CN107378931A - Removable high stable Simple manipulator - Google Patents
Removable high stable Simple manipulator Download PDFInfo
- Publication number
- CN107378931A CN107378931A CN201710468079.4A CN201710468079A CN107378931A CN 107378931 A CN107378931 A CN 107378931A CN 201710468079 A CN201710468079 A CN 201710468079A CN 107378931 A CN107378931 A CN 107378931A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- telescopic cylinder
- high stable
- removable high
- simple manipulator
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of removable high stable Simple manipulator, and telescopic cylinder is embedded to be fixed on inside mechanical arm, and telescopic cylinder expansion link movable end extends along mechanical arm length direction and is connected with being placed in gripper outside the mechanical arm other end；Gripper includes at least two pawl bars, and two pawl bar roots are respectively hinged on telescopic cylinder expansion link movable end, when middle part is connected by spring so that proper telescopic cylinder shrinks, two pawl bar root retraction mechanical arm other ends and head is close to each other；When telescopic cylinder stretches, two pawl bar roots stretch out the mechanical arm other end and head is located remotely from each other；Stage casing is provided with counterweight chamber inside support frame, and counterweight chamber sidewall is offered for injecting water or sand hand-hole, and bottom wall offers discharge port, and hand-hole and discharge port pass through seal cap sealing.Simple in construction, mobile convenient in carrying, stability are high, can fast clamp and transport many places article, time saving and energy saving, significantly reduce operator's labor intensity.
Description
Technical field
The present invention relates to the equipment of industrial product, in particular it relates to a kind of removable high stable Simple manipulator.
Background technology
In field of industrial production, production process or the process such as following process, packaging can be all used to various each
The instrument or assembly of sample.For example, in working of plastics process for making, a product is often manufactured, operator can need
The operation for picking and placeing working of plastics is repeated once, and so on can repeatedly cause the physical fatigue of operating personnel, speed reduces gradually, shadow
The production efficiency of product is rung.Meanwhile some processing assemblies or machining tool are placed on from operating personnel remote position,
And operating personnel need operation at a distance when taking, waste time and energy.
Therefore, operating personnel are usually by some aids, such as long rod of ladder, buckle etc..But these instruments
Function is single, and structure is lack of standardization, it is difficult to fast removal or movement, use action it is more clumsy on the contrary, run counter to desire.And
And the stability of these instruments in use is also very poor, easily cause the generation of industrial accident.
Therefore, urgent need is simple in construction, easy to use, stability is good, and can fast clamp and transport the letter of article
Easy manipulator.
The content of the invention
It is an object of the invention to provide a kind of removable high stable Simple manipulator, the removable high stable Simple manipulator
Simple in construction, mobile convenient in carrying, stability are high, can fast clamp and transport many places article, time saving and energy saving, significantly reduce
The labor intensity of operator.
To achieve these goals, the invention provides a kind of removable high stable Simple manipulator, this is removable high steady
Determining Simple manipulator includes pedestal, extension arm, mechanical arm, telescopic cylinder, gripper and movable supporting frame；
One end of extension arm is removably fixed in the top of pedestal, and the other end is set in the outside of mechanical arm one end, and
And the junction of extension arm and mechanical arm is fixed by fastening bolt；
Telescopic cylinder is embedded to be fixed on inside mechanical arm, the length direction of the expansion link movable end of telescopic cylinder along mechanical arm
Extend and the gripper of the outside with being placed in the mechanical arm other end is connected；
Gripper includes at least two pawl bars, and the root of two pawl bars is respectively hinged at the expansion link of telescopic cylinder
On movable end, middle part by spring connect so that proper telescopic cylinder shrink when, the root retraction mechanical arm of two pawl bars it is another
One end and head is close to each other；When telescopic cylinder stretches, the other end and head phase of mechanical arm are stretched out in the root of two pawl bars
It is mutually remote；
Movable supporting frame includes the support frame and the shifting roller for being arranged on support frame bottom, movement installed in base bottom
Roller is from lockwheel；Wherein,
Stage casing is provided with counterweight chamber inside support frame, and the side wall of counterweight chamber offers the injection for injecting water or sand
Hole, bottom wall offer discharge port, and hand-hole and discharge port pass through seal cap sealing.
