CN108274488A - A kind of locking mechanism of manipulator clamping formula carrier - Google Patents
A kind of locking mechanism of manipulator clamping formula carrier Download PDFInfo
- Publication number
- CN108274488A CN108274488A CN201810370972.8A CN201810370972A CN108274488A CN 108274488 A CN108274488 A CN 108274488A CN 201810370972 A CN201810370972 A CN 201810370972A CN 108274488 A CN108274488 A CN 108274488A
- Authority
- CN
- China
- Prior art keywords
- fixed link
- rod
- minitype cylinder
- rotating bar
- locking mechanism
- 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.)
- Withdrawn
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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of locking mechanisms of manipulator clamping formula carrier, including fixed block and fixed link, the bottom of the fixed block is welded with fixed link, it is symmetrically welded with head rod on the appearance wall of the fixed link, and the appearance wall of fixed link is vertically welded with the second connecting rod with head rod, the head rod is rotatablely connected by shaft and rotating bar, the bottom that the both sides of the fixed link are located at head rod is provided with the second minitype cylinder, and the second minitype cylinder is connect by the first telescopic rod with rotating bar.In invention, second minitype cylinder is connect by the first telescopic rod with rotating bar, second minitype cylinder can adjust the spacing between two rotating bars, then user can be adjusted according to the spacing between the size of article and two rotating bars, to be suitable for different size of article, increase flexibility and the practicability of the mechanism.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of locking mechanisms of manipulator clamping formula carrier.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand, arm, to press fixed routine crawl, carry object or
The automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, simultaneous on construction and performance
The advantage of someone and robotics respectively.Manipulator is the industrial robot occurred earliest, and the modern machine occurred earliest
Device people, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect
Personal safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
However the locking mechanism of existing manipulator, there is also some shortcomings, the fixing device of conventional robot is big
It being fixed more, clamping device is mostly single structure, then a manipulator can only grip the article of shape and weight,
If the article of other sizes is clamped, it is necessary to replace clamping device, therefore cumbersome.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of manipulator clamping formula proposed is removed
Transport the locking mechanism of device.
To achieve the goals above, present invention employs following technical solutions：A kind of lock of manipulator clamping formula carrier
Determine mechanism, including fixed block and fixed link, the bottom of the fixed block is welded with fixed link, right on the appearance wall of the fixed link
Title is welded with head rod, and the appearance wall of fixed link and head rod are vertically welded with the second connecting rod, and described first
Connecting rod is rotatablely connected by shaft and rotating bar, and the bottom that the both sides of the fixed link are located at head rod is provided with second
Minitype cylinder, and the second minitype cylinder is connect by the first telescopic rod with rotating bar, the bottom side of the rotating bar is provided with
Gripper pad, and the side of gripper pad is connect by connecting rod with fixed plate, the side of the fixed plate passes through the first minitype cylinder
It is connect with rotating bar, the bottom of second connecting rod is provided with third minitype cylinder, and third minitype cylinder is stretched by second
Contracting bar is connect with gag lever post, and sucker is provided at the top of the gag lever post.
As further describing for above-mentioned technical proposal：
The internal whorl of the rotating bar is connected with screw rod.
As further describing for above-mentioned technical proposal：
The internal whorl of second connecting rod is connected with screw rod.
As further describing for above-mentioned technical proposal：
There are two second connecting rod is arranged altogether, and two the second connecting rods are symmetrical about the horizontal central line of fixed link.
As further describing for above-mentioned technical proposal：
Described two head rods are symmetrical about the vertical center line of fixed link.
In the present invention, first, the second minitype cylinder is connect by the first telescopic rod with rotating bar, and the second minitype cylinder can
The spacing between two rotating bars is adjusted, then user can adjust according to the spacing between the size of article and two rotating bars
Section increases flexibility and the practicability of the mechanism to be suitable for different size of article, and secondly, the first minitype cylinder can
The position of gripper pad is adjusted, third minitype cylinder can adjust the position of gag lever post, while the internal whorl of the second connecting rod connects
It is connected to the screw rod for adjusting the second connection pole length, then gripper pad can carry out article extruding fixation with sucker, and inhale
The position of disk and dummy block can be adjusted according to the difference of article.
