CN108582123A - A kind of manipulator with clamping device - Google Patents
A kind of manipulator with clamping device Download PDFInfo
- Publication number
- CN108582123A CN108582123A CN201810389921.XA CN201810389921A CN108582123A CN 108582123 A CN108582123 A CN 108582123A CN 201810389921 A CN201810389921 A CN 201810389921A CN 108582123 A CN108582123 A CN 108582123A
- Authority
- CN
- China
- Prior art keywords
- slide bar
- adjusting cavity
- adjusting
- sliding sleeve
- locating piece
- 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
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a kind of manipulators with clamping device, including mobile platform, it is vertically installed with hydraulic pump on the mobile platform, and one end far from mobile platform is vertically welded in the surface of support plate on the piston rod of hydraulic pump, the support plate is arranged in parallel with mobile platform, and one end of support plate is vertically welded with mounting plate, the side far from support plate is welded with adjusting cavity on the mounting plate, and the one side of adjusting cavity is welded on the surface of mounting plate, the adjusting cavity is rectangular hollow structure, and the bottom of adjusting cavity offers opening, limit slide bar is provided in the adjusting cavity, and the both ends for limiting slide bar are vertically welded on the inner wall of adjusting cavity, the limit slide bar is arranged in adjusting cavity close to one end of opening.In the present invention, by the way that mobile platform is arranged, arbitrarily the present apparatus can be moved, to facilitate according to the difference for using position, the object of processing is gripped, the flexibility of the present apparatus is increased.
Description
Technical field
The present invention relates to the technical field of machinery more particularly to a kind of manipulators with clamping device.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Manipulator is the industrial robot occurred earliest, and the modern machines occurred earliest
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 people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In in life, section now
Skill day crescent benefit progress under, robot and have the mankind arm maximum difference be that flexibility ratio and resistance to dynamics.
Be exactly manipulator sharpest edges it is recursive do it is same action machinery will not always feel tired under normal circumstances！Machinery
The application of arm also will be more and more extensive, and manipulator is a kind of high-tech automatic producing device that recent decades grow up,
The ability to fulfil assignment in the accuracy and environment of operation.One important branch of industry mechanical arm robot.By type of drive
Fluid pressure type, pneumatic type, electrodynamic type, mechanical can be divided into.Feature is that various expected operations, construction can be completed by programming
And have the advantage of people and robotics respectively in performance concurrently.
There are certain drawbacks in the existing manipulator with clamping device, how solid manipulator present first is when in use
Determine on certain devices, cannot flexibly move, working range is very limited, and manipulator can be slided in gripping objects
Phenomenon, fragile object are fallen, wasting manpower and material resources bring certain influence, for this purpose, we are badly in need of proposing that a kind of carry is clamped
The manipulator of tool, to solve the above problems.
Invention content
The purpose of the present invention is to solve disadvantage existing in the prior art, and propose a kind of with clamping device
Manipulator.
To achieve the goals above, present invention employs following technical solutions：
A kind of manipulator with clamping device, including mobile platform are vertically installed with hydraulic pump on the mobile platform,
And one end far from mobile platform is vertically welded in the surface of support plate on the piston rod of hydraulic pump, the support plate is put down with mobile
Platform is arranged in parallel, and one end of support plate is vertically welded with mounting plate, and the side far from support plate is welded on the mounting plate
Adjusting cavity, and the one side of adjusting cavity is welded on the surface of mounting plate, the adjusting cavity are rectangular hollow structure, and adjusting cavity
Bottom offers opening, limit slide bar is provided in the adjusting cavity, and the both ends for limiting slide bar are vertically welded in adjusting cavity
On inner wall, the limit slide bar is arranged in adjusting cavity close to one end of opening, and limits and be movably set with two groups on slide bar
First sliding sleeve, first sliding sleeve are socketed in the surface of limit slide bar, and one far from opening in adjusting cavity on the first sliding sleeve
Side, which is respectively perpendicular, is welded with the first locating piece, and adjusting slide bar is movably set in the adjusting cavity, and adjusts slide bar activity setting
In the surface of limit slide bar, movable sleeve is connected to two group of second sliding sleeve on the adjusting slide bar.
Preferably, the second locating piece, and the second locating piece and first are respectively welded on the both sides inner wall of the adjusting cavity
Locating piece horizontal alignment is arranged, and passes through between the second sliding sleeve of homonymy, the first locating piece and the second locating piece in the adjusting cavity
Second adjusting rod and the flexible connection of the first adjusting rod.
