CN108942988A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN108942988A CN108942988A CN201811006331.0A CN201811006331A CN108942988A CN 108942988 A CN108942988 A CN 108942988A CN 201811006331 A CN201811006331 A CN 201811006331A CN 108942988 A CN108942988 A CN 108942988A
- Authority
- CN
- China
- Prior art keywords
- charging tray
- shovel
- pawl head
- additionally provided
- pole
- 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
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of manipulators, it is intended to provide a kind of manipulator that can grab small part, its key points of the technical solution are that, including pawl head, it is additionally provided with grabbing device on the pawl head, the grabbing device includes the hinged shovel charging tray of lifting cylinder on pawl head, the support, two sides and the support that are equipped with positioned at the rotary electric machine of lifting cylinder outlet, positioned at rotary electric machine outlet pole, are equipped with positioned at pole top and positioned at pole outer wall and outlet the extruding cylinder hinged with shovel charging tray tail portion.
Description
Technical field
The present invention relates to robotic device field, in particular to a kind of manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people
Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Currently, the Chinese patent of Publication No. CN107378991A discloses a kind of Novel mechanical claw collet, it includes
Driver, power output shaft, fine-tuning nut, mechanical paw, fixing bolt, collet, in which: including driver and robot device group
At, drive the power output shaft of gas be fixedly connected installation left and right two mechanical paws, junction be equipped with a fine-tuning nut, movable sleeve
It is arranged on the power output shaft, collet is fixedly mounted by fixing bolt in the two mechanical paw lower ends in left and right, and driver is motor or liquid
Hydraulic driver, mechanical paw, fixing bolt and collet use high strength steel.
Although this Novel mechanical claw collet solves existing machinery pawl using spring type mechanical hand drive mechanism, structure
The problems such as complexity is short of power, and security risk is big, and transmission effect is poor, but it is often more difficult for small-sized part crawl process,
Situations such as claw hook can not preferably grab small part, be easy to appear landing.
Summary of the invention
The object of the present invention is to provide a kind of manipulators, and having effectively to take out lesser part, reduce out
Existing handgrip can not grab the advantages of small part situation occurs.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of manipulator, including pawl head, grabbing device is additionally provided on the pawl head, and the grabbing device includes being located on pawl head
Lifting cylinder is equipped with pole positioned at the rotary electric machine of lifting cylinder outlet, positioned at rotary electric machine outlet, is equipped with positioned at pole top
Support, the hinged shovel charging tray of two sides and support and positioned at pole outer wall and outlet the extruding cylinder hinged with shovel charging tray tail portion.
By using above-mentioned technical proposal, the grabbing device being equipped with can drive shovel charging tray under the action of rotary electric machine
Shovel material is carried out in small part, simultaneously because the extruding cylinder that tail portion is hinged with can effectively lift tail portion, so that be is small
Part is stored by shovel charging tray, until can be lifted on cylinder by squeezing so that shovel charging tray is downward, to arrange when needing to release
The small part in charging tray is shoveled out, and shovel charging tray can effectively be driven by the turning effort of rotary electric machine during shoveling material
It is promoted in part heap, to shovel out lesser part.
Further setting: the shovel charging tray side is equipped with feed inlet, and the feed inlet bottom is equipped with extension plate obliquely.
By using above-mentioned technical proposal, part is shoveled to interior when conveniently entire shovel charging tray rotates shovel material in part heap
Portion, to be lifted entire shovel charging tray with part by lifting cylinder.
Further setting: the shovel tray bottom is additionally provided with vibrator.
By using above-mentioned technical proposal, the vibrator being equipped with can shake during shoveling charging tray and toppling over part
It is dynamic, occur so that the smaller parts shoveled inside charging tray are poured out the situation that being retained in shovel charging tray occurs in shovel charging tray reduction.
Further setting: being additionally provided with gearshift on the pawl head, institute's displacement apparatus includes being located at the first side of pawl to be equipped with
Bracket, the pawl arm positioned at cantilever tip is connect with support vertical, the groove on pawl arm, with pawl head be fixedly connected and be caught in
Fixture block in groove and the pusher cylinder being connect positioned at cantilever tip with fixture block.
By using above-mentioned technical proposal, the gearshift being equipped with can pass through promotion after shovel charging tray is shoveled to part
The drive of cylinder takes shovel charging tray in next process to, consequently facilitating the transport of entire part.
Further setting: electromagnetic relay is additionally provided on the shovel charging tray inner wall.
