CN107471232B - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN107471232B CN107471232B CN201710774569.7A CN201710774569A CN107471232B CN 107471232 B CN107471232 B CN 107471232B CN 201710774569 A CN201710774569 A CN 201710774569A CN 107471232 B CN107471232 B CN 107471232B
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- CN
- China
- Prior art keywords
- refers
- pawl
- refer
- fixed
- axial prong
- 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.)
- Expired - Fee Related
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 50
- 229910052742 iron Inorganic materials 0.000 claims abstract description 25
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 235000005121 Sorbus torminalis Nutrition 0.000 claims 2
- 244000152100 Sorbus torminalis Species 0.000 claims 2
- 241001237732 Microtia Species 0.000 claims 1
- 230000005307 ferromagnetism Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator, is related to field of machinery automation.Arm upper end fixed mounting plate, Telescopic positioning lever one end and the affixed other end of mounting plate and electromagnet are affixed, counterweight iron block lower surface is fixed with flexible feeler lever, counterweight iron block is fixed with four pairs of small ear plates, gadget pawl is referred to by four shortly claweds to be formed, every shortly clawed refers to that tail end is hinged with a pair of of small ear plate respectively, arm fixation has four pairs of big ear plates, big gripper is referred to by four root long pawls to be formed, every root long pawl, which refers to be referred to by axial prong and folded pawl and refer to, to be formed, every axial prong refers to that tail end is hinged with a pair of of big ear plate respectively, it is hinged on the outside of tail end that every axial prong refers to that apical lateral refers to a folding pawl respectively, every axial prong refers to that top inner side refers to that bolt is detachably fixed connection with corresponding folding pawl respectively, every axial prong, which refers to, is fixed with a pair of of connection otic placode, every shortly clawed refers to hinged with corresponding connection otic placode respectively.It can switch over use to big gripper and gadget pawl, and the scope of application is wider, and structure is simple, energy-saving practical.
Description
Technical field
The present invention relates to field of machinery automation, especially a kind of manipulator.
Background technique
In recent years, with the continuous development of industrial technology, manipulator is widely used, it can replace people
Onerous toil is carried out to realize the mechanization and automation of production, carries out operation under hostile environment instead of people, it can be with
The health of people is avoided to be on the hazard.But existing manipulator mostly structure is sufficiently complex, and components are excessively not only driven
When can waste of energy, and safeguard get up it is also very difficult.In addition, only one general gripper of existing manipulator, larger
Gripper inconvenience small volume object crawl, similarly, the lesser gripper inconvenient biggish object of volume again
Crawl lacks the function that can be switched over to big gripper and gadget pawl, causes inconvenience.
Summary of the invention
The purpose of the present invention is to provide a kind of manipulators, it, which can switch over big gripper with gadget pawl, makes
With the scope of application is wider, and structure is simple, energy-saving practical.
