterised in that on the connecting plate (2) also
Coiling electric motor (18) is installed with, the output end of coiling electric motor (18) is fixedly connected with the upper end of the drawstring (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710553422.5A CN107199573A (en) | 2017-07-08 | 2017-07-08 | A kind of production line clamping workpiece manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710553422.5A CN107199573A (en) | 2017-07-08 | 2017-07-08 | A kind of production line clamping workpiece manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107199573A true CN107199573A (en) | 2017-09-26 |
Family
ID=59911016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710553422.5A Pending CN107199573A (en) | 2017-07-08 | 2017-07-08 | A kind of production line clamping workpiece manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107199573A (en) |
Cited By (36)
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|---|---|---|---|---|
| CN107916640A (en) * | 2017-11-17 | 2018-04-17 | 徐工集团工程机械有限公司 | A kind of adjustable sweep machine sweep device |
| CN108068133A (en) * | 2017-12-08 | 2018-05-25 | 常州大学 | A kind of crucible special machine machinery claw with three fingers |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108128365A (en) * | 2017-12-23 | 2018-06-08 | 香港中文大学（深圳） | A kind of flexible cohesion device of high load |
| CN108274462A (en) * | 2018-02-06 | 2018-07-13 | 健芮智能科技（昆山）有限公司 | Robot gripper |
| CN108297121A (en) * | 2018-02-09 | 2018-07-20 | 佛山市顺德区瑞良塑料制品有限公司 | A kind of packing box conveying mechanical arm |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
| CN108758204A (en) * | 2018-05-30 | 2018-11-06 | 温州奇思科技有限公司 | A kind of environment detector fixing device |
| CN108818596A (en) * | 2018-09-28 | 2018-11-16 | 合肥合茂电子科技有限公司 | A kind of novel robot wrist structure |
| CN108839045A (en) * | 2018-07-22 | 2018-11-20 | 丁宏遂 | A kind of scrap car recycle bin mechanical clamp |
| CN109015712A (en) * | 2018-08-16 | 2018-12-18 | 东莞市凯勒帝数控科技有限公司 | A kind of multi-faceted clamping device of underwater robot |
| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
| CN109850559A (en) * | 2019-03-20 | 2019-06-07 | 蔡强 | A kind of machine-building grabbing device |
| CN109878960A (en) * | 2019-03-21 | 2019-06-14 | 南京邮电大学 | A kind of unmanned plane device of automatic loading express delivery |
| CN110170958A (en) * | 2019-06-14 | 2019-08-27 | 中国水利水电科学研究院 | Extracting tool |
| CN110386389A (en) * | 2019-07-08 | 2019-10-29 | 广西科技大学 | A kind of grabbing device |
| CN110406873A (en) * | 2019-07-08 | 2019-11-05 | 广西科技大学 | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things |
| CN110640123A (en) * | 2019-10-28 | 2020-01-03 | 徐州市万铭精密铸造有限公司 | Casting carrying cart |
| CN111317234A (en) * | 2020-03-20 | 2020-06-23 | 广州大学 | Walking stick capable of picking up articles |
| CN111716290A (en) * | 2020-07-06 | 2020-09-29 | 邓敏 | Portable bulb mounting equipment for mine ceiling lamp |
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| CN112497245A (en) * | 2020-12-10 | 2021-03-16 | 重庆理工大学 | Gripper grabbing range-extending device and gripper thereof |
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| CN107916640A (en) * | 2017-11-17 | 2018-04-17 | 徐工集团工程机械有限公司 | A kind of adjustable sweep machine sweep device |
| CN107916640B (en) * | 2017-11-17 | 2023-05-05 | 江苏徐工工程机械研究院有限公司 | Road sweeper cleaning device with adjustable |
| CN108068133A (en) * | 2017-12-08 | 2018-05-25 | 常州大学 | A kind of crucible special machine machinery claw with three fingers |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | Reducing clamping device |
| CN108128365A (en) * | 2017-12-23 | 2018-06-08 | 香港中文大学（深圳） | A kind of flexible cohesion device of high load |
| CN108128365B (en) * | 2017-12-23 | 2024-03-01 | 香港中文大学（深圳） | High-load flexible enclasping device |
| CN108274462A (en) * | 2018-02-06 | 2018-07-13 | 健芮智能科技（昆山）有限公司 | Robot gripper |
| CN108297121A (en) * | 2018-02-09 | 2018-07-20 | 佛山市顺德区瑞良塑料制品有限公司 | A kind of packing box conveying mechanical arm |
| CN108297121B (en) * | 2018-02-09 | 2020-08-14 | 佛山市顺德区瑞良塑料制品有限公司 | Packing carton conveying mechanical hand |
| CN108436953B (en) * | 2018-03-20 | 2021-08-03 | 河南工学院 | Mechanical clamping jaw for mechanical manufacturing |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
| CN108758204A (en) * | 2018-05-30 | 2018-11-06 | 温州奇思科技有限公司 | A kind of environment detector fixing device |
| CN108839045B (en) * | 2018-07-22 | 2021-11-19 | 浙江中嘉再生资源有限公司 | Mechanical fixture for recovery station of scrapping car |
| CN108839045A (en) * | 2018-07-22 | 2018-11-20 | 丁宏遂 | A kind of scrap car recycle bin mechanical clamp |
| CN109015712A (en) * | 2018-08-16 | 2018-12-18 | 东莞市凯勒帝数控科技有限公司 | A kind of multi-faceted clamping device of underwater robot |
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| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
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Application publication date: 20170926 |