CN109176569A - A kind of automatic aligning manipulator - Google Patents
A kind of automatic aligning manipulator Download PDFInfo
- Publication number
- CN109176569A CN109176569A CN201811176562.6A CN201811176562A CN109176569A CN 109176569 A CN109176569 A CN 109176569A CN 201811176562 A CN201811176562 A CN 201811176562A CN 109176569 A CN109176569 A CN 109176569A
- Authority
- CN
- China
- Prior art keywords
- cleft hand
- voussoir
- cleft
- hand
- substrate
- 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
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of automatic aligning manipulator, including substrate, the first cleft hand and the second cleft hand are rotatably provided with by corresponding revolute pair on the substrate, third cleft hand is slidably equipped on substrate between first cleft hand and the second cleft hand, first cleft hand, the fingertip end of second cleft hand and third cleft hand, which abuts against, is formed together 3 clamping structures, a voussoir is equipped in the middle part of the third cleft hand, the rear end of first cleft hand and the second cleft hand offsets with the surface profile of voussoir two sides tight fit respectively, push the first cleft hand and the second cleft hand around corresponding revolute pair deflection by surface profile when the voussoir is slided along substrate, the rear end of the third cleft hand is connected on the driving piston rod of a cylinder, third cleft hand and voussoir is driven to slide along substrate into contracting by driving piston rod.Structure of the invention is versatile, can be directed to the cylindrical workpiece automatic aligning of different-diameter, and gripping finger part dismounting and change is convenient, maintenance cost is lower, and reliability is higher.
Description
Technical field
The present invention relates to warehouse logistics technical fields, and in particular to a kind of automatic aligning manipulator.
Background technique
Manipulator is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator are widely applied in automatic assembly line, and the development and production of robot have become in high-tech sector, fast
The emerging technology that speed grows up, it more promotes the development of manipulator, enable manipulator be better achieved with
The combination of mechanization and automation.Although manipulator is flexible like that not as good as manpower, it has can continuous repeated work
And labour, the characteristics of not knowing fatigue, be fearless of danger, therefore, the manipulator attention by many industries, and more and more widely
It is applied, and common manipulator needs constantly to adjust driving parameter when grabbing various sizes of workpiece,
Crawl power is enabled to remain at suitable value according to workpiece size, but structure is complicated for this mode, needs to be arranged negative
The fax sensing systems such as feedback, it is at high cost, the present invention provide it is a kind of can be come according to workpiece size, especially cylindrical workpiece diameter it is automatic
The robot manipulator structure of aligning.
Summary of the invention
The object of the present invention is to overcome the problems of the prior art, provides a kind of automatic aligning manipulator.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:
A kind of automatic aligning manipulator, including substrate, on the substrate by corresponding revolute pair be rotatably provided with the first cleft hand and
Second cleft hand, is slidably equipped with third cleft hand on the substrate between first cleft hand and the second cleft hand, first cleft hand,
The fingertip end of second cleft hand and third cleft hand, which abuts against, is formed together 3 clamping structures, and a wedge is equipped in the middle part of the third cleft hand
The rear end of block, first cleft hand and the second cleft hand offsets with the surface profile of voussoir two sides tight fit respectively, the voussoir edge
Push the first cleft hand and the second cleft hand after corresponding revolute pair deflection, the third cleft hand by surface profile when substrate slides
End is connected on the driving piston rod of a cylinder, drives third cleft hand and voussoir to slide along substrate into contracting, institute by driving piston rod
It states between voussoir and the first cleft hand and is respectively equipped with reset spring between voussoir and the second cleft hand, the when being retracted for voussoir
The retrogressing of one cleft hand and the second cleft hand resets.
Further, the voussoir is isosceles triangle block or isosceles trapezoid block, first cleft hand and the second cleft hand
Rear end offsets with voussoir two sides waist tight fit respectively.
Further, the fingertip end of first cleft hand, the second cleft hand and third cleft hand is respectively equipped with gripping finger, for assisting
Promptly workpiece.
Further, abutting of the rear end of first cleft hand and the second cleft hand respectively with the surface profile of voussoir two sides is matched
Roller is equipped at conjunction, convenient for the relative motion between the surface profile of the rear end and voussoir of the first cleft hand and the second cleft hand.