Preferably, pedestal includes base and the lifting platform being arranged on base, and one end of extension arm is removably fixed in
The top of lifting platform.
Preferably, the top of lifting platform is provided with rotating shaft, and one end of extension arm is removably fixed in rotating shaft and rotating shaft energy
Extension arm is enough driven around the center axis thereof of lifting platform.
Preferably, lifting platform is the multi-stage cylinder for being capable of multi-stage expansion.
Preferably, multi-stage cylinder is removably fixed in rotary cylinder top for one end of rotary cylinder and extension arm.
Preferably, one end of extension arm is in being hinged on rotary cylinder top in perpendicular, rotary cylinder with extension arm
Section is connected with retractable support lever.
Preferably, two pawl bars are the V-arrangement of stage casing outwardly convex, and V-arrangement angle is 135 °.
Preferably, rubber clamp bar is respectively equipped with the head contact of two pawl bars.
Preferably, the surface of rubber clamp bar is formed with concavo-convex sawtooth.
According to above-mentioned technical proposal, one end of extension arm is removably fixed in the top of pedestal, the other end by the present invention
The outside of mechanical arm one end is set in, and is fixed by fastening bolt；So, by unclamping and rotational lock fastening bolt again
Extension arm and the total length after mechanical arm assembling can be adjusted, in order to neatly adjust the pickup model of manipulator as needed
Enclose.It is fixed on telescopic cylinder is embedded again inside mechanical arm, the length direction of the expansion link movable end of telescopic cylinder along mechanical arm
Extend and the gripper of the outside with being placed in the mechanical arm other end is connected；And gripper includes at least two pawl bars, and two
On the movable end for the expansion link that the root of root pawl bar is respectively hinged at telescopic cylinder, middle part is connected by spring, so when flexible
When cylinder shrinks, the root of two pawl bars and the wall interaction of mechanical arm and the other end of retraction mechanical arm, and the head of the two
Portion is close to each other, can so realize crawl article；Likewise, when telescopic cylinder stretches, the spring of extruding is in order to recover former
The outside applying power of shape causes the root of two pawl bars to stretch out the other end of mechanical arm, and the head of the two is located remotely from each other, so
The article for unclamping crawl can be realized.Meanwhile movable supporting frame includes being arranged on the support frame of base bottom and is arranged on support
The shifting roller of frame bottom, shifting roller selection are from lockwheel, in this manner it is possible to be needed neatly, easily, soon according to using
The riding position of the manipulator is adjusted promptly.And stage casing is provided with counterweight chamber inside support frame, the side wall of counterweight chamber offers
For injecting the hand-hole of water or sand, bottom wall offers discharge port, and hand-hole and discharge port pass through seal cap sealing.Work as movement
After being determined to required position, closure is opened, water or sand are added into counterweight chamber, reduces the weight of whole manipulator
The heart so that its stability is more preferably.When manipulator, which is used herein as end, to be needed to re-move, closure is opened by counterweight chamber
Original water or sand exclude, now go to move again whole manipulator would not be overweight and waste strength.As can be seen here, this is removable
Dynamic high stable Simple manipulator is simple in construction, movement convenient in carrying, stability height, can fast clamp and transport many places article,
It is time saving and energy saving, significantly reduce the labor intensity of operator.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation of the removable high stable Simple manipulator in a kind of embodiment provided by the invention
Figure.
Description of reference numerals
1- extension arm 2- mechanical arms
3- telescopic cylinder 4- fastening bolts
5- pawl bar 6- bases
7- multi-stage cylinder 8- rubber clamp bars
9- spring 10- support frames
11- shifting roller 12- retractable support levers
13- counterweight chambers
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In the present invention, in the case where not making opposite explanation, the noun of locality included in term such as " top, bottom, inside and outside "
Only represent orientation of the term under normal service condition, or be skilled artisan understands that be commonly called as, and be not construed as pair
The limitation of the term.