Realize that above-mentioned purpose, the present invention take following technical proposals: a kind of manipulator, including arm, Telescopic positioning lever, electricity
Magnet, counterweight iron block, flexible feeler lever, gadget pawl and big gripper, the arm are vertically arranged square tube, on arm
End is fixed with mounting plate, and center is from top to bottom disposed with Telescopic positioning lever, electromagnet and counterweight iron block, institute in arm
The Telescopic positioning lever one end and the mounting plate stated are affixed, the Telescopic positioning lever other end and affixed, the described electromagnetism of electromagnet
Iron is powered using external power supply, and the counterweight iron block upper surface is corresponding with electromagnet, counterweight iron block lower surface center
It is vertically fixed with flexible feeler lever, counterweight iron block side is square to be fixed with four pairs of small ear plates, and the gadget pawl is by four
Shortly clawed refers to composition, four shortly claweds refer to four pairs of small ear plates one-to-one correspondence, every shortly clawed refer to tail end respectively with it is right
A pair of of the small ear plate answered is hinged, and arm lateral wall lower end is square to be fixed with four pairs of big ear plates, and the big gripper is by four
Root long pawl refers to composition, and the four root long pawls refer to be corresponded with four pairs of big ear plates, and every root long pawl refers to be referred to by axial prong
And fold pawl and refer to that composition, axial prong described in every refer to that tail end is hinged with corresponding a pair of of big ear plate respectively, every axial prong refers to top
Outside refers on the outside of tail end that hingedly every axial prong refers to that top inner side is respectively fixed with a locating plate, often with a folding pawl respectively
A locating plate refers to corresponding folding pawl respectively is detachably fixed connection by bolt, and every axial prong refers to that medial surface is close
Apical position is respectively fixed with a pair of of connection otic placode, and connection otic placode described in four pairs and four shortly claweds refer to one-to-one correspondence, every short
Pawl refers to hinged with corresponding connection otic placode respectively close to apical position.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention can switch over use to big gripper and gadget pawl, small machine is can be used in the object of small volume
Big gripper can be used to grab for machinery claw crawl, the biggish object of volume, and the scope of application is wider；
2. the configuration of the present invention is simple, using electromagnetic principle, lesser electric current can make electromagnet firmly adsorb counterweight
Iron block, makes big gripper or gadget pawl keep stable seized condition, and energy-saving practical is easy to maintain.
Detailed description of the invention
Fig. 1 is that manipulator of the invention uses the overall structure axonometric drawing under gadget claw-like state；
Fig. 2 is that manipulator of the invention uses the overall structure axonometric drawing under big gripper state；
Fig. 3 is the structural schematic diagram of Telescopic positioning lever of the invention；
Fig. 4 is the structural schematic diagram of flexible feeler lever of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in the present invention
It states, it is clear that described embodiment is only a part of the embodiment of invention, instead of all the embodiments, based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
Specific embodiment 1: as shown in Fig. 1 ~ Fig. 4, the invention discloses a kind of manipulator, including it is arm 1, flexible fixed
Position bar 2, electromagnet 3, counterweight iron block 4, flexible feeler lever 5, gadget pawl and big gripper, the arm 1 are vertically arranged
Square tube, 1 upper end of arm is fixed with mounting plate 1-2, in arm 1 center be from top to bottom disposed with Telescopic positioning lever 2,
Electromagnet 3 and counterweight iron block 4, described 2 one end of Telescopic positioning lever and the mounting plate 1-2 are affixed, and Telescopic positioning lever 2 is another
Electromagnet 3 affixed with electromagnet 3, described is held to power using external power supply, 4 upper surface of counterweight iron block and electromagnet 3
Corresponding, 4 lower surface center of counterweight iron block is vertically fixed with flexible feeler lever 5, and 4 side of counterweight iron block is square to be fixed with
Four couples of small ear plate 4-1, the gadget pawl refer to that 6 form by four shortly claweds, and four shortly claweds refer to that 6 is small with described four pairs
Otic placode 4-1 is corresponded, and every shortly clawed refers to that 6 tail ends are hinged with corresponding a pair of of small ear plate 4-1 respectively, 1 lateral wall lower end of arm
Square to be fixed with four couples of big ear plate 1-1, the big gripper refers to that 7 form by four root long pawls, and the four root long pawls refer to 7
It being corresponded with four couples of big ear plate 1-1, every root long pawl refers to that 7 refer to that 7-1 and folding pawl refer to that 7-2 is formed by axial prong, every
The axial prong refers to that 7-1 tail end is hinged with corresponding a pair of of big ear plate 1-1 respectively, every axial prong refer to 7-1 apical lateral respectively with
A piece folding pawl refers on the outside of 7-2 tail end that hingedly every axial prong refers to that 7-1 top inner side is respectively fixed with a locating plate 7-3, each
The locating plate 7-3 refers to that 7-2 is detachably fixed connection by bolt with corresponding folding pawl respectively, and every axial prong refers in 7-1
Side is respectively fixed with a pair of of connection otic placode 7-5 close to apical position, and connection otic placode 7-5 described in four couples and four shortly claweds refer to 6
It corresponds, every shortly clawed refers to that 6 is hinged with corresponding connection otic placode 7-5 respectively close to apical position.