Description of the drawings
Fig. 1 is the sectional view of locking mechanism proposed by the present invention；
Fig. 2 is the sectional view of the second connecting rod of the invention；
Fig. 3 is the vertical view of fixed link of the present invention.
Marginal data：
1- fixed blocks, 2- fixed links, 3- head rods, 4- shafts, 5- rotating bars, the first minitype cylinders of 6-, 7- are fixed
Plate, 8- gripper pads, the first telescopic rods of 9-, the second minitype cylinders of 10-, 11- thirds minitype cylinder, the second telescopic rods of 12-, 13- limits
Position bar, 14- suckers, the second connecting rods of 15-.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3, a kind of locking mechanism of manipulator clamping formula carrier, including fixed block 1 and fixed link 2, it is fixed
The bottom of block 1 is welded with fixed link 2, and head rod 3, and the appearance of fixed link 2 are symmetrically welded on the appearance wall of fixed link 2
Wall is vertically welded with the second connecting rod 15 with head rod 3, and head rod 3 is rotatablely connected by shaft 4 and rotating bar 5,
The bottom that the both sides of fixed link 2 are located at head rod 3 is provided with the second minitype cylinder 10, and the second minitype cylinder 10 passes through
First telescopic rod 9 is connect with rotating bar 5, and the bottom side of rotating bar 5 is provided with gripper pad 8, and the side of gripper pad 8 passes through
Connecting rod is connect with fixed plate 7, and the side of fixed plate 7 is connect by the first minitype cylinder 6 with rotating bar 5, the second connecting rod 15
Bottom be provided with third minitype cylinder 11, and third minitype cylinder 11 is connect by the second telescopic rod 12 with gag lever post 13, limit
The top of position bar 13 is provided with sucker 14.
The internal whorl of rotating bar 5 is connected with screw rod, and the internal whorl of the second connecting rod 15 is connected with screw rod, and second
There are two connecting rod 15 is arranged altogether, and two the second connecting rods 15 are symmetrical about the horizontal central line of fixed link 2, two first companies
Extension bar 3 is symmetrical about the vertical center line of fixed link 2.
The outside of fixed link 2 is symmetrical arranged there are two the second connecting rod 15 and two head rods 3, and two second connect
Bar 15 is mutually perpendicular to two head rods 3, and head rod 3 is rotatablely connected by shaft 4 and rotating bar 5, then second is micro-
When type cylinder 10 adjusts 5 position of rotating bar, rotating bar 5 is rotated by shaft 4 on head rod 3.
Operation principle：In use, according to the difference of article, the position of rotating bar 5 is adjusted by the second minitype cylinder 10, from
And the spacing between two rotating bars 5 is adjusted, while the length of 5 internal thread bar of rotating bar is adjusted, to adjust the length of rotating bar 5
Two rotating bars 5, are then moved to the both sides of article by degree, and the second minitype cylinder 10 drives rotating bar 5 to rotate at this time, while the
One minitype cylinder 6 drives gripper pad 8 to move, and gripper pad 8 can carry out extruding fixation to article at this time, and then user is according to article
Big minor adjustment gag lever post 13 position, and article is supported by the sucker 14 on gag lever post 13, at this time can be to object
Product are gripped.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of locking mechanism of manipulator clamping formula carrier, including fixed block (1) and fixed link (2), which is characterized in that institute
The bottom for stating fixed block (1) is welded with fixed link (2), and head rod is symmetrically welded on the appearance wall of the fixed link (2)
(3), and the appearance wall of fixed link (2) is vertically welded with the second connecting rod (15), the head rod with head rod (3)
(3) it is rotatablely connected by shaft (4) and rotating bar (5), the both sides of the fixed link (2) are located at the bottom of head rod (3)
It is provided with the second minitype cylinder (10), and the second minitype cylinder (10) is connect by the first telescopic rod (9) with rotating bar (5), institute
The bottom side for stating rotating bar (5) is provided with gripper pad (8), and the side of gripper pad (8) is connected by connecting rod and fixed plate (7)
It connects, the side of the fixed plate (7) is connect by the first minitype cylinder (6) with rotating bar (5), second connecting rod (15)
Bottom is provided with third minitype cylinder (11), and third minitype cylinder (11) is connected by the second telescopic rod (12) and gag lever post (13)
It connects, sucker (14) is provided at the top of the gag lever post (13).
