CN107803827A - A kind of manipulator fixture and double machinery tong - Google Patents
A kind of manipulator fixture and double machinery tong Download PDFInfo
- Publication number
- CN107803827A CN107803827A CN201711194581.7A CN201711194581A CN107803827A CN 107803827 A CN107803827 A CN 107803827A CN 201711194581 A CN201711194581 A CN 201711194581A CN 107803827 A CN107803827 A CN 107803827A
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- China
- Prior art keywords
- pedestal
- manipulator
- manipulator fixture
- plate
- groove
- 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.)
- Granted
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 66
- 238000013519 translation Methods 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 239000000463 material Substances 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Abstract
A kind of double machinery tong, including base (18), translation motor (19) and two manipulator fixtures, base (18) is provided with line slideway, translation motor (19) is arranged on base (18) bottom, and gear (20) is provided with its universal driving shaft；Two manipulator fixtures are buckled on line slideway and respectively by the rack (8) of pedestal (1) side by sliding block are engaged with gear (20) respectively, and the second cover plate (28) cover is covered above two manipulator fixtures.The present invention is by setting double tong, instead of artificial, use manpower and material resources sparingly, improves homework precision and production efficiency.
Description
Technical field
The invention belongs to mechanical manufacturing field, more particularly to a kind of manipulator fixture applied to robot automation's production
And double machinery tong.
Background technology
With the proposition of industry 4.0, and the popularization of industrial robot application, conventional plant is also badly in need of carrying out automation changing
Make.Still based on manual production, supplemented by automatic production line, factory of Geng You nuclear families is by hand entirely for China Partial factory at present
Production, on the one hand it is difficult to meet the production requirement increasingly accelerated, is on the other hand also difficult to meet that client wants for workpiece quality
Ask, therefore many manufacturers meet modern production demand there is an urgent need to improve the automatization level of factory.At present for factory
Automatic improving, industrial production is mainly engaged in for people with robot, by Industry Control come overall arrangement, can not only solved
Put labour, and can the uninterrupted operation of twenty four hours at high temperature under high pressure, improve the production efficiency of factory, thus
The welcome of enterprise is arrived.However, for different production lines, it is necessary to design different manipulator fixtures to meet to automate need
Ask.
The content of the invention
For problem above, it is an object of the invention to provide a kind of manipulator fixture and double machinery tong so that
Robot can capture object during automated production, and be designed by double, improve operating efficiency.
To achieve the above object, the present invention takes following technical scheme.According to a kind of manipulator fixture proposed by the present invention,
Including pedestal 1, motor 2, the oblique wedge 4 of clamp 3, two, motor 2 is arranged in pedestal 1, and its universal driving shaft is connected with leading screw 7, leading screw
Nut 701 is connected with oblique wedge 4；The beveled end of the tiltedly wedge 4 abuts the inclined plane of the bottom of clamp 3, and is located at the bottom of clamp 3
In the angle of composition；Clamp 3 is articulated in the front portion of pedestal 1.
To achieve the above object, the present invention also takes following technical measures.
The clamp 3 includes a pair of tong arms 301 of elastic connection, and two tong arms 301 are oppositely arranged and the underarm structure of the two
Into the angle for accommodating the oblique beveled end of wedge 4；Each tong arm 301 is articulated in the front portion of pedestal 1 by rotating shaft 6 respectively, and its underarm is located at
In pedestal 1, medial surface is the inclined plane matched with the oblique beveled end of wedge 4, and its upper arm protrudes from pedestal 1.
The medial surface of the upper arm of tong arm 301 is provided with the first venthole 13, and the first venthole 13 passes through soft air pipe 131 and base
Gas-tpe fitting 12 set by the top of seat 1 connects；The pedestal 1 is provided with the sealing flange 132 being sleeved on soft air pipe 131.
The top of pedestal 1 is provided with groove 101, and the first travel switch 2201 is provided with groove 101；Oblique wedge rearward
4 tops are provided with collision block 401, the contacts mates of the travel switch 2201 of collision block 401 and first.
The side of pedestal 1 is provided with rack 8, the stopper slot 9 positioned at the lower section of rack 8, and opposite side is provided with the first groove 10, peace
The first sliding block 16 being located in the first groove 10, its bottom is provided with the second groove 11, second be installed in the second groove 10 is slided
Block 17.