Specific embodiment 2: as shown in Figure 1, 2, 3, present embodiment be specific embodiment one is made it is further
Illustrate, the Telescopic positioning lever 2 include riffled tube 2-1 and screw rod 2-2, described one end riffled tube 2-1 with it is described
Mounting plate 1-2 it is affixed, the screw rod 2-2 is engaged in riffled tube 2-1, and the outer end screw rod 2-2 and the electromagnet 3 are solid
It connects.
Specific embodiment 3: as shown in figure 4, present embodiment is made furtherly to specific embodiment one
Bright, the flexible feeler lever 5 includes that the outer tube 5-2 being mutually socketed and interior bar 5-3, described one end outer tube 5-2 are matched with described
4 lower surface center of weight iron block is affixed, and outer tube 5-2 tube wall is radially equipped with a tapped through hole, the tapped through hole
Jackscrew 5-4, outer tube 5-2 and interior bar 5-3 is inside screwed with to be fastenedly connected by the jackscrew 5-4.
Specific embodiment 4: present embodiment is made furtherly to specific embodiment three as shown in Fig. 1,4
Bright, the outer end interior bar 5-3 is horizontally fixed with contact chip 5-1.
Specific embodiment 5: as shown in Figure 1, 2, present embodiment is made furtherly to specific embodiment one
Bright, four shortly claweds refer to that 6 tops are obliquely installed into one 6-1 of pawl point, and each one 6-1 of pawl point is equipped with anti-skidding
Line.
Specific embodiment 6: as shown in Figure 1, 2, present embodiment is made furtherly to specific embodiment one
Bright, four folding pawls refer to that the top 7-2 is obliquely installed into two 7-4 of pawl point, and each two 7-4 of pawl point is equipped with anti-
Sliding line.
Specific embodiment 7: as shown in Figure 1, 2, present embodiment is to specific embodiment five or specific embodiment
Six further explanations made, described four pawl points, one 6-1 or four two 7-4 of pawl point refer to 6 with corresponding shortly clawed or fold pawl
Refer to that the inclination angle between 7-2 is 90 ° ~ 135 °.
Specific embodiment 8: as shown in Figure 1, 2, present embodiment is made furtherly to specific embodiment one
Bright, described when four folding pawls refer to that 7-2 is in disassembly status with corresponding locating plate 7-3, four folding pawls refer to
7-2 refers to that 7-1 is connected by magnet magnetic absorption with corresponding axial prong respectively.
The present invention is mountable in the external displacement driving device of pipelining, suitable for grabbing for a large amount of same objects
It taking, in using the present invention, an object sample to be grabbed first is taken to be placed below the present invention, electromagnet 3 is in off-position,
It is smaller such as to grab object sample volume, keeps four folding pawls to refer to and is in folded state by 7-2 (magnetic absorption refers in corresponding axial prong
On 7-1), it manually controls four shortly claweds and refers to that 6 make it hold the object sample to be grabbed, while adjusting flexible feeler lever 5 to suitable length,
Rotation electromagnet 3 makes it be in contact with counterweight iron block 4, and (when electromagnet 3 rotates, screw rod 2-2 is rotated in riffled tube 2-1, can
The height of regulating magnet 3), operation can be started after debugging, when the present invention is downward in the control of external displacement driving device
When movement (electromagnet 3 is in off-position at this time, and gadget pawl keeps open configuration under 4 gravity of counterweight iron block), stretch
Contact chip 5-1 on contracting feeler lever 5 is in contact with object to be grabbed, and control electromagnet 3 is in energized state, supports counterweight iron block 4
It moves upwards, is firmly adsorbed when counterweight iron block 4 is close to electromagnet 3 by electromagnet 3, due to passing through object sample to be grabbed before
Debugging was carried out, identical object to be grabbed can equally be held, then carry out control transfer by external displacement driving device；Such as
