CN108381596A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN108381596A CN108381596A CN201810450415.7A CN201810450415A CN108381596A CN 108381596 A CN108381596 A CN 108381596A CN 201810450415 A CN201810450415 A CN 201810450415A CN 108381596 A CN108381596 A CN 108381596A
- Authority
- CN
- China
- Prior art keywords
- mechanical paw
- rack
- mechanical
- paw
- connector
- 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- Withdrawn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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
Abstract
The invention discloses a kind of manipulators, including support plate, mechanical paw A, mechanical paw B, first rack, second rack, gear and motor, support plate is set there are two parallel bar-shaped trough, mechanical paw A and mechanical paw B are respectively connected with symmetrical connecting plate, the connecting plate that offside is distributed on mechanical paw A and mechanical paw B is each passed through described two bar-shaped troughs disposed in parallel, connection plate top surface on mechanical paw A and mechanical paw B is respectively connected with limiting plate, symmetrical limiting plate is connected by the first connector on mechanical paw A, symmetrical limiting plate is connected by the second connector on mechanical paw B, first connector is fixedly connected with the first rack, second connector is fixedly connected with the second rack, gear is engaged with the first rack and the second rack simultaneously；The medial surface of mechanical paw A and mechanical paw B are inclined-plane, present invention reduces noise, are conducive to grip object.
Description
Technical field
The present invention relates to mechanical device technical field more particularly to a kind of manipulators.
Background technology
In production process, many objects needs are by processing, and these objects need to transport and carry out it further to add
Work needs some tools to be clamped, in traditional handicraft, captured using manipulator etc., and the manipulator used in traditional handicraft
There are some drawbacks, and it uses asbestos, during long-term use, are easy to fall off and carry powder, be easy to cause component
Damage:Common manipulator, which exists, to be clamped unstable, and generally use air pressure drives, and at work, noise is big, work for manipulator
Make unstable.
Invention content
To solve the above-mentioned problems, the present invention proposes a kind of low noise, the convenient manipulator of gripping.
Specifically, a kind of manipulator, including support plate, mechanical paw A, mechanical paw B, the first rack, the second rack, tooth
Wheel and motor, the support plate are set there are two parallel bar-shaped trough, and the mechanical paw A and mechanical paw B are respectively connected with
Symmetrical connecting plate, the connecting plate of offside distribution is each passed through described two bar-shaped troughs disposed in parallel on mechanical paw A,
The connecting plate that offside is distributed on mechanical paw B is each passed through described two bar-shaped troughs disposed in parallel, mechanical paw A and manipulator
Connection plate top surface on pawl B is respectively connected with limiting plate, and the lower surface of the limiting plate is in contact with the upper surface of support plate, machinery
Symmetrical limiting plate is connected by the first connector on paw A, and symmetrical limiting plate connects by second on mechanical paw B
Fitting is connected, and the first connector is fixedly connected with the first rack, and the second connector is fixedly connected with the second rack, the gear
It is engaged simultaneously with the first rack and the second rack, the axis connection of gear and the motor；The mechanical paw A and mechanical paw B
Medial surface be inclined-plane, be connected with fixed link on the inside of mechanical paw A, spring be connected in fixed link, spring is connected with clamping
Plate.
The manipulator further includes mechanical arm A and mechanical arm B, and mechanical arm A is hinged with mechanical arm B, machine
The free end of tool arm A is connected with fixing piece, and fixing piece is connect by connecting rod with support plate, and the motor is inlaid in fixation
On part.
The rectangular in cross-section of first connector and the second connector.
First rack and the first connector is perpendicular, and the second rack and the second connector are perpendicular.
The limiting plate width is more than the width of connecting plate.
The section of the mechanical paw A and mechanical paw B is in a rectangular trapezoid.
It is provided with elastic anti-slip pad at the inclined-plane of the mechanical paw A and mechanical paw B.