The top of pedestal 1 is additionally provided with the triangle angle 29. of projection
To achieve the above object, the present invention also takes following technical scheme.According to a kind of double machine proposed by the present invention
Tool tong, including base 18, translation motor 19 and two manipulator fixtures, base 18 are provided with line slideway, translation motor 19
Installed in the bottom of base 18, gear 20 is installed on its universal driving shaft；Two manipulator fixtures are buckled in straight line by sliding block respectively
Engaged on guide rail and respectively by the rack 8 of the side of pedestal 1 with gear 20, the second cover plate 28 cover is covered on two manipulator fixtures
Side.
To achieve the above object, the present invention also takes following technical measures.
The base 18 is in mountain font, has bottom plate 1801, the baffle plate 1802 positioned at the rear end of bottom plate 1801, positioned at bottom plate
1803, two guide plates 1804 of driving plate on 1801 tops, driving plate 1803 is between two guide plates 1804；
The medial surface of each guide plate 1804 is provided with first straight line guide rail 1805, and the bottom plate 1801 is second straight provided with two
Line guide rail 1806, two second straight line guide rails 1806 are located at the both sides of driving plate 1803 respectively；The side of manipulator fixture pedestal 1
First sliding block 16 in face is buckled on first straight line guide rail 1805, and the second sliding block 17 of bottom is buckled in second straight line guide rail 1806
On；
The middle part of driving plate 1803 is provided with gear 20, and its end is provided with limited block 21；The both sides of limited block 21 are symmetrical
Provided with a projection 2101, the holding of projection 2101 is in the stopper slot 9 of the side of pedestal 1；
The top surface of each guide plate 1804 is provided with the second travel switch 2202, the contact and pedestal of the second travel switch 2202
Triangle angle 29 set by 1 top coordinates；
The front end of bottom plate 1801 is provided with two U-type grooves 1808, and two U-type grooves 1808 are located at the two of driving plate 1803 respectively
Side.
Each manipulator fixture is positioned by ripple pearl screw 23, and ripple pearl screw 23 is pacified by holding screw 24
On corresponding guide plate 1804, positioning is realized in the side that its steel ball abuts pedestal 1.
The bottom of the base 18 is additionally provided with 26, two magnetic valves 27 of three-way pipe, and the import of three-way pipe 26 connects with source of the gas,
Two exports the inlet communication with a magnetic valve 27 respectively, the outlet of each magnetic valve 27 and corresponding manipulator fixture base
The gas-tpe fitting 12 at the top of seat 1 connects.
By manipulator fixture proposed by the present invention and double machinery tong, by setting double tong, instead of people
Work, use manpower and material resources sparingly, improve homework precision and production efficiency.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Brief description of the drawings
Fig. 1 is a kind of top view of manipulator fixture of the present invention.
Fig. 2 is Fig. 1 sectional schematic diagram.
Fig. 3 is a kind of schematic perspective view of manipulator fixture of the present invention.
Fig. 4 is a kind of schematic perspective view of double machinery tong of the present invention.
Fig. 5 is a kind of top view of double machinery tong of the present invention.
Fig. 6 is Fig. 5 A-A sectional views.
【Main element symbol description】
1：Pedestal 2：Motor
3：Clamp 4：Oblique wedge
5：Motor cover 6：Rotating shaft
7：Leading screw 8：Rack
9：Stopper slot 10：First groove
11：Second groove 12：Gas-tpe fitting
13：First venthole
15：Leading screw fixed plate 16：First sliding block
17：Second sliding block 18：Base
19：Translation motor 20：Gear
21：Limited block 2101：It is raised
2201：First travel switch 2202：Second travel switch
23：Ripple pearl screw 24：Locating dowel
25：First cover plate 26：Three-way pipe
27：Magnetic valve 28：Second cover plate
29：Triangle angle W：Workpiece
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
Embodiment one
A kind of manipulator fixture of the present invention, including pedestal 1, motor 2, clamp 3, oblique wedge 4, motor 2 are arranged on pedestal 1
Interior, its universal driving shaft is connected with leading screw 7, and the feed screw nut 701 coordinated with leading screw 7 is connected with oblique wedge 4.Clamp 3 includes elasticity even
A pair of the tong arms 301 connect, two tong arms 301 are oppositely arranged and the underarm of the two forms the angle for accommodating the oblique beveled end of wedge 4；Often
Individual tong arm 301 is articulated in that pedestal 1 is anterior, and its underarm be located in pedestal 1 by rotating shaft 6 respectively, and the medial surface of underarm is set to and tiltedly
The inclined plane of the beveled end of wedge 4 matching, its upper arm protrude from pedestal 1.The beveled end of the tiltedly wedge 4 abuts the underarm of tong arm 301
Medial surface (i.e. inclined plane), and in the angle that two underarms of tong arm 301 are formed.