Preferably, the both ends of first adjusting rod are rotatably connected on the surface of the second locating piece and the second sliding sleeve respectively,
And second the both ends of adjusting rod be rotatably connected on the surface of the first locating piece and the second sliding sleeve, first adjusting rod and respectively
Two adjusting rods are rotatably connected on the both sides of the second sliding sleeve respectively.
Preferably, the surface of the adjusting cavity is equipped with push-rod electric machine, and adjusts one end far from limit slide bar on slide bar
It is vertically welded with push rod.
Preferably, adjusting cavity is passed through far from one end activity for adjusting slide bar on the push rod, and is connected to by shaft coupling
On push-rod electric machine.
Preferably, the side far from the first locating piece is vertically welded with one end of supporting rod on the first sliding sleeve described in two groups,
And the other end of supporting rod passes through the opening of adjusting cavity, and outside is extended to, the one of separate first sliding sleeve on the supporting rod
End is fixedly connected with anti-skidding clamp hand, and the surface of anti-skidding clamp hand is fixedly installed anti-skidding leather strap.
Preferably, the side far from hydraulic pump is equipped with two groups of movable pulleys on the mobile platform.
Compared with prior art, the beneficial effects of the invention are as follows：
1, in the present invention, by the way that mobile platform is arranged, arbitrarily the present apparatus can be moved, to facilitate according to using
The difference of position grips the object of processing, increases the flexibility of the present apparatus.
2, in the present invention, the gripping situation of supporting rod is controlled by the way that the first adjusting rod and the second adjusting rod is arranged, makes gripping
More stablize, by being arranged anti-skidding clamp hand, the object of gripping is stable, safety is gripped.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the manipulator with clamping device proposed by the present invention；
Fig. 2 is a kind of overlooking structure diagram of the manipulator with clamping device proposed by the present invention；
Fig. 3 is a kind of structural schematic diagram of the manipulator adjusting cavity with clamping device proposed by the present invention.
In figure：1 mobile platform, 2 hydraulic pumps, 3 support plates, 4 mounting plates, 5 push-rod electric machines, 6 adjusting cavities, 7 supporting rods, 8 are prevented
Slide hand, 9 movable pulleys, 10 push rods, 11 limit slide bars, 12 first sliding sleeves, 13 first locating pieces, 14 first adjusting rods, 15 second
Adjusting rod, 16 second sliding sleeves, 17 adjust slide bar, 18 second locating pieces.
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 manipulator with clamping device, including mobile platform 1, right angle setting on mobile platform 1
There is hydraulic pump 2, and one end far from mobile platform 1 on the piston rod of hydraulic pump 2 is vertically welded in the surface of support plate 3, it is mobile
Side far from hydraulic pump 2 on platform 1 is equipped with two groups of movable pulleys 9, and support plate 3 is arranged in parallel with mobile platform 1, and support plate
3 one end is vertically welded with mounting plate 4, and the side far from support plate 3 on mounting plate 4 is welded with adjusting cavity 6, and adjusting cavity 6
One side is welded on the surface of mounting plate 4, and adjusting cavity 6 is rectangular hollow structure, and the bottom of adjusting cavity 6 offers opening, adjusts
It is provided with limit slide bar 11 in section chamber 6, and the both ends for limiting slide bar 11 are vertically welded on the inner wall of adjusting cavity 6, limits slide bar
11 are arranged in adjusting cavity 6 close to one end of opening, and limit and be movably set with two group of first sliding sleeve 12 on slide bar 11, and first
Sliding sleeve 12 is socketed in the surface of limit slide bar 11, and the side far from opening in adjusting cavity 6 on the first sliding sleeve 12 is respectively perpendicular
It is welded with the first locating piece 13, the side far from the first locating piece 13 is vertically welded with supporting rod 7 on two group of first sliding sleeve 12
One end, and the other end of supporting rod 7 passes through the opening of adjusting cavity 6, and outside is extended to, far from the first sliding sleeve on supporting rod 7
12 one end is fixedly connected with anti-skidding clamp hand 8, and the surface of anti-skidding clamp hand 8 is fixedly installed anti-skidding leather strap, activity in adjusting cavity 6
It is provided with and adjusts slide bar 17, and adjust the surface that slide bar 17 is movably arranged on limit slide bar 11, the surface of adjusting cavity 6 is equipped with
Push-rod electric machine 5, and the one end adjusted far from limit slide bar 11 on slide bar 17 is vertically welded with push rod 10, far from adjusting on push rod 10