Referring to Fig. 1, the present invention provides a kind of removable high stable Simple manipulator, the removable high stable Simple manipulator
Including pedestal, extension arm 1, mechanical arm 2, telescopic cylinder 3, gripper and movable supporting frame；
One end of extension arm 1 is removably fixed in the top of pedestal, and the other end is set in the outside of the one end of mechanical arm 2,
Also, the junction of extension arm 1 and mechanical arm 2 is fixed by fastening bolt 4；
Telescopic cylinder 3 is embedded to be fixed on inside mechanical arm 2, the length of the expansion link movable end of telescopic cylinder 3 along mechanical arm 2
Direction extends and the gripper of the outside with being placed in the other end of mechanical arm 2 is connected；
Gripper includes at least two pawl bars 5, and the root of two pawl bars 5 is respectively hinged at the flexible of telescopic cylinder 3
On the movable end of bar, when middle part is connected by spring 9 so that proper telescopic cylinder 3 shrinks, the root retraction machinery of two pawl bars 5
The other end of arm 2 and head is close to each other；When telescopic cylinder 3 stretches, the another of mechanical arm 2 is stretched out in the root of two pawl bars 5
Hold and head is located remotely from each other；
Movable supporting frame includes the support frame 10 for being arranged on base bottom and the shifting roller for being arranged on the bottom of support frame 10
11, shifting roller 11 is from lockwheel；Wherein,
The inside stage casing of support frame 10 is provided with counterweight chamber 13, and the side wall of counterweight chamber 13 is offered for injecting water or sand
Hand-hole, bottom wall offer discharge port, and hand-hole and discharge port pass through seal cap sealing.
Pass through above-mentioned technical proposal, one end of extension arm 1 is removably fixed in the top of pedestal, and the other end is set in
The outside of the one end of mechanical arm 2, and fixed by fastening bolt 4；So, by unclamping and again rotational lock fastening bolt 4 can
To adjust the total length after extension arm 1 assembles with mechanical arm 2, in order to neatly adjust the pickup model of manipulator as needed
Enclose.It is fixed on telescopic cylinder 3 is embedded again inside mechanical arm 2, the length of the expansion link movable end of telescopic cylinder 3 along mechanical arm 2
Direction extends and the gripper of the outside with being placed in the other end of mechanical arm 2 is connected；And gripper includes at least two pawl bars 5,
And the root of two pawl bars 5 is respectively hinged on the movable end of the expansion link of telescopic cylinder 3, middle part is connected by spring 9, this
Sample when telescopic cylinder 3 shrinks, the wall interaction of the roots of two pawl bars 5 and mechanical arm 2 and retraction mechanical arm 2 it is another
End, and the head of the two is close to each other, can so realize crawl article；Likewise, when telescopic cylinder 3 stretches, extruding
Spring 9 make it that the other end of mechanical arm 2 is stretched out in the root of two pawl bars 5 for the outside applying power that restores to the original state, and the head of the two
Portion is located remotely from each other, and such can realizes the article for unclamping crawl.Meanwhile movable supporting frame includes the branch installed in base bottom
Support 10 and the shifting roller 11 for being arranged on the bottom of support frame 10, the selection of shifting roller 11 be from lockwheel, in this manner it is possible to according to
The riding position of the manipulator neatly, easily, is quickly adjusted using needs.And the inside stage casing of support frame 10 is provided with counterweight
Chamber 13, the side wall of counterweight chamber 13 offer the hand-hole for injecting water or sand, and bottom wall offers discharge port, hand-hole and
Discharge port passes through seal cap sealing.After the position required for being moved to determines, closure is opened, is added into counterweight chamber 13
Add water or sand, reduce the center of gravity of whole manipulator so that its stability is more preferably.When manipulator is used herein as terminating to need again
When mobile, open closure and exclude original water or sand in counterweight chamber 13, now go to move whole manipulator just not again
Meeting is overweight and wastes strength.As can be seen here, the removable high stable Simple manipulator is simple in construction, mobile convenient in carrying, stably
Property it is high, can fast clamp and transport many places article, it is time saving and energy saving, significantly reduce the labor intensity of operator.
In order to further expand the range size that the Simple manipulator can touch in perpendicular, it is suitable to improve it
With property, it is preferable that pedestal includes base 6 and the lifting platform being arranged on base 6, and one end of extension arm 1 is removably fixed in
The top of lifting platform.
