CN108555948A - A kind of industrial folding manipulator - Google Patents

A kind of industrial folding manipulator Download PDF

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Publication number
CN108555948A
CN108555948A CN201810694216.0A CN201810694216A CN108555948A CN 108555948 A CN108555948 A CN 108555948A CN 201810694216 A CN201810694216 A CN 201810694216A CN 108555948 A CN108555948 A CN 108555948A
Authority
CN
China
Prior art keywords
supporting
mounting base
driving
driving motor
support arm
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
Application number
CN201810694216.0A
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Chinese (zh)
Inventor
束春香
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhenjiang Xin Bang Rui Machinery Co Ltd
Original Assignee
Zhenjiang Xin Bang Rui Machinery Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhenjiang Xin Bang Rui Machinery Co Ltd filed Critical Zhenjiang Xin Bang Rui Machinery Co Ltd
Priority to CN201810694216.0A priority Critical patent/CN108555948A/en
Publication of CN108555948A publication Critical patent/CN108555948A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices

Abstract

The present invention relates to machinery equipment field, specifically a kind of industrial folding manipulator, including driving mechanism, first supporting mechanism, second supporting mechanism and grasping mechanism, the bottom sidewall of second supporting mechanism is equipped with telescopic component, first supporting mechanism includes backing plate, the first mounting base being fixedly connected at the top of backing plate and first support arm hinged with the first mounting base, the bottom sidewall of first support arm is equipped with driving cylinder, the output end of the driving cylinder is fixedly connected with the rear end of telescopic component, the side wall of first mounting base is equipped with the first driving motor, the output end of first driving motor is extended through the side of the first mounting base and to its other side, first mounting base is equipped with the fixed seat for fixing the first driving motor output end, the bottom end of first support arm is fixed on the output end of the first driving motor.The configuration of the present invention is simple, occupied space is less, disclosure satisfy that the production requirement of modern enterprise.