One end activity of slide bar 17 passes through adjusting cavity 6, and is connected on push-rod electric machine 5 by shaft coupling, on the both sides inner wall of adjusting cavity 6
It is respectively welded the second locating piece 18, and the second locating piece 18 and 13 horizontal alignment of the first locating piece are arranged, homonymy in adjusting cavity 6
The second sliding sleeve 16, pass through 14 activity of the second adjusting rod 15 and the first adjusting rod between the first locating piece 13 and the second locating piece 18
Connection, the both ends of the first adjusting rod 14 are rotatably connected on the surface of the second locating piece 18 and the second sliding sleeve 16 respectively, and second adjusts
The both ends of pole 15 are rotatably connected on the surface of the first locating piece 13 and the second sliding sleeve 16 respectively, and the first adjusting rod 14 and second is adjusted
Pole 15 is rotatably connected on the both sides of the second sliding sleeve 16 respectively, adjusts movable sleeve on slide bar 17 and is connected to two group of second sliding sleeve 16, adjusts
It saves and is respectively welded the second locating piece 18, and 13 horizontal alignment of the second locating piece 18 and the first locating piece on the both sides inner wall of chamber 6
It is arranged, passes through the second adjusting rod 15 between second sliding sleeve 16 of homonymy, the first locating piece 13 and the second locating piece 18 in adjusting cavity 6
It is flexibly connected with the first adjusting rod 14, the both ends of the first adjusting rod 14 are rotatably connected on the second locating piece 18 and the second sliding sleeve respectively
16 surface, and the both ends of the second adjusting rod 15 are rotatably connected on the surface of the first locating piece 13 and the second sliding sleeve 16 respectively, the
One adjusting rod 14 and the second adjusting rod 15 are rotatably connected on the both sides of the second sliding sleeve 16 respectively.
Operation principle：When using the present apparatus, the present apparatus can be moved to needs by pushing mobile platform 1
Then position passes through the control of 5 leg push rod 10 of push-rod electric machine, to make adjusting slide bar 17 be slided up and down in adjusting cavity 6, first
Included angle between adjusting rod 14 and the second adjusting rod 15 is from becoming smaller greatly, since one end of the first adjusting rod 14 is fixed, from
And can only be moved by one end of the second adjusting rod 15, drive the first locating piece 13 to be moved on limit slide bar 11, to make
Two groups of supporting rods 7 are close to each other or are located remotely from each other, and the included angle between the first adjusting rod 14 and the second adjusting rod 15 also exists
Under the drive of push rod 10, from large to small or change from small to big, so on circulate, object is 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 (7)
1. a kind of manipulator with clamping device, including mobile platform (1), which is characterized in that hang down on the mobile platform (1)
It is straight that hydraulic pump (2) is installed, and one end far from mobile platform (1) is vertically welded in support plate on the piston rod of hydraulic pump (2)
(3) surface, the support plate (3) is arranged in parallel with mobile platform (1), and one end of support plate (3) is vertically welded with installation
Plate (4), the side far from support plate (3) is welded with adjusting cavity (6), and the one side weldering of adjusting cavity (6) on the mounting plate (4)
It is connected on the surface of mounting plate (4), the adjusting cavity (6) is rectangular hollow structure, and the bottom of adjusting cavity (6) offers opening,
Limit slide bar (11) is provided in the adjusting cavity (6), and the both ends for limiting slide bar (11) are vertically welded in the interior of adjusting cavity (6)
On wall, the limit slide bar (11) is arranged in adjusting cavity (6) close to one end of opening, and limits activity on slide bar (11) and set
It is equipped with two group of first sliding sleeve (12), first sliding sleeve (12) is socketed in the surface of limit slide bar (11), and the first sliding sleeve (12)
The upper side far from opening in adjusting cavity (6), which is respectively perpendicular, is welded with the first locating piece (13), movable in the adjusting cavity (6)
It is provided with and adjusts slide bar (17), and adjust the surface that slide bar (17) is movably arranged on limit slide bar (11), the adjusting slide bar
(17) movable sleeve is connected to two group of second sliding sleeve (16) on.
2. a kind of manipulator with clamping device according to claim 1, which is characterized in that the adjusting cavity (6)
The second locating piece (18) is respectively welded on the inner wall of both sides, and the second locating piece (18) is set with the first locating piece (13) horizontal alignment
It sets, passes through between the second sliding sleeve (16) of the interior homonymy of the adjusting cavity (6), the first locating piece (13) and the second locating piece (18)
Two adjusting rods (15) and the first adjusting rod (14) flexible connection.