By using above-mentioned technical proposal, the electromagnetic relay being equipped with facilitates placement of the entire part in shovel charging tray, subtracts
Occur less in transportational process situations such as falling, while the electromagnetic relay being equipped with is also possible that shovel charging tray outer wall also carrying portion
The part divided, to increase entire transport effect.
Further setting: the shovel tray bottom is additionally provided with handle.
By using above-mentioned technical proposal, the handle that shovel tray bottom is equipped with convenient for users to lower pulling scraper charging tray side from
And to effective cleaning is carried out inside shovel charging tray, convenient for the cleaning of user.
In conclusion the invention has the following advantages: the shovel charging tray being equipped with can have under the drive of rotary electric machine
Effect shovels out lesser part in part heap, to transport to small part, reduction occurs that manipulator is integrally larger can not
The case where grabbing small part occurs.
Detailed description of the invention
Fig. 1 is manipulator overall structure diagram；
Fig. 2 is another angle overall structure diagram of manipulator.
In figure, 1, pawl head；2, grabbing device；21, lifting cylinder；22, rotary electric machine；23, pole；24, support；25, it shovels
Charging tray；26, cylinder is squeezed；3, feed inlet；4, extension plate；5, vibrator；6, gearshift；61, bracket；62, pawl arm；63, recessed
Slot；64, fixture block；65, pusher cylinder；7, electromagnetic relay；8, handle.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Embodiment 1: a kind of manipulator is additionally provided with grabbing device 2 on pawl head 1, grabs as shown in Figures 1 and 2, including pawl head 1
Taking device 2 includes the lifting cylinder 21 on pawl head 1, is fixedly connected with rotary electric machine 22 in 21 exit of lifting cylinder, and
The outlet of rotary electric machine 22 is equipped with pole 23, pole 23 straight down, while on one end of the separate rotary electric machine 22 of pole 23
It is additionally provided with support 24, shovel charging tray 25 is hinged on support 24, shovel charging tray 25 is overturn on support 24, and shovels material
Disk 25 is the cabinet with opening, is additionally provided on 23 outer wall of pole and squeezes cylinder 26, squeezes outlet and the shovel of cylinder 26
25 tail portion of charging tray is hinged.So as to control the inclination conditions of shovel charging tray 25 by squeezing cylinder 26.Shovel 25 side of charging tray is set
There is feed inlet 3, and 3 bottom of feed inlet is equipped with extension plate 4 obliquely, it will during part heap rotates convenient for shovel charging tray 25
Part is shoveled to inside.It is additionally provided with electromagnetic relay 7 on shovel 25 inner wall of charging tray, convenient for the absorption to part and is put down.
Shovel 25 bottom of charging tray is additionally provided with vibrator 5, pours out internal part in toppling process convenient for shovel charging tray 25.And
Cleaning after shovel 25 bottom of charging tray is additionally provided with handle 8, is easy to process.It is additionally provided with gearshift 6 on pawl head 1, and is displaced dress
Set 6 include the bracket 61 being equipped with positioned at 1 side of pawl head, positioned at 61 top of bracket and the pawl arm 62 connected vertically of bracket 61, be located at
Groove 63 on pawl arm 62, the fixture block 64 for being fixedly connected and being caught in groove 63 with pawl head 1 and it is located at 61 top of bracket and fixture block
The pusher cylinder 65 of 64 connections.
Its main operational principle is as follows: lifting cylinder 21 effectively can be driven entire rotation electricity during use
Machine 22 declines, so that shovel charging tray 25 is contacted with part heap, can star rotary electric machine 22 when entering part heap,
So that shovel charging tray 25 rotates in part heap, it can be effectively by part shovel to shovel charging tray 25 under the action of extension plate 4
It is interior, while can assist opening electromagnetic relay 7, part is adsorbed, after part is filled, 6 band of gearshift can be passed through
The displacement of entire lifting cylinder 21 is moved, thus after reaching designated position, by squeezing collecting for cylinder 26, so that material will be shoveled entirely
The feed inlet 3 of disk 25 downward, and closes electromagnetic relay 7, so that part be poured, completes the process entirely grabbed.