Description

A kind of industrial folding manipulator
Technical field
The present invention relates to machinery equipment field, specifically a kind of industrial folding manipulator.
Background technology
Manipulator is exactly as its name suggests the certain holding functions that can imitate human hand and arm, to capture, remove by fixed routine Transport the automatic pilot of object or operation instrument.Manipulator is the industrial robot occurred earliest, and what is occurred earliest show For robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment with Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Traditional manipulator is all to drive manipulator to make corresponding action, this drive by driving motor and link mechanism Flowing mode positioning accuracy is low, and structure is complex, limits the scope of application of manipulator to a certain extent;Without using state Under, the occupied space of manipulator is larger, and the folding angle between mechanical arm is smaller, cannot meet the production need of modern enterprise It asks, since the gripping portion of traditional manipulator is often through artificial control, is captured using wire drawing stretching, easily cause and do not grab It takes, the problems such as grasping force is unable to control.
Invention content
The purpose of the present invention is to provide a kind of industrial folding manipulators, to solve to propose in above-mentioned background technology The problem of.
The technical scheme is that:Including driving mechanism, the first supporting mechanism, the second supporting mechanism and grasping mechanism, The top of the driving mechanism is connect with the rear end of the first supporting mechanism, the front end of the first supporting mechanism and the second supporting mechanism Rear end is hinged, and grasping mechanism is mounted on the front end of the second supporting mechanism, and the bottom sidewall of second supporting mechanism, which is equipped with, stretches The hydraulic stem of contracting component, the telescopic component is set as two parts, and first part and the first supporting mechanism keep horizontal, second Divide and the second supporting mechanism keeps horizontal, and two parts of the telescopic component hydraulic stem are fixedly connected by shaft, it is described to stretch The maximum distance of contracting component expanding-contracting action can make the second supporting mechanism and the first supporting mechanism holding horizontal, and state telescopic component and stretch The minimum range of contracting action can make the second supporting mechanism downward bending and first supporting mechanism at 30 degree of angles, described first Support mechanism include the backing plate being fixedly connected with the output end of driving mechanism, with the first mounting base being fixedly connected at the top of backing plate and The bottom sidewall of first support arm hinged with the first mounting base, first support arm is equipped with driving cylinder, the driving The output end of cylinder is fixedly connected with the rear end of telescopic component, and the side wall of first mounting base is equipped with the first driving motor, The output end of first driving motor is extended through the side of the first mounting base and to its other side, is set in the first mounting base There are the fixed seat for fixing the first driving motor output end, the bottom end of the first support arm to be fixed on the output end of the first driving motor On, the leading portion of second supporting mechanism connects grasping mechanism, and the grasping mechanism includes connector, third driving motor, light Electric transducer, gripper assembly and infrared sensor, the connector are mounted on the front end of the second support arm, third driving motor Rear end be fixedly connected with the front end of connector, the output end of third driving motor is connect with gripper assembly, the gripper assembly Include the turntable of connection third driving motor, the turntable fixes the second mounting base by fixed plate, in second mounting base Two groups of claws are fixed with, two groups of claws are fixed on by axis in the second mounting base, and the axis end of the one of which claw End is fixed with driving gear, and the shaft end of another group of claw is fixed with driven gear, when the driving gear is by driving motor band Dynamic when rotating forward, driving gear band moves driven gear and is rotated backward, similarly, when the driving gear is by stepper motor band It moves reversely to when rotation, driving gear band moves driven gear and rotated forward, and two gears remain opposite by engagement Movement, the side of the turntable are fixed with photoelectric sensor, induction direction perpendicular to turntable, the induction of the photoelectric sensor away from From being set as consistent with a distance from claw end to turntable, infrared sensor is provided among the inside of the claw, it is described red The receiving terminal and transmitting terminal of outer sensor are respectively placed in two groups of claws.
In a preferred embodiment of the present invention, the driving mechanism includes that support plate and the second driving in rectangular configuration are electric Machine, for the second driving motor in being vertically arranged and being fixedly connected at its output end and the bottom centre of backing plate, support plate is equipped with four The mounting hole of a rectangular distribution.
In a preferred embodiment of the present invention, second supporting mechanism includes hinged with the front end of the first support arm Two support arms and two risers being arranged at intervals in the second support arm bottom sidewall, two risers are fixed with the second support arm Connection.
In a preferred embodiment of the present invention, the telescopic component includes guide sleeve, telescopic shaft and hinged seat, described flexible Axis is mounted in guide sleeve and is slidably matched with it, and hinged seat is fixedly connected with the rear end of telescopic shaft, and guide sleeve is mounted on two Between the riser and rear end of guide sleeve is fixed on the riser of driving cylinder, and the output end of cylinder is driven to be fixed with hinged seat Connection.
In a preferred embodiment of the present invention, the gripper assembly includes being fixedly connected with the output end of third driving motor Turntable, the second mounting base and two claws, the second mounting base by bolt be mounted on turntable on, two claws are symmetricly set on Second mounting base was last, was set in the second mounting base there are two symmetrically arranged articulation piece, the rear end of two claws is cut with scissors by two Fitting and the second mounting base are hinged.
In a preferred embodiment of the present invention, second mounting base is equipped with several screw holes passed through for bolt.