Further, revolute pair uses rotational pin between first cleft hand and the second cleft hand and substrate.
Further, it is respectively equipped with stake on first cleft hand, the second cleft hand and voussoir, the both ends of reset spring are connected to
In stake.
The beneficial effects of the present invention are:
Structure of the invention is versatile, can be directed to the cylindrical workpiece automatic aligning of different-diameter, and the disassembly of gripping finger part is more
It changes conveniently, maintenance cost is lower, and reliability is higher.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Figure label explanation: 1, first cleft hand, the 2, second cleft hand, 3, third cleft hand, 31, voussoir, 4, substrate, 5, cylinder,
51, piston rod, 6, reset spring, 7, roller, 8, rotational pin, 9, stake, 123, gripping finger are driven.
Specific embodiment
It is below with reference to the accompanying drawings and in conjunction with the embodiments, next that the present invention will be described in detail.
Shown in referring to Fig.1, a kind of automatic aligning manipulator, including substrate 4 passes through corresponding revolute pair turn on the substrate 4
It is equipped with the first cleft hand 1 and the second cleft hand 2 dynamicly, is slidably set on the substrate 1 between first cleft hand 1 and the second cleft hand 2
There is third cleft hand 3, the fingertip end of first cleft hand 1, the second cleft hand 2 and third cleft hand 3, which abuts against, is formed together 3 points of clampings
Structure, is equipped with a voussoir 31 in the middle part of the third cleft hand 3, the rear end of first cleft hand 1 and the second cleft hand 2 respectively with voussoir 31
The surface profile of two sides offsets tight fit, passes through surface profile the first cleft hand 1 of promotion and the when the voussoir 31 is slided along substrate 4
Two cleft hands 2 are around corresponding revolute pair deflection, and the rear end of the third cleft hand 3 is connected on the driving piston rod 51 of a cylinder 5, by driving
Piston bar 11 drives third cleft hand 3 and voussoir 31 to slide along substrate 4 into contracting, between the voussoir 31 and the first cleft hand 1 and
It is respectively equipped with reset spring 6 between voussoir 31 and the second cleft hand 2, the first cleft hand 1 and second cleft hand 2 when retracting for voussoir 31
It retreats and resets.
The voussoir 31 is isosceles triangle block or isosceles trapezoid block, the rear end point of first cleft hand 1 and the second cleft hand 2
Do not offset with 31 two sides waist of voussoir tight fit.
The fingertip end of first cleft hand 1, the second cleft hand 2 and third cleft hand 3 is respectively equipped with gripping finger 123, grabs for assisting
Clamping of workpieces.
The rear end of first cleft hand 1 and the second cleft hand 2 is respectively and at the abutting cooperation of the surface profile of 31 two sides of voussoir
Equipped with roller 7, in the present embodiment, roller 7 is rotated between the first cleft hand 1 and the rear end of the second cleft hand 2 by shaft respectively
Ground links together, convenient for the relative motion between the surface profile of the rear end and voussoir 31 of the first cleft hand 1 and the second cleft hand 2.
Revolute pair uses rotational pin 8 between first cleft hand 1 and the second cleft hand 2 and substrate 4.
It is respectively equipped with stake 9 on first cleft hand 1, the second cleft hand 2 and voussoir 31, the both ends of reset spring 6 are connected to stake 9
On.
In the present invention, when clamping the cylindrical workpiece of different-diameter, third cleft hand 3 is carried out using cylinder 5 into contracting, third claw
Hand 3 pushes the first cleft hand 1 and the second cleft hand 2 to carry out around corresponding revolute pair deflection by voussoir 31 into when contracting by its surface profile
Servo-actuated aligning, after third cleft hand 3 is stablized, the first cleft hand 1 and the second cleft hand 2 reset by reset spring 6 and be retracted.
In addition, it should be noted that, unless stated otherwise or point out, the otherwise term " first " in specification, "
Two ", the descriptions such as " third " are used only for distinguishing various components, element, the step etc. in specification, each without being intended to indicate that
Component, element, the logical relation between step or ordinal relation etc..