3. a kind of manipulator with clamping device according to claim 2, which is characterized in that first adjusting rod
(14) both ends are rotatably connected on the surface of the second locating piece (18) and the second sliding sleeve (16) respectively, and the second adjusting rod (15)
Both ends are rotatably connected on the surface of the first locating piece (13) and the second sliding sleeve (16), first adjusting rod (14) and second respectively
Adjusting rod (15) is rotatably connected on the both sides of the second sliding sleeve (16) respectively.
4. a kind of manipulator with clamping device according to claim 1, which is characterized in that the adjusting cavity (6)
Surface is equipped with push-rod electric machine (5), and the one end adjusted far from limit slide bar (11) on slide bar (17) is vertically welded with push rod
(10)。
5. a kind of manipulator with clamping device according to claim 4, which is characterized in that remote on the push rod (10)
Adjusting cavity (6) is passed through from one end activity for adjusting slide bar (17), and is connected on push-rod electric machine (5) by shaft coupling.
6. a kind of manipulator with clamping device according to claim 1, which is characterized in that the first sliding sleeve described in two groups
(12) side far from the first locating piece (13) is vertically welded with one end of supporting rod (7) on, and the other end of supporting rod (7) is worn
The opening of chamber (6) is overregulated, and extends to outside, one end far from the first sliding sleeve (12), which is fixed, on the supporting rod (7) connects
It is connected to anti-skidding clamp hand (8), and the surface of anti-skidding clamp hand (8) is fixedly installed anti-skidding leather strap.
7. a kind of manipulator with clamping device according to claim 1, which is characterized in that the mobile platform (1)
The upper side far from hydraulic pump (2) is equipped with two groups of movable pulleys (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810389921.XA CN108582123A (en) | 2018-04-27 | 2018-04-27 | A kind of manipulator with clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810389921.XA CN108582123A (en) | 2018-04-27 | 2018-04-27 | A kind of manipulator with clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582123A true CN108582123A (en) | 2018-09-28 |
Family
ID=63610440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810389921.XA Pending CN108582123A (en) | 2018-04-27 | 2018-04-27 | A kind of manipulator with clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582123A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111389896A (en) * | 2020-03-04 | 2020-07-10 | 陕西理工大学 | Electric repairing device for heavy metal contaminated soil |
| EP4190720A4 (en) * | 2020-07-30 | 2023-11-08 | Hai Robotics Co., Ltd. | Goods pick-up mechanism and transport device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202805207U (en) * | 2012-10-14 | 2013-03-20 | 余晓飞 | Mechanical arm capable of achieving large span clamping |
| CN203682971U (en) * | 2014-02-28 | 2014-07-02 | 穆守信 | Movable hydraulic load lifter |
| CN107371614A (en) * | 2017-08-23 | 2017-11-24 | 广州市鹭江远科技有限公司 | Fruit manipulator is grabbed in one kind harvesting |
| CN206677984U (en) * | 2017-04-25 | 2017-11-28 | 大丰市天曌机械科技有限公司 | A kind of mechanical tong of convenient dismounting |
| EP3296238A1 (en) * | 2016-09-20 | 2018-03-21 | MULTIVAC Sepp Haggenmüller SE & Co. KG | Holding device for packaging |
| CN107902314A (en) * | 2017-12-14 | 2018-04-13 | 沈波 | A kind of novel storage sorting manipulator |
-
2018
- 2018-04-27 CN CN201810389921.XA patent/CN108582123A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202805207U (en) * | 2012-10-14 | 2013-03-20 | 余晓飞 | Mechanical arm capable of achieving large span clamping |
| CN203682971U (en) * | 2014-02-28 | 2014-07-02 | 穆守信 | Movable hydraulic load lifter |
| EP3296238A1 (en) * | 2016-09-20 | 2018-03-21 | MULTIVAC Sepp Haggenmüller SE & Co. KG | Holding device for packaging |
| CN206677984U (en) * | 2017-04-25 | 2017-11-28 | 大丰市天曌机械科技有限公司 | A kind of mechanical tong of convenient dismounting |
| CN107371614A (en) * | 2017-08-23 | 2017-11-24 | 广州市鹭江远科技有限公司 | Fruit manipulator is grabbed in one kind harvesting |
| CN107902314A (en) * | 2017-12-14 | 2018-04-13 | 沈波 | A kind of novel storage sorting manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111389896A (en) * | 2020-03-04 | 2020-07-10 | 陕西理工大学 | Electric repairing device for heavy metal contaminated soil |
| EP4190720A4 (en) * | 2020-07-30 | 2023-11-08 | Hai Robotics Co., Ltd. | Goods pick-up mechanism and transport device |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180928 |
|
| WD01 | Invention patent application deemed withdrawn after publication |