The present invention provides a kind of industrial folding manipulator herein by improving, and compared with prior art, has such as Lower improvement and advantage:
(1)Backing plate rotation is driven by the second driving motor, can realize the first supporting mechanism, the second supporting mechanism and gripper The Integral synchronous of structure rotates, and realizes the transmission operation of Multi-orientation multi-angle;Four mounting holes being equipped with using support plate, are convenient for Realize the fixation and installation of manipulator entirety;
(2)In the operating condition, so that the first support arm is rotated by the driving of the first driving motor, therefore drive and cut with scissors with the first support arm The the second support arm swing connect, driving cylinder driving makes telescopic rod be pushed to the front end of the second support arm, to realize increase the The folding angle of one support arm and the second support arm;Under without using state, the driving of the first driving motor makes the first support arm turn It moves to state in a vertical shape, driving cylinder driving makes the second support arm turn to state in a vertical shape, is mounted on the second support arm front end Grasping mechanism also drive state in a vertical shape therewith, with realizing the mesh for reducing occupied space;
(3)The photoelectric sensor distance of reaction being arranged on grasping mechanism is set as consistent with the distance of claw end to turntable, makes After obtaining claw end touching workpiece, it can perform and act in next step, it is intelligent to complete to patrol part, distinguished by two groups of claws coaxial mounted Gear and driven gear are driven, is engaged by gear and is realized the crawl of claw and loosen, it is only necessary to be driven on setting driving gear The fixation corner of motor can high-precision realization crawl, keep grasping movement errorless, it is red due to being mounted with respectively on two groups of claws The receiving terminal and transmitting terminal of outer sensor so that workpiece starts grasping movement completely into crawl mouth, improves grasping movement Accuracy.
(4)It is bolted to connection with turntable using the second mounting base, prevents from working as two claws in long-term work, go out Now abrasion or deformation realize fast quick-detach and replace the operation of two claws;It can make gripping using the driving of third driving motor Component rotates, therefore realizes the crawl operation of two claw Multi-orientation multi-angles, meets the production requirement of modern enterprise, and structure Simply, practicability is higher.
Description of the drawings
The present invention is further explained with reference to the accompanying drawings and examples:
Fig. 1 is the dimensional structure diagram of the present invention;
Fig. 2 is the side view one of the present invention;
Fig. 3 is the side view two of the present invention;
Fig. 4 is the dimensional structure diagram of the grasping mechanism of the present invention;
Reference sign:
Driving mechanism 1, support plate 1a, the second driving motor 1b, the first supporting mechanism 2, backing plate 2a, the first mounting base 2b, first Support arm 2c, the second supporting mechanism 3, the second support arm 3a, riser 3b, grasping mechanism 4, connector 4a, third driving motor 4b, Photoelectric sensor 4c, gripper assembly 4d, turntable 4d1, fixed plate 4d2 drive gear 4d3, driven gear 4d4, the second mounting base 4d5, claw 4d6, infrared sensor 4e, telescopic component 5, guide sleeve 5a, telescopic shaft 5b, hinged seat 5c drive cylinder 6, fixed Hole 6c, the first driving motor 7, fixed seat 8.
Specific implementation mode
Below in conjunction with attached Fig. 1 to Fig. 4, the present invention is described in detail, technical solution in the embodiment of the present invention into Row clearly and completely describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole realities Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work Every other embodiment, shall fall within the protection scope of the present invention.
The present invention provides a kind of industrial folding manipulator herein by improving, as Figure 1-Figure 4, including driving Mechanism 1, the first supporting mechanism 2, the second supporting mechanism 3 and grasping mechanism 4, the top of the driving mechanism 1 and the first support machine The rear end of structure 2 connects, and the front end of the first supporting mechanism 2 and the rear end of the second supporting mechanism 3 are hinged, and grasping mechanism 4 is mounted on the The bottom sidewall of the front end of two supporting mechanisms 3, the second supporting mechanism 3 is equipped with telescopic component 5, and the hydraulic stem of telescopic component 5 is set Two parts are set to, first part and the first supporting mechanism 2 keep horizontal, and second part and the second supporting mechanism 3 keep horizontal, and Two parts of 5 hydraulic stem of the telescopic component are fixedly connected by shaft, so set, when telescopic component being made to work, second Support mechanism 3 is rotated around the first supporting mechanism 2 always, and to complete the folding and stretching, extension of manipulator, telescopic component 5 is flexible The maximum distance of action can make the second supporting mechanism 3 and 2 holding of the first supporting mechanism horizontal, and state 5 expanding-contracting action of telescopic component Minimum range 3 downward bending of the second supporting mechanism and first supporting mechanism 2 can be made at 30 degree of angles, so set, ensureing It will not be caused because of the first supporting mechanism 2 and the second supporting mechanism 3 because generating dog-ear when telescopic component stretches maximum distance External carbuncle, improve the service life of manipulator, the first supporting mechanism 2 includes the pad being fixedly connected with the output end of driving mechanism 1 Plate(2a), with the first mounting base 2b and first support arm hinged with the first mounting base 2b that are fixedly connected at the top of backing plate 2a The bottom sidewall of 2c, the first support arm 2c are equipped with driving cylinder 6, the output end and telescopic component 5 of the driving cylinder 6 Rear end be fixedly connected, the side wall of the first mounting base 2b is equipped with the first driving motor 7, first driving motor 7 it is defeated Outlet is extended through the side of the first mounting base 2b and to its other side, and the first mounting base 2b is equipped with and fixes the first driving The bottom end of the fixed seat 8 of 7 output end of motor, the first support arm 2c is fixed on the output end of the first driving motor 7, is so set It sets, the lift action of manipulator completion up and down, the leading