Object volume to be grabbed is larger, and gadget pawl is difficult to grab, be unfolded four folding pawls refer to 7-2 and by bolt by its with it is corresponding
Locating plate 7-3 is affixed, i.e., deployable big gripper is carried out using identical when step is with using gadget pawl.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in the form of others dress body.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that by all in the meaning and scope for the condition of equivalent for falling in claim
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (8)
1. a kind of manipulator, it is characterised in that: including arm (1), Telescopic positioning lever (2), electromagnet (3), counterweight iron block (4),
Flexible feeler lever (5), gadget pawl and big gripper, the arm (1) are vertically arranged square tube, and arm (1) upper end is solid
Surely have mounting plate (1-2), arm (1) interior center be from top to bottom disposed with Telescopic positioning lever (2), electromagnet (3) and
Counterweight iron block (4), the Telescopic positioning lever (2) one end and the mounting plate (1-2) are affixed, and Telescopic positioning lever (2) is another
Electromagnet (3) affixed with electromagnet (3), described is held to power using external power supply, the counterweight iron block (4) upper surface and electricity
Magnet (3) is corresponding, and counterweight iron block (4) lower surface center is vertically fixed with flexible feeler lever (5), counterweight iron block (4) side
Square to be fixed with four pairs of small ear plates (4-1), the gadget pawl refers to that (6) form by four shortly claweds, described four short
Pawl refers to that (6) and four pairs of small ear plates (4-1) correspond, every shortly clawed refer to (6) tail end respectively with corresponding a pair of of microtia
Hingedly, arm (1) lateral wall lower end is square to be fixed with four pairs of big ear plates (1-1) to plate (4-1), and the big gripper is by four
Root long pawl refers to that (7) form, and the four root long pawls refer to that (7) and four pairs of big ear plates (1-1) correspond, and every root long pawl refers to
(7) referred to (7-1) by axial prong and folded pawl and refer to that (7-2) is formed, axial prong described in every refers to (7-1) tail end respectively with corresponding one
Hingedly to big ear plate (1-1), it is hinged on the outside of (7-2) tail end to refer to that (7-1) apical lateral refers to a folding pawl respectively for every axial prong,
Every axial prong refers to that (7-1) top inner side is respectively fixed with a locating plate (7-3), the locating plate (7-3) respectively with
Corresponding folding pawl refers to that (7-2) is detachably fixed connection by bolt, and every axial prong refers to (7-1) medial surface close to apical position point
It not being fixed with a pair of of connection otic placode (7-5), connection otic placode (7-5) described in four pairs and four shortly claweds refer to that (6) correspond, every
Shortly clawed refers to that (6) are hinged with corresponding connection otic placode (7-5) respectively close to apical position.
2. a kind of manipulator according to claim 1, it is characterised in that: the Telescopic positioning lever (2) includes internal screw thread
Manage (2-1) and screw rod (2-2), riffled tube one end (2-1) screw rod affixed, described with the mounting plate (1-2)
(2-2) is engaged in riffled tube (2-1), and the screw rod outer end (2-2) and the electromagnet (3) are affixed.
3. a kind of manipulator according to claim 1, it is characterised in that: the flexible feeler lever (5) includes mutually socket
Outer tube (5-2) and interior bar (5-3), outer tube one end (5-2) and counterweight iron block (4) the lower surface center it is solid
It connects, outer tube (5-2) tube wall is radially equipped with a tapped through hole, and jackscrew (5-4), outer tube are screwed in the tapped through hole
(5-2) is fastenedly connected with interior bar (5-3) by the jackscrew (5-4).
4. a kind of manipulator according to claim 3, it is characterised in that: described outer end interior bar (5-3) is horizontally fixed with
Contact chip (5-1).