The above embodiments are only explanation of the invention, are not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (6)
1. a kind of manipulator, including pawl head (1), it is characterised in that: it is additionally provided with grabbing device (2) on the pawl head (1), it is described to grab
The rotary electric machine (22) that takes device (2) to include lifting cylinder (21) on pawl head (1), be located at lifting cylinder (21) outlet,
Support (24), two sides and the support for being equipped with pole (23) positioned at rotary electric machine (22) outlet, being equipped with positioned at pole (23) top
(24) hinged shovel charging tray (25) and it is located at pole (23) outer wall and outlet and the hinged extruding cylinder in shovel charging tray (25) tail portion
(26).
2. a kind of manipulator according to claim 1, it is characterised in that: the shovel charging tray (25) side is equipped with feed inlet
(3), feed inlet (3) bottom is equipped with extension plate (4) obliquely.
3. a kind of manipulator according to claim 2, it is characterised in that: shovel charging tray (25) bottom is additionally provided with vibrator
(5).
4. a kind of manipulator according to claim 3, it is characterised in that: be additionally provided with gearshift on the pawl head (1)
(6), institute's displacement apparatus (6) includes the bracket (61) being equipped with positioned at pawl head (1) side, is located at bracket (61) top and bracket
(61) pawl arm (62) connected vertically, be located at pawl arm (62) on groove (63), be fixedly connected with pawl head (1) and be caught in groove
(63) fixture block (64) in and it is located at the pusher cylinder (65) that bracket (61) top is connect with fixture block (64).
5. a kind of manipulator according to claim 4, it is characterised in that: be additionally provided with electromagnetism on shovel charging tray (25) inner wall
Relay (7).
6. a kind of manipulator according to claim 5, it is characterised in that: shovel charging tray (25) bottom is additionally provided with handle
(8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811006331.0A CN108942988A (en) | 2018-08-30 | 2018-08-30 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811006331.0A CN108942988A (en) | 2018-08-30 | 2018-08-30 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942988A true CN108942988A (en) | 2018-12-07 |
Family
ID=64474860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811006331.0A Pending CN108942988A (en) | 2018-08-30 | 2018-08-30 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942988A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158591A (en) * | 2020-10-27 | 2021-01-01 | 湖州信倍连网络科技有限公司 | Manipulator grabbing device with limiting function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6116845A (en) * | 1998-03-19 | 2000-09-12 | Atlas Technologies, Inc. | Apparatus for supporting a workpiece for transfer |
| CN201999976U (en) * | 2011-03-22 | 2011-10-05 | 银川杰力能科技有限公司 | Intelligent slag tapping and loading robot for smelting magnesium |
| CN105908670A (en) * | 2016-06-20 | 2016-08-31 | 无锡虹业自动化工程有限公司 | Steel wire waste disposal forklift |
| CN205972916U (en) * | 2016-08-18 | 2017-02-22 | 石棉县东顺锌业有限责任公司 | Hierarchical conveyor of zinc granule |
| CN108253794A (en) * | 2018-01-25 | 2018-07-06 | 湖南理工学院 | A kind of folded sides wall type isothermal discharging sintering machine and isothermal discharge method |
| CN208663839U (en) * | 2018-08-30 | 2019-03-29 | 无锡百禾工业机器人有限公司 | A kind of manipulator |
-
2018
- 2018-08-30 CN CN201811006331.0A patent/CN108942988A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6116845A (en) * | 1998-03-19 | 2000-09-12 | Atlas Technologies, Inc. | Apparatus for supporting a workpiece for transfer |
| CN201999976U (en) * | 2011-03-22 | 2011-10-05 | 银川杰力能科技有限公司 | Intelligent slag tapping and loading robot for smelting magnesium |
| CN105908670A (en) * | 2016-06-20 | 2016-08-31 | 无锡虹业自动化工程有限公司 | Steel wire waste disposal forklift |
| CN205972916U (en) * | 2016-08-18 | 2017-02-22 | 石棉县东顺锌业有限责任公司 | Hierarchical conveyor of zinc granule |
| CN108253794A (en) * | 2018-01-25 | 2018-07-06 | 湖南理工学院 | A kind of folded sides wall type isothermal discharging sintering machine and isothermal discharge method |
| CN208663839U (en) * | 2018-08-30 | 2019-03-29 | 无锡百禾工业机器人有限公司 | A kind of manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158591A (en) * | 2020-10-27 | 2021-01-01 | 湖州信倍连网络科技有限公司 | Manipulator grabbing device with limiting function |
| CN112158591B (en) * | 2020-10-27 | 2022-04-22 | 沈阳华钛实业有限公司 | Manipulator grabbing device with limiting function |
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| PB01 | Publication | ||
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