portion of the second supporting mechanism 3 can be made to connect grasping mechanism 4, gripper Structure 4 includes connector 4a, third driving motor 4b, photoelectric sensor 4c, gripper assembly 4d and infrared sensor 4e, connector 4a On the front end of the second support arm 3a, the rear end of third driving motor 4b is fixedly connected with the front end of connector 4a, third The output end of driving motor 4b is connect with gripper assembly 4d, and gripper assembly includes connecting the turntable 4d1 of third driving motor 4b, such as This setting, makes grasping mechanism that can be freely rotated around second support bar 3, so that it is dynamic to complete overturning after grabbing workpiece well Making, turntable 4d1, which is fixed by fixed plate 4d2 on the second mounting base 4d5, the second mounting base 4d5, is fixed with two groups of claw 4d6, and two Group claw 4d6 is fixed on by axis on the second mounting base 4d5, and the shaft end of the one of which claw 4d6 is fixed with driving The shaft end of gear 4d3, another group of claw 4d6 are fixed with driven gear 4d4, when the driving gear 4d3 is by driving motor band It is dynamic that driving gear 4d3 drives driven gear 4d4 to be rotated backward when rotating forward, similarly, when the driving gear 4d3 by Driving motor drives reversely to when rotation, and driving gear 4d3 drives driven gear 4d4 to be rotated forward, and two gears pass through Engagement remains reverse motions, so set, driving the corner of stepper motor on gear can be to different works by control Part realizes high-precision firm grasping movement, and since the side of turntable 4d1 is fixed with photoelectric sensor 4c, and it is vertical to incude direction It is set as consistent with the distance of the ends claw 4d6 to turntable in the distance of reaction of turntable 4d1, photoelectric sensor (4c), so sets It sets, facilitating manipulator can freely complete to patrol part work, and after touching workpiece, photoelectric sensor sends out inductive signal, to Stop patrolling the preparation that part starts crawl, that is, opens two groups of claws, it is mobile to workpiece front, due in the inside of claw 4d6 Between be provided with infrared sensor 4e, and the receiving terminal of infrared sensor 4e and transmitting terminal are respectively placed in two groups of claw 4d6, work as work For part completely into claw, infrared sensor receiving terminal receives blackout, then starts to act in next step, i.e. grasping movement, from And to patrol part and grip is more accurate and reliable.
The driving mechanism 1 includes support plate 1a in rectangular configuration and the second driving motor 1b, the second driving motor 1b In being vertically arranged and being fixedly connected at its output end and the bottom centre of backing plate 2a, the second driving motor 1b driving backing plates 2a turns It is dynamic, the mounting hole 6c there are four rectangular distribution is set on support plate 1a, the entirety for being easy to implement manipulator is rapidly assembled and disassembled.
Second supporting mechanism 3 includes the second support arm 3a hinged with the front end of the first support arm 2c and two intervals The riser 3b being arranged in the second support arm 3a bottom sidewalls, two riser 3b are fixedly connected with the second support arm 3a, pass through The driving of first driving motor 7 makes the first support arm 2c rotations, therefore the second support arm 3a hinged with the first support arm 2c is driven to put It is dynamic;It is convenient for the fixation of telescopic component 5 using two riser 3b.
The telescopic component 5 includes that guide sleeve 5a, telescopic shaft 5b and hinged seat 5c, the telescopic shaft 5b are mounted on guide sleeve It is slidably matched in 5a and with it, telescopic shaft 5b is limited on the move, the rear end of hinged seat 5c and telescopic shaft 5b, which is fixed, to be connected It connecing, guide sleeve 5a is mounted between two riser 3b and the rear end of guide sleeve 5a is fixed on the riser 3b of driving cylinder 6, The output end of driving cylinder 6 is fixedly connected with hinged seat 5c, realizes the movement that driving cylinder 6 makes drive telescopic shaft 5b in driving.
The gripper assembly 4c includes the turntable 4c1 being fixedly connected with the output end of third driving motor 4b, the second installation 4c2 and two claw 4c3, the second mounting base 4c2 of seat are mounted on by bolt on turntable 4c1, and two claw 4c3 are symmetricly set on Second mounting base 4c2 was last, was set on the second mounting base 4c2 there are two symmetrically arranged articulation piece 4c4, after two claw 4c3 End is hinged by two articulation piece 4c4 and the second mounting base 4c2, drives turntable 4c1 rotations by third driving motor 4b, therefore pacifies The second mounting base 4c2 on turntable 4c1 is rotated therewith, and two claw 4c3 are also followed by synchronous rotation, is completed multi-faceted more Angle carries out crawl operation to article.
The second mounting base 4c2 is equipped with several screw hole 4c5 passed through for bolt, is passed through the second installation convenient for bolt Seat 4c2 is quick installed on turntable 4c1.
Operation principle:In the operating condition, the first support arm 2c rotations are made by the driving of the first driving motor 7, therefore driven Hinged with the first support arm 2c the second support arm 3a is swung, and the driving driving of cylinder 6 makes telescopic rod to before the second support arm 3a End pushes, to realize the folding angle for increasing the first support arm 2c and the second support arm 3a;Under without using state, first drives The dynamic driving of motor 7 makes the first support arm 2c turn to state in a vertical shape, drives the driving of cylinder 6 that the second support arm 3a is made to turn to and is in Vertical state, the grasping mechanism 4 mounted on the second front ends support arm 3a also drive state in a vertical shape therewith, realize and reduce occupancy sky Between mesh;Gripper assembly 4d can be made to rotate using the 4b drivings of third driving motor, realize that two claw 4c3 are multi-faceted polygonal Degree carries out crawl operation to article, by the induction of photoelectric sensor 4c, when manipulator patrols part, assists claw 4d6 completions pair Then the job search of workpiece is opened by driving gear band to move driven gear two claws of realization, starts to move to workpiece, when Infrared sensor 4e on claw 4d6 receives signal interruption, gets started the crawl to workpiece, the second driving motor 1b actuator pads Plate 2a rotations can realize the Integral synchronous rotation of the first supporting mechanism 2, the second supporting mechanism 3 and grasping mechanism 4, realize more The transmission operation of orientation multi-angle.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest range caused.