Likewise, in order to further expand the range size that the Simple manipulator can touch in horizontal plane,
Improve its applicability, it is preferable that the top of lifting platform is provided with rotating shaft, one end of extension arm 1 be removably fixed in rotating shaft and
Rotating shaft can drive extension arm 1 around the center axis thereof of lifting platform.
In actual production process, lifting platform can continually flexible switching up and down, and adding as much as possible in a short time
The lifting speed of fast lifting platform can significantly reduce the production and processing time, the production cycle of preciousness be saved, in order to reality
Existing above-mentioned technique effect, preferably lifting platform are the multi-stage cylinder 7 for being capable of multi-stage expansion.
So, the pickup position of manipulator is changed in order to conveniently and efficiently drive extension arm 1 to turn to, it is preferable that
Multi-stage cylinder 7 is removably fixed in rotary cylinder top for one end of rotary cylinder and extension arm 1.
In addition, the adjustable range of extension arm 1 is limited, and in order to further increase in the Simple manipulator running
Flexibility ratio, while ensureing the stability maintenance of extension arm 1 before and after regulation, it is preferable that one end of extension arm 1 is in perpendicular
Rotary cylinder top is inside hinged on, rotary cylinder is connected with retractable support lever 12 with the stage casing of extension arm 1.
In the present embodiment, preferably two pawl bars 5 are the V-arrangement of stage casing outwardly convex, and V-arrangement angle is 135 °, two
Rubber clamp bar 8 is respectively equipped with the head contact of root pawl bar 5, meanwhile, the surface of rubber clamp bar 8 is formed with concavo-convex sawtooth.
Two pawl bars 5 can be increased by being so designed that increases extruding force and frictional force when clamping object to its surface, effectively
Preventing claw bar 5 come off after catching article and caused by article damage, save production cost from another point of view, improve production effect
Rate.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (9)
1. a kind of removable high stable Simple manipulator, it is characterised in that the removable high stable Simple manipulator includes base
Seat, extension arm (1), mechanical arm (2), telescopic cylinder (3), gripper and movable supporting frame；
One end of the extension arm (1) is removably fixed in the top of the pedestal, and the other end is set in the mechanical arm (2)
The outside of one end, also, the junction of the extension arm (1) and mechanical arm (2) is fixed by fastening bolt (4)；
The embedded mechanical arm (2) that is fixed on of the telescopic cylinder (3) is internal, the expansion link movable end of the telescopic cylinder (3)
Along the length direction extension of the mechanical arm (2) and the gripper phase of the outside with being placed in the mechanical arm (2) other end
Connection；
The gripper includes at least two pawl bars (5), and the root of two pawl bars (5) is respectively hinged at described stretch
On the movable end of the expansion link of cylinder (3), when middle part is connected by spring (9) so that the proper telescopic cylinder (3) shrinks, institute
State the other end of mechanical arm (2) described in the root retraction of two pawl bars (5) and head is close to each other；When the telescopic cylinder (3)
During stretching, extension, the root of two pawl bars (5) stretches out the other end of the mechanical arm (2) and head is located remotely from each other；
The movable supporting frame includes being arranged on the support frame (10) of the base bottom and is arranged on support frame as described above (10) bottom
The shifting roller (11) at end, the shifting roller (11) are from lockwheel；Wherein,
The internal stage casing of support frame as described above (10) is provided with counterweight chamber (13), and the side wall of the counterweight chamber (13) is offered for noting
Enter the hand-hole of water or sand, bottom wall offers discharge port, and the hand-hole and discharge port pass through seal cap sealing.
2. removable high stable Simple manipulator according to claim 1, it is characterised in that the pedestal includes base
(6) and the lifting platform that is arranged on the base (6), one end of the extension arm (1) is removably fixed in the lifting platform
Top.
3. removable high stable Simple manipulator according to claim 2, it is characterised in that the top of the lifting platform is set
There is rotating shaft, one end of the extension arm (1) is removably fixed in the rotating shaft and the rotating shaft can drive the extension
Center axis thereof of the arm (1) around the lifting platform.
4. removable high stable Simple manipulator according to claim 2, it is characterised in that the lifting platform is more than enough for energy
The flexible multi-stage cylinder (7) of level.