The beneficial effects of the present invention are：Drive the first rack and the second rack by gear, make mechanical paw A and
Mechanical paw B's closes up and opens, to realize the crawl and placement of article, instead of pneumatic actuation in the prior art, drop
The noise generated when low robot work, mechanical paw A and mechanical paw B medial surfaces are the design on inclined-plane, are more advantageous to and grab
Take article.
Description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the vertical view of the present invention；
Fig. 3 is the structural schematic diagram of mechanical paw A in the present invention；
1- support plates in figure, the first rack of 2- mechanical paw A, 3- mechanical paws B, 4-, the second racks of 5-, 6- gears, 7- motors,
8- bar-shaped troughs, 9- connecting plates, 10- limiting plates, the first connectors of 11-, the second connectors of 12-, the inclined-planes 13-, 14- mechanical arms A,
15- mechanical arm B, 16- fixing piece, 17- connecting rods, 18- fixed links, 19- springs, 20- head clamps.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control illustrates this hair
Bright specific implementation mode.
As shown in Fig. 1 ~ 3, a kind of manipulator, including support plate 1, mechanical paw A2, mechanical paw B3, the first rack 4,
Two racks 5, gear 6 and motor 7, the support plate 1 are set there are two parallel bar-shaped trough 8, the mechanical paw A2 and machine
Tool paw B3 is respectively connected with symmetrical connecting plate 9, and the connecting plate 9 of offside distribution is each passed through described two on mechanical paw A2
A bar-shaped trough disposed in parallel 8, the connecting plate 9 of offside distribution is each passed through described two items disposed in parallel on mechanical paw B3
Shape slot 8,9 top surface of connecting plate on mechanical paw A2 and mechanical paw B3 are respectively connected with limiting plate 10, under the limiting plate 10
Surface is in contact with the upper surface of support plate 1, and symmetrical limiting plate 10 is connected by the first connector 11 on mechanical paw A2,
Symmetrical limiting plate 10 is connected by the second connector 12 on mechanical paw B3, and the first connector 11 is fixedly connected with first
Rack 4, the second connector 12 are fixedly connected with the second rack 5, and the gear 6 is nibbled with the first rack 4 and the second rack 5 simultaneously
It closes, the axis connection of gear 6 and the motor 7；The medial surface of the mechanical paw A2 and mechanical paw B3 is inclined-plane 13, manipulator
It is connected with fixed link 18 on the inside of pawl A2, spring 19 is connected in fixed link 18, spring 19 is connected with head clamp 20.
As shown in Figure 1, 2, the manipulator further includes mechanical arm A14 and mechanical arm B15, mechanical arm A14 with
Mechanical arm B15 is hinged, and the free end of mechanical arm A14 is connected with fixing piece 16, and fixing piece 16 passes through connecting rod 17 and branch
Fagging 1 connects, and the motor 7 is inlaid on fixing piece 16.The section of first connector 11 and the second connector 12
It is rectangular.First rack 4 and the first connector 11 is perpendicular, and the second rack 5 and the second connector 12 are perpendicular.It is described
10 width of limiting plate be more than connecting plate 9 width.The section of the mechanical paw A2 and mechanical paw B3 is in a rectangular trapezoid.Institute
It is provided with elastic anti-slip pad at the inclined-plane 13 of the mechanical paw A2 and mechanical paw B3 that state.
The course of work of the present invention is as follows：When capturing object, motor 7 is rotated with moving gear 6, and gear 6 makes 4 He of the first rack
Second rack 5 is moved towards opposite direction, and mechanical paw A2 and mechanical paw B3 movements, object are moved up along inclined-plane 13,
The inclined-plane 13 of mechanical paw A2 and mechanical paw B3 closes up, and to complete the clamping to object, and head clamp 20 is in spring
Under the action of 19, clamping is carried out to object；When placing the object of clamping on a robotic arm, motor 7 inverts, mechanical paw A2 and machine
Tool paw B3 is moved away from mutual direction.