Claims (6)

1. a kind of industrial folding manipulator, it is characterised in that:Including driving mechanism(1), the first supporting mechanism(2), Two supporting mechanisms(3)And grasping mechanism(4), the driving mechanism(1)Top and the first supporting mechanism(2)Rear end connection, First supporting mechanism(2)Front end and the second supporting mechanism(3)Rear end it is hinged, grasping mechanism(4)Mounted on the second support machine Structure(3)Front end, second supporting mechanism(3)Bottom sidewall be equipped with telescopic component(5), the telescopic component(5)'s Hydraulic stem is set as two parts, first part and the first supporting mechanism(2)Keep horizontal, second part and the second supporting mechanism (3)Keep horizontal, and the telescopic component(5)Two parts of hydraulic stem are fixedly connected by shaft, the telescopic component(5)It stretches The maximum distance of contracting action can make the second supporting mechanism(3)With the first supporting mechanism(2)It keeps horizontal, and states telescopic component(5) The minimum range of expanding-contracting action can make the second supporting mechanism(3)Downward bending and first supporting mechanism(2)At 30 degree of angles, institute State the first supporting mechanism(2)Including with driving mechanism(1)The backing plate that is fixedly connected of output end(2a)With backing plate(2a)Top The first mounting base being fixedly connected(2b)With with the first mounting base(2b)The first hinged support arm(2c), first support arm (2c)Bottom sidewall be equipped with driving cylinder(6), the driving cylinder(6)Output end and telescopic component(5)Rear end it is solid Fixed connection, first mounting base(2b)Side wall be equipped with the first driving motor(7), first driving motor(7)Output The first mounting base is run through at end(2b)Side and to its other side be extended, the first mounting base(2b)It is equipped with and fixes the first drive Dynamic motor(7)The fixed seat of output end(8), the first support arm(2c)Bottom end be fixed on the first driving motor(7)Output end On, second supporting mechanism(3)Leading portion connect grasping mechanism(4), the grasping mechanism(4)Including connector(4a), Three driving motors(4b), photoelectric sensor(4c), gripper assembly(4d)With infrared sensor 4e, the connector(4a)It is mounted on Second support arm(3a)Front end on, third driving motor(4b)Rear end and connector(4a)Front end be fixedly connected, third Driving motor(4b)Output end and gripper assembly(4d)Connection, the gripper assembly include connection third driving motor(4b)'s Turntable(4d1), the turntable(4d1)Pass through fixed plate(4d2)Fix the second mounting base(4d5), second mounting base(4d5) On be fixed with two groups of claws(4d6), two groups of claws(4d6)Be fixed on the second mounting base 4d5 by axis, and it is described wherein One group of claw(4d6)Shaft end be fixed with driving gear(4d3), another group of claw(4d6)Shaft end be fixed with driven tooth Wheel(4d4), when the driving gear(4d3)When being rotated forward by driving motor drive, gear is driven(4d3)Drive driven gear (4d4)It is rotated backward, similarly, when the driving gear(4d3)It is driven reversely to when rotation from driving motor, drives gear (4d3)Drive driven gear(4d4)It is rotated forward, two gears remain reverse motions, the turntable by engagement (4d1)Side be fixed with photoelectric sensor(4c), induction direction is perpendicular to turntable(4d1), the photoelectric sensor (4c) Distance of reaction is set as and claw(4d6)The distance of end to turntable is consistent, the claw(4d6)Inside among be provided with it is red Outer sensor(4e), the infrared sensor(4e)Receiving terminal and transmitting terminal be respectively placed in two groups of claws(4d6)In.
2. industrial folding manipulator according to claim 1, it is characterised in that:The driving mechanism(1)Including Support plate in rectangular configuration(1a)With the second driving motor(1b), the second driving motor(1b)In being vertically arranged and its output end With backing plate(2a)Bottom centre at be fixedly connected, support plate(1a)On set mounting hole there are four rectangular distribution(6c).
3. industrial folding manipulator according to claim 1, it is characterised in that:Second supporting mechanism(3) Including with the first support arm(2c)Hinged the second support arm in front end(3a)It is arranged at intervals on the second support arm with two(3a) Riser in bottom sidewall(3b), two risers(3b)With the second support arm(3a)It is fixedly connected.
4. industrial folding manipulator according to claim 3, it is characterised in that:The telescopic component(5)Including Guide sleeve(5a), telescopic shaft(5b)And hinged seat(5c), the telescopic shaft(5b)Mounted on guide sleeve(5a)It is interior and slided with it Cooperation, hinged seat(5c)With telescopic shaft(5b)Rear end be fixedly connected, guide sleeve(5a)Mounted on two risers(3b)Between and Guide sleeve(5a)Rear end be fixed on close to driving cylinder(6)Riser(3b)On, drive cylinder(6)Output end and hinged seat (5c)It is fixedly connected.
5. industrial folding manipulator according to claim 1, it is characterised in that:The gripper assembly(4c)Including With third driving motor(4b)The turntable that is fixedly connected of output end(4c1), the second mounting base(4c2)With two claws(4c3), Second mounting base(4c2)It is mounted on turntable by bolt(4c1)On, two claws(4c3)It is symmetricly set on the second mounting base (4c2)It is last, the second mounting base(4c2)On set there are two symmetrically arranged articulation piece(4c4), two claws(4c3)Rear end Pass through two articulation pieces(4c4)With the second mounting base(4c2)It is hinged.
6. industrial folding manipulator according to claim 1, it is characterised in that:Second mounting base(4c2) It is equipped with several screw holes passed through for bolt(4c5).
CN201810694216.0A 2018-06-29 2018-06-29 A kind of industrial folding manipulator Pending CN108555948A (en)