5. a kind of manipulator according to claim 1, it is characterised in that: four shortly claweds refer to that (6) top tilts
It is arranged to pawl point one (6-1), each pawl point one (6-1) is equipped with anti-skid chequer.
6. a kind of manipulator according to claim 5, it is characterised in that: four folding pawls refer to that the top (7-2) is equal
It is obliquely installed into pawl point two (7-4), each pawl point two (7-4) is equipped with anti-skid chequer.
7. a kind of manipulator according to claim 6, it is characterised in that: four pawl points one (6-1) or four pawls
Two (7-4) of point, which refer to (6) with corresponding shortly clawed or fold pawl, refers to that the inclination angle between (7-2) is 90 ° ~ 135 °.
8. a kind of manipulator according to claim 1, it is characterised in that: when four folding pawls refer to (7-2) with it is right
When the locating plate (7-3) answered is in disassembly status, four folding pawls refer to that (7-2) refers to that (7-1) passes through magnetic with corresponding axial prong respectively
Ferromagnetism absorption connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710774569.7A CN107471232B (en) | 2017-08-31 | 2017-08-31 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710774569.7A CN107471232B (en) | 2017-08-31 | 2017-08-31 | A kind of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107471232A CN107471232A (en) | 2017-12-15 |
| CN107471232B true CN107471232B (en) | 2019-07-16 |
Family
ID=60603289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710774569.7A Expired - Fee Related CN107471232B (en) | 2017-08-31 | 2017-08-31 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107471232B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972054B (en) * | 2018-01-18 | 2024-03-29 | 浙江梵煜电子科技有限公司 | Manipulator for assembling and disassembling standard liquid targets of radioactive sources |
| CN108312165A (en) * | 2018-03-26 | 2018-07-24 | 福建工程学院 | A kind of nut class work piece holder of inside and outside loop self-adaptive gripping |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0858981A (en) * | 1994-08-24 | 1996-03-05 | Mitsubishi Materials Corp | Article conveying device |
| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN2645855Y (en) * | 2003-08-20 | 2004-10-06 | 林益宝 | Porthole spring stripper |
| CN204546552U (en) * | 2015-04-09 | 2015-08-12 | 安徽理工大学 | A kind of manipulator |
| US9422781B1 (en) * | 2014-10-23 | 2016-08-23 | Lone Star Magnetics, LLC | Magnetic tool and method |
| CN206242088U (en) * | 2016-12-15 | 2017-06-13 | 中国石油大学(华东) | One kind is scalable to take thing mechanical gripper device |
| CN106891357A (en) * | 2017-03-23 | 2017-06-27 | 芜湖瑞德机械科技有限公司 | Suitable for the clamping device of industrial robot |
| CN206287159U (en) * | 2016-12-23 | 2017-06-30 | 乔秀芸 | Manipulator |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
-
2017
- 2017-08-31 CN CN201710774569.7A patent/CN107471232B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0858981A (en) * | 1994-08-24 | 1996-03-05 | Mitsubishi Materials Corp | Article conveying device |
| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN2645855Y (en) * | 2003-08-20 | 2004-10-06 | 林益宝 | Porthole spring stripper |
| US9422781B1 (en) * | 2014-10-23 | 2016-08-23 | Lone Star Magnetics, LLC | Magnetic tool and method |
| CN204546552U (en) * | 2015-04-09 | 2015-08-12 | 安徽理工大学 | A kind of manipulator |
| CN206242088U (en) * | 2016-12-15 | 2017-06-13 | 中国石油大学(华东) | One kind is scalable to take thing mechanical gripper device |
| CN206287159U (en) * | 2016-12-23 | 2017-06-30 | 乔秀芸 | Manipulator |
| CN106891357A (en) * | 2017-03-23 | 2017-06-27 | 芜湖瑞德机械科技有限公司 | Suitable for the clamping device of industrial robot |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
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| Publication number | Publication date |
|---|---|
| CN107471232A (en) | 2017-12-15 |
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