Claims (7)
1. a kind of manipulator, which is characterized in that including support plate（1）, mechanical paw A（2）, mechanical paw B（3）, the first rack
（4）, the second rack（5）, gear（6）And motor（7）, the support plate（1）If there are two parallel bar-shaped troughs（8）, institute
State mechanical paw A（2）With mechanical paw B（3）It is respectively connected with symmetrical connecting plate（9）, mechanical paw A（2）Upper offside point
The connecting plate of cloth（9）It is each passed through described two bar-shaped troughs disposed in parallel（8）, mechanical paw B（3）The connection of upper offside distribution
Plate（9）It is each passed through described two bar-shaped troughs disposed in parallel（8）, mechanical paw A（2）With mechanical paw B（3）On connecting plate
（9）Top surface is respectively connected with limiting plate（10）, the limiting plate（10）Lower surface and support plate（1）Upper surface be in contact, machine
Tool paw A（2）Upper symmetrical limiting plate（10）Pass through the first connector（11）It is connected, mechanical paw B（3）It is upper symmetrical
Limiting plate（10）Pass through the second connector（12）It is connected, the first connector（11）It is fixedly connected with the first rack（4）, the second connection
Part（12）It is fixedly connected with the second rack（5）, the gear（6）Simultaneously with the first rack（4）With the second rack（5）Engagement,
Gear（6）With the motor（7）Axis connection；The mechanical paw A（2）With mechanical paw B（3）Medial surface be inclined-plane
（13）, mechanical paw A（2）Inside be connected with fixed link（18）, fixed link（18）On be connected with spring（19）, spring（19）Even
It is connected to head clamp（20）.
2. a kind of manipulator according to claim 1, which is characterized in that the manipulator further includes mechanical arm A
（14）With mechanical arm B（15）, mechanical arm A（14）With mechanical arm B（15）It is hinged, mechanical arm A（14）Free end
It is connected with fixing piece（16）, fixing piece（16）Pass through connecting rod（17）With support plate（1）Connection, the motor（7）It is inlaid in
Fixing piece（16）On.
3. a kind of manipulator according to claim 1, which is characterized in that first connector（11）With the second connection
Part（12）Rectangular in cross-section.
4. a kind of manipulator according to claim 1, which is characterized in that first rack（4）With the first connector
（11）It is perpendicular, the second rack（5）With the second connector（12）It is perpendicular.
5. a kind of manipulator according to claim 1, which is characterized in that the limiting plate（10）Width is more than connecting plate
（9）Width.
6. a kind of manipulator according to claim 1, which is characterized in that the mechanical paw A（2）With mechanical paw B（3）
Section it is in a rectangular trapezoid.
7. a kind of manipulator according to claim 1, which is characterized in that the mechanical paw A（2）With mechanical paw B
（3）Inclined-plane（13）Place is provided with elastic anti-slip pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450415.7A CN108381596A (en) | 2018-05-11 | 2018-05-11 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450415.7A CN108381596A (en) | 2018-05-11 | 2018-05-11 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381596A true CN108381596A (en) | 2018-08-10 |
Family
ID=63070957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810450415.7A Withdrawn CN108381596A (en) | 2018-05-11 | 2018-05-11 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381596A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702057A (en) * | 2020-06-24 | 2020-09-25 | 瓯锟科技温州有限公司 | High-precision trimming device for metal composite plate |
-
2018
- 2018-05-11 CN CN201810450415.7A patent/CN108381596A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702057A (en) * | 2020-06-24 | 2020-09-25 | 瓯锟科技温州有限公司 | High-precision trimming device for metal composite plate |
| CN111702057B (en) * | 2020-06-24 | 2022-03-29 | 瓯锟科技温州有限公司 | High-precision trimming device for metal composite plate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180810 |
|
| WW01 | Invention patent application withdrawn after publication |