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Application Number Priority Date Filing Date Title
CN201810694216.0A CN108555948A (en) 2018-06-29 2018-06-29 A kind of industrial folding manipulator

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Application Number Priority Date Filing Date Title
CN201810694216.0A CN108555948A (en) 2018-06-29 2018-06-29 A kind of industrial folding manipulator

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CN108555948A true CN108555948A (en) 2018-09-21

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531606A (en) * 2018-11-27 2019-03-29 山东大学 A kind of electro-hydraulic pair is driven direct-push manipulators and working method
CN109760019A (en) * 2019-02-19 2019-05-17 广州炬森自动化设备有限公司 It is a kind of for grabbing the gripper of universal joint attachment base
CN110625107A (en) * 2019-11-05 2019-12-31 湖北华远装备制造股份有限公司 Ladle long nozzle manipulator
CN112374126A (en) * 2020-11-19 2021-02-19 博众精工科技股份有限公司 Zero-resetting tool and zero-resetting assembly line

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531606A (en) * 2018-11-27 2019-03-29 山东大学 A kind of electro-hydraulic pair is driven direct-push manipulators and working method
CN109760019A (en) * 2019-02-19 2019-05-17 广州炬森自动化设备有限公司 It is a kind of for grabbing the gripper of universal joint attachment base
CN110625107A (en) * 2019-11-05 2019-12-31 湖北华远装备制造股份有限公司 Ladle long nozzle manipulator
CN112374126A (en) * 2020-11-19 2021-02-19 博众精工科技股份有限公司 Zero-resetting tool and zero-resetting assembly line

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