5. removable high stable Simple manipulator according to claim 4, it is characterised in that the multi-stage cylinder (7) is
One end of rotary cylinder and the extension arm (1) is removably fixed in the rotary cylinder top.
6. removable high stable Simple manipulator according to claim 5, it is characterised in that the one of the extension arm (1)
Hold in being hinged on the rotary cylinder top in perpendicular, the rotary cylinder is connected with scalable with extension arm (1) stage casing
Support bar (12).
7. removable high stable Simple manipulator according to claim 1, it is characterised in that two pawl bars (5) are
The V-arrangement of stage casing outwardly convex, and V-arrangement angle is 135 °.
8. removable high stable Simple manipulator according to claim 7, it is characterised in that two pawl bars (5)
Rubber clamp bar (8) is respectively equipped with head contact.
9. removable high stable Simple manipulator according to claim 8, it is characterised in that the rubber clamp bar (8)
Surface is formed with concavo-convex sawtooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710468079.4A CN107378931A (en) | 2017-06-20 | 2017-06-20 | Removable high stable Simple manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710468079.4A CN107378931A (en) | 2017-06-20 | 2017-06-20 | Removable high stable Simple manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378931A true CN107378931A (en) | 2017-11-24 |
Family
ID=60332378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710468079.4A Pending CN107378931A (en) | 2017-06-20 | 2017-06-20 | Removable high stable Simple manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN107378931A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792660A (en) * | 2017-11-27 | 2018-03-13 | 江西金泰医药包装材料有限责任公司 | A kind of eyedrops bottle production gripping transmission mechanism |
| CN108312246A (en) * | 2018-03-23 | 2018-07-24 | 剑河县荣达木业有限公司 | A kind of timber processing material clamping device |
| CN108674963A (en) * | 2018-05-20 | 2018-10-19 | 佛山市高芯科技服务有限公司 | A kind of New-energy electric vehicle Production of bearing robot |
| CN109051718A (en) * | 2018-08-30 | 2018-12-21 | 南京禹智智能科技有限公司 | A kind of industrial production discharging robot |
| CN110253433A (en) * | 2019-06-26 | 2019-09-20 | 安徽合力股份有限公司合肥铸锻厂 | A kind of casting is with grinding sample machine |
| CN110379754A (en) * | 2019-07-05 | 2019-10-25 | 上海提牛机电设备有限公司 | A kind of cylinder combined mechanism of lifting and translation |
| CN112061764A (en) * | 2019-12-20 | 2020-12-11 | 王永超 | Rigid pipe fitting clamping and feeding device adaptable to different pipeline shapes |
| CN113426844A (en) * | 2021-05-10 | 2021-09-24 | 安徽振兴拉丝模有限公司 | Full-automatic sleeve embedding system for heating hard alloy wire-drawing die blank |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792660A (en) * | 2017-11-27 | 2018-03-13 | 江西金泰医药包装材料有限责任公司 | A kind of eyedrops bottle production gripping transmission mechanism |
| CN108312246A (en) * | 2018-03-23 | 2018-07-24 | 剑河县荣达木业有限公司 | A kind of timber processing material clamping device |
| CN108674963A (en) * | 2018-05-20 | 2018-10-19 | 佛山市高芯科技服务有限公司 | A kind of New-energy electric vehicle Production of bearing robot |
| CN109051718A (en) * | 2018-08-30 | 2018-12-21 | 南京禹智智能科技有限公司 | A kind of industrial production discharging robot |
| CN110253433A (en) * | 2019-06-26 | 2019-09-20 | 安徽合力股份有限公司合肥铸锻厂 | A kind of casting is with grinding sample machine |
| CN110379754A (en) * | 2019-07-05 | 2019-10-25 | 上海提牛机电设备有限公司 | A kind of cylinder combined mechanism of lifting and translation |
| CN112061764A (en) * | 2019-12-20 | 2020-12-11 | 王永超 | Rigid pipe fitting clamping and feeding device adaptable to different pipeline shapes |
| CN113426844A (en) * | 2021-05-10 | 2021-09-24 | 安徽振兴拉丝模有限公司 | Full-automatic sleeve embedding system for heating hard alloy wire-drawing die blank |
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Application publication date: 20171124 |