As the further improvement of the present embodiment, the rear end of motor 2, which protrudes from pedestal 1 and covered by motor cover 5, to be covered, motor
Cover 5 is affixed with the rear end of pedestal 1, avoids the rubbish such as iron filings from falling into motor and its corollary equipment (such as reductor).
As the further improvement of the present embodiment, two tong arms 301 can pass through spring 302 or other flexible functions
Part connection, when after oblique wedge 4 move when two tong arms 301 workpiece W is unclamped in the presence of the spring 302 in compressive state.
As the further improvement of the present embodiment, the top of pedestal 1 is provided with groove 101, and first is provided with groove 101
Travel switch 2201；The oblique top of wedge 4 is provided with collision block 401, and oblique wedge 4 collision block 401 during reach once touches first
The contact of travel switch 2201, the first travel switch 2201 will send signal and disconnect control circuit, and motor 2 stops, now pressing from both sides
Pincers 3 have clamped workpiece W.
As the further improvement of the present embodiment, be provided with through hole 102 inside the pedestal 1 along its length, through hole 102 with
Groove 101 connects；Motor 2 is arranged on the rear portion of through hole 102 by multistage ladder seat, bearing；Leading screw 7 is pacified by leading screw fixed plate 15
Mounted in the middle part of through hole 102, it is ensured that leading screw 7 will not move in the rotation process of motor 2；Clamp 3 is arranged on through hole 102 by rotating shaft 6
It is anterior.
As the further improvement of the present embodiment, pedestal 1 can be split as the first mounting seat 103 for loading motor 2,
For loading the second mounting seat 104 of clamp 3, the first mounting seat 103 is higher than (being preferably slightly higher than) second mounting seat 104.
The one end of leading screw 7 is in the first mounting seat 103, the other end is located in the second mounting seat 104, and two oblique wedges 4 are positioned at the second peace
Fill in seat 104.And two mounting seats are easy to process, assembled to be detachably connected.
As the further improvement of the present embodiment, the side of pedestal 1 is provided with rack 8, the stopper slot positioned at the lower section of rack 8
9, opposite side is provided with the first groove 10, the first sliding block 16 being installed in the first groove 10, and its bottom is provided with the second groove 11, peace
The second sliding block 17 being located in the second groove 10.The rack and sliding block, groove are easy to translation motor driving and later conversion,
Manipulator fixture is moved forward and backward.
As the further improvement of the present embodiment, the top of pedestal 1 is additionally provided with the triangle angle 29 of projection, the triangle
Shape angle 29 is located at the rear of groove 101, is acted on unanimously with the collision block 401 at the oblique top of wedge 4.The present invention does not limit angle simultaneously
Shape.
As the further improvement of the present embodiment, the top of pedestal 1 is additionally provided with gas-tpe fitting 12, each tong arm 301
Medial upper arm is provided with the first venthole 13, and the first venthole 13 is connected with gas-tpe fitting 12 by the air flue set by the inside of pedestal 1.
In operation process after the completion of certain procedure, air flue, the first venthole inside compressed air transtracheal joint 12, pedestal 1
The iron filings left on 13 cleaning tong arms 301, ensure cleannes, extend the service life of fixture.
First venthole 13 is connected by soft air pipe 1301 with the air flue in pedestal 1, and the pedestal 1 is provided with and is sleeved on
Sealing flange 1302 on soft air pipe 1301, the sealing for soft air pipe are installed.