2. a kind of locking mechanism of manipulator clamping formula carrier according to claim 1, which is characterized in that the rotation
The internal whorl of bar (5) is connected with screw rod.
3. a kind of locking mechanism of manipulator clamping formula carrier according to claim 1, which is characterized in that described second
The internal whorl of connecting rod (15) is connected with screw rod.
4. a kind of locking mechanism of manipulator clamping formula carrier according to claim 1, which is characterized in that described second
There are two connecting rod (15) is arranged altogether, and two the second connecting rods (15) are symmetrical about the horizontal central line of fixed link (2).
5. a kind of locking mechanism of manipulator clamping formula carrier according to claim 1, which is characterized in that described two
Head rod (3) is symmetrical about the vertical center line of fixed link (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370972.8A CN108274488A (en) | 2018-04-24 | 2018-04-24 | A kind of locking mechanism of manipulator clamping formula carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370972.8A CN108274488A (en) | 2018-04-24 | 2018-04-24 | A kind of locking mechanism of manipulator clamping formula carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108274488A true CN108274488A (en) | 2018-07-13 |
Family
ID=62812106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810370972.8A Withdrawn CN108274488A (en) | 2018-04-24 | 2018-04-24 | A kind of locking mechanism of manipulator clamping formula carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108274488A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483518A (en) * | 2018-11-06 | 2019-03-19 | 南京中意仓储有限公司 | A kind of storage manipulator that clamping effect is good |
| CN109877869A (en) * | 2019-03-15 | 2019-06-14 | 深圳市新浦自动化设备有限公司 | A kind of convertible clamping manipulator |
| CN112092012A (en) * | 2020-10-14 | 2020-12-18 | 德清世锦智能科技有限公司 | Mechanical arm convenient to adjust |
| CN113237146A (en) * | 2021-05-31 | 2021-08-10 | 江西汇恒盛世能源科技有限责任公司 | Noise reduction device for water-cooling cold water air conditioning system |
| CN114335679A (en) * | 2021-12-30 | 2022-04-12 | 苏州世纪福智能装备股份有限公司 | Manipulator end effector suitable for lithium batteries with different shapes and thicknesses |
-
2018
- 2018-04-24 CN CN201810370972.8A patent/CN108274488A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483518A (en) * | 2018-11-06 | 2019-03-19 | 南京中意仓储有限公司 | A kind of storage manipulator that clamping effect is good |
| CN109877869A (en) * | 2019-03-15 | 2019-06-14 | 深圳市新浦自动化设备有限公司 | A kind of convertible clamping manipulator |
| CN112092012A (en) * | 2020-10-14 | 2020-12-18 | 德清世锦智能科技有限公司 | Mechanical arm convenient to adjust |
| CN113237146A (en) * | 2021-05-31 | 2021-08-10 | 江西汇恒盛世能源科技有限责任公司 | Noise reduction device for water-cooling cold water air conditioning system |
| CN114335679A (en) * | 2021-12-30 | 2022-04-12 | 苏州世纪福智能装备股份有限公司 | Manipulator end effector suitable for lithium batteries with different shapes and thicknesses |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180713 |
|
| WW01 | Invention patent application withdrawn after publication |