During manipulator fixture gripping workpiece proposed by the present invention, motor 1 rotates forward, and the output of leading screw 7 rotates forward motion, tiltedly carves
Block 4 moves forward under the drive of feed screw nut (not rotating), and its beveled end steps into the angle that two underarms of tong arm 301 are formed
Interior, the underarm of two tong arms 301 is all displaced outwardly, and the upper arm of two tong arms 301 all moves inwards under the positioning of rotating shaft 6, from
And the closure of clamp 3 is realized, grip workpiece.Now spring 302 is in compressive state.
When manipulator fixture proposed by the present invention unclamps workpiece, motor 1 inverts, and leading screw 7 exports counter rotational movement, tiltedly carves
Block 4 under the drive of feed screw nut (not rotating) after move, its beveled end progressively exits the angle that two underarms of tong arm 301 are formed,
The upper arm of two tong arms 301 is displaced outwardly in counter push of compressed spring 302, two tong arms 301 under the positioning of rotating shaft 6
Underarm all move inwards, so as to realize the opening of clamp 3, unclamp workpiece.Now spring is in normal condition.
Embodiment two
On the basis of embodiment one, present invention further propose that a kind of double machinery tong, including base 18, translation
Motor 19 and two manipulator fixtures, base 18 are provided with line slideway, and translation motor 19 is arranged on the bottom of base 18, and it links
Gear 20 is installed on axle；Two manipulator fixtures are buckled on line slideway by sliding block and respectively by pedestals 1 one respectively
The rack 8 of side engages with gear 20.
The section of the base 18 is in mountain font, has bottom plate 1801, the baffle plate 1802 positioned at the rear end of bottom plate 1801, is located at
1803, two guide plates 1804 of driving plate on the top of bottom plate 1801, driving plate 1803 is between two guide plates 1804.
The medial surface of each guide plate 1804 is provided with first straight line guide rail 1805, and the bottom plate 1801 is second straight provided with two
Line guide rail 1806, two second straight line guide rails 1806 are located at the both sides of driving plate 1803 respectively.The side of manipulator fixture pedestal 1
First sliding block 16 in face is buckled on first straight line guide rail 1805, and the second sliding block 17 of bottom is buckled in second straight line guide rail 1806
On, two manipulator fixtures are separately mounted to the both sides of driving plate 1803.
Gear 20 is arranged on the middle part of driving plate 1803, engages, is translating with the rack 8 of two manipulator fixture sides respectively
Two manipulator fixtures are simultaneously mobile when motor 19 starts and the moving direction of the two is opposite.The end of driving plate 1803 is provided with
Limited block 21, the both sides of limited block 21 are arranged with a projection 2101, stopper slot 9 of the holding of projection 2101 in the side of pedestal 1
In (limited length), one of effect is limition orientation, and the two of effect is to keep away when installation has deviation or suddenly has a power failure
Exempt from manipulator fixture to throw away from pedestal 1.
The top surface of each guide plate 1804 is provided with the second travel switch 2202, the triangle at the top of manipulator fixture pedestal 1
When angle 29 touches the contact of the second travel switch 2202, the second travel switch 2202 will send signal and disconnect control circuit,
Translation motor 19 stops.
Each manipulator fixture is positioned by ripple pearl screw 23, and ripple pearl screw 23 is arranged on phase by holding screw
On the guide plate 1804 answered, positioning is realized in the side that its steel ball abuts pedestal 1.
Two receiving holes 1807 are offered on baffle plate 1802, motor cover 5 can enter this when being moved after manipulator fixture
In receiving hole 1807, increase the moving range of manipulator fixture with this.Further, the rear end of the baffle plate 1802 is connected with first
Cover plate 25 is simultaneously positioned by locating dowel 24.
The front end of the bottom plate 1801 is provided with two U-type grooves 1808, and two U-type grooves 1808 are respectively positioned at driving plate 1803
Both sides, when the clamp 3 of manipulator fixture drives workpiece movement, U-type groove 1808 is the mobile offer space of workpiece, avoids touching
Damage.
As the further improvement of the present embodiment, second straight line guide rail 1806 is respectively positioned at a U-type groove 1808 and driving
Between plate 1803, so designing is advantageous in that：First straight line guide rail 1805 supports the side of manipulator fixture, and second straight line is led
Rail 1806 supports the opposite side of manipulator fixture, stress balance, ensures that the moving process of fixture is more steady.
As the further improvement of the present embodiment, the bottom of the base 18 is additionally provided with 26, two Non-return air valves of three-way pipe
27, the import of three-way pipe 26 connects with source of the gas, and two exports the inlet communication with a magnetic valve 27 respectively, magnetic valve 27
Export and connected with the gas-tpe fitting 12 at the corresponding top of manipulator fixture pedestal 1, in gas-tpe fitting 12 and two upper arm of tong arm 301
First venthole 13 of side connects, for blowing away caused iron filings in process.
As the further improvement of the present embodiment, two manipulator fixtures are covered after being mounted on base 18 by the second cover plate 28
Lid, avoid in operation process the rubbish such as iron filings from falling into and fixture is damaged in manipulator fixture.
It is described above, only it is the preferred embodiment of patent of the present invention, any person skilled in the art, not
Depart from the art of this patent aspects, according to this patent technical spirit to any simple modification made for any of the above embodiments,
Equivalent variations and modification, in the range of still falling within the art of this patent scheme.
Claims (10)
1. a kind of manipulator fixture, it is characterised in that including pedestal (1), motor (2), clamp (3), oblique wedge (4), motor (2)
In pedestal (1), its universal driving shaft is connected with leading screw (7), and feed screw nut (701) is connected with oblique wedge (4)；The oblique wedge
(4) beveled end abuts the inclined plane of clamp (3) bottom, and in the angle that clamp (3) bottom is formed；Clamp (3) is pivotally connected
In the front portion of pedestal (1).
2. manipulator fixture according to claim 1, it is characterised in that the clamp (3) includes a pair of pincers of elastic connection
Arm (301), two tong arms (301) are oppositely arranged and the underarm of the two forms the angle for accommodating oblique wedge (4) beveled end；Each pincers
Arm (301) is articulated in pedestal (1) front portion by rotating shaft (6) respectively, and its underarm is located in pedestal (1), and medial surface is set to tiltedly carving
The inclined plane of block (4) beveled end matching, its upper arm protrude from pedestal (1).
3. manipulator fixture according to claim 2, it is characterised in that the medial surface of each tong arm (301) upper arm is set
There are the first venthole (13), gas-tpe fitting (12) of the first venthole (13) set by by soft air pipe (131) and pedestal (1) top
Connection；The pedestal (1) is provided with the sealing flange (132) being sleeved on soft air pipe (131).
4. manipulator fixture according to claim 1, it is characterised in that be provided with groove (101) at the top of the pedestal (1), lead to
The first travel switch (2201) is installed in groove (101)；It is described to be tiltedly provided with collision block (401) at the top of wedge (4), collision block (401) and
The contacts mates of first travel switch (2201).
5. manipulator fixture according to claim 1, it is characterised in that pedestal (1) side is provided with rack (8), is located at
The stopper slot (9) of the lower section of rack 8, opposite side are provided with the first groove (10), the first sliding block being installed in the first groove (10)
(16), its bottom is provided with the second groove (11), the second sliding block (17) being installed in the second groove (10).
6. manipulator fixture according to claim 1, it is characterised in that the triangle of projection is additionally provided with the top of the pedestal (1)
Shape angle (29).
A kind of 7. double machinery tong, it is characterised in that including base (18), translation motor (19) and two manipulator fixtures,
Base (18) is provided with line slideway, and translation motor (19) is arranged on base (18) bottom, gear is provided with its universal driving shaft
(20)；Two manipulator fixtures are buckled on line slideway by sliding block and respectively by the racks (8) of pedestal (1) side respectively
Engaged with gear (20), the second cover plate (28) cover is covered above two manipulator fixtures.
8. double machinery tong according to claim 7, it is characterised in that the base (18) is in mountain font, has bottom
Plate (1801), the baffle plate (1802) positioned at bottom plate (1801) rear end, the driving plate (1803) positioned at bottom plate (1801) top, two
Guide plate (1804), driving plate (1803) is between two guide plates (1804)；
The medial surface of each guide plate (1804) is provided with first straight line guide rail (1805), and bottom plate (1801) is second straight provided with two
Line guide rail (1806), two second straight line guide rails (1806) are located at the both sides of driving plate (1803) respectively；The manipulator fixture
First sliding block (16) of pedestal (1) side is buckled on first straight line guide rail (1805), and the second sliding block (17) of bottom is buckled in
On second straight line guide rail (1806)；
Gear (20) is installed, its end is provided with limited block (21) in the middle part of driving plate (1803)；The both sides of limited block (21)
One raised (2101) are arranged with, projection (2101) holding is in the stopper slot (9) of pedestal (1) side；
The top surface of each guide plate (1804) is provided with the second travel switch (2202), the contact and base of the second travel switch (2202)
Triangle angle (29) set by the top of seat (1) coordinates；
The front end of bottom plate (1801) is provided with two U-type grooves (1808), and two U-type grooves (1808) are respectively positioned at driving plate (1803)
Both sides.
9. manipulator fixture according to claim 8, it is characterised in that each manipulator fixture passes through ripple pearl spiral shell
Silk (23) is positioned, and ripple pearl screw (23) is arranged on corresponding guide plate (1804) by holding screw, and its steel ball abuts
Realize positioning in the side of pedestal (1).
10. manipulator fixture according to claim 8, it is characterised in that the bottom of the base (18) is additionally provided with three-way pipe
(26), two magnetic valves (27), the import of three-way pipe (26) connect with source of the gas, two outlet respectively with a magnetic valve (27)
Inlet communication, the outlet of each magnetic valve (27) and gas-tpe fitting (12) at the top of corresponding manipulator fixture pedestal (1) are even
It is logical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194581.7A CN107803827B (en) | 2017-11-24 | 2017-11-24 | Manipulator clamp and double-station manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194581.7A CN107803827B (en) | 2017-11-24 | 2017-11-24 | Manipulator clamp and double-station manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107803827A true CN107803827A (en) | 2018-03-16 |
| CN107803827B CN107803827B (en) | 2023-08-11 |
Family
ID=61581786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711194581.7A Active CN107803827B (en) | 2017-11-24 | 2017-11-24 | Manipulator clamp and double-station manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107803827B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621193A (en) * | 2018-06-13 | 2018-10-09 | 珠海格力智能装备有限公司 | Clamping jaw and fixture with it |
| CN109048885A (en) * | 2018-09-19 | 2018-12-21 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Intelligent nursing robot arm driving mechanism |
| CN111922948A (en) * | 2020-08-19 | 2020-11-13 | 泉州市勤裕鼎工业设计有限公司 | Clamping mechanism of hand agricultural machine |
| CN112140139A (en) * | 2020-08-18 | 2020-12-29 | 重庆腾弘机械有限公司 | High-temperature flexible manipulator |
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| SU1202881A1 (en) * | 1984-07-23 | 1986-01-07 | Одесский Филиал Всесоюзного Проектно-Конструкторского Технологического Института Строительного,Дорожного И Коммунального Машиностроения | Powered arm |
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| CN106695397A (en) * | 2016-10-20 | 2017-05-24 | 兴科电子科技有限公司 | Multifunctional mechanical arm clamp mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108621193A (en) * | 2018-06-13 | 2018-10-09 | 珠海格力智能装备有限公司 | Clamping jaw and fixture with it |
| CN109048885A (en) * | 2018-09-19 | 2018-12-21 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Intelligent nursing robot arm driving mechanism |
| CN109048885B (en) * | 2018-09-19 | 2023-09-15 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Intelligent arm driving mechanism of nurse robot |
| CN112140139A (en) * | 2020-08-18 | 2020-12-29 | 重庆腾弘机械有限公司 | High-temperature flexible manipulator |
| CN111922948A (en) * | 2020-08-19 | 2020-11-13 | 泉州市勤裕鼎工业设计有限公司 | Clamping mechanism of hand agricultural machine |
| CN111922948B (en) * | 2020-08-19 | 2021-12-03 | 芜湖超源力工业设计有限公司 | Clamping mechanism of hand agricultural machine |
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