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of automatic aligning manipulator, including substrate (4), which is characterized in that turned on the substrate (4) by corresponding revolute pair
It is equipped with the first cleft hand (1) and the second cleft hand (2), the substrate (1) between first cleft hand (1) and the second cleft hand (2) dynamicly
On be slidably equipped with third cleft hand (3), the fingertip end of first cleft hand (1), the second cleft hand (2) and third cleft hand (3) abuts
3 clamping structures are formed together, are equipped with a voussoir (31) in the middle part of the third cleft hand (3), first cleft hand (1) and the
The rear end of two cleft hands (2) offsets with the surface profile of voussoir (31) two sides tight fit respectively, and the voussoir (31) is sliding along substrate (4)
Push the first cleft hand (1) and the second cleft hand (2) around corresponding revolute pair deflection, the third cleft hand (3) by surface profile when dynamic
Rear end be connected on the driving piston rod (51) of a cylinder (5), by driving piston rod (11) driving third cleft hand (3) and voussoir
(31) it slides along substrate (4) into contracting, between the voussoir (31) and the first cleft hand (1) and voussoir (31) and the second cleft hand (2)
Between be respectively equipped with reset spring (6), for voussoir (31) retract when the first cleft hand (1) and the second cleft hand (2) retrogressing reset.
2. automatic aligning manipulator according to claim 1, which is characterized in that the voussoir (31) is isosceles triangle block
Or isosceles trapezoid block, the rear end of first cleft hand (1) and the second cleft hand (2) offsets with voussoir (31) two sides waist respectively matches
It closes.
3. automatic aligning manipulator according to claim 1, which is characterized in that first cleft hand (1), the second cleft hand
(2) and the fingertip end of third cleft hand (3) is respectively equipped with gripping finger (123), firmly grasps workpiece for assisting.
4. automatic aligning manipulator according to claim 1 or 2, which is characterized in that first cleft hand (1) and the second pawl
The rear end of hand (2) is equipped with roller (7) at the abutting cooperation of the surface profile of voussoir (31) two sides respectively, is convenient for the first cleft hand
(1) relative motion between the rear end of the second cleft hand (2) and the surface profile of voussoir (31).
5. automatic aligning manipulator according to claim 1, which is characterized in that first cleft hand (1) and the second cleft hand
(2) revolute pair uses rotational pin (8) between substrate (4).
6. automatic aligning manipulator according to claim 1, feature exist, in first cleft hand (1), the second cleft hand
(2) and on voussoir (31) it is respectively equipped with stake (9), the both ends of reset spring (6) are connected on stake (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811176562.6A CN109176569A (en) | 2018-10-10 | 2018-10-10 | A kind of automatic aligning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811176562.6A CN109176569A (en) | 2018-10-10 | 2018-10-10 | A kind of automatic aligning manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109176569A true CN109176569A (en) | 2019-01-11 |
Family
ID=64947344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811176562.6A Pending CN109176569A (en) | 2018-10-10 | 2018-10-10 | A kind of automatic aligning manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN109176569A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338580A (en) * | 2020-11-05 | 2021-02-09 | 扬州大学 | Variable-diameter three-point centering device |
| CN114313045A (en) * | 2021-12-23 | 2022-04-12 | 中国科学院宁波材料技术与工程研究所 | Pole-climbing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1093546A1 (en) * | 1983-03-31 | 1984-05-23 | Предприятие П/Я А-1705 | Grip |
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN105083623A (en) * | 2015-08-21 | 2015-11-25 | 重庆达沃斯食品有限公司 | Candy clamping manipulator |
| CN205497519U (en) * | 2016-04-18 | 2016-08-24 | 魏仕槚 | Self -adaption manipulator |
-
2018
- 2018-10-10 CN CN201811176562.6A patent/CN109176569A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1093546A1 (en) * | 1983-03-31 | 1984-05-23 | Предприятие П/Я А-1705 | Grip |
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN105083623A (en) * | 2015-08-21 | 2015-11-25 | 重庆达沃斯食品有限公司 | Candy clamping manipulator |
| CN205497519U (en) * | 2016-04-18 | 2016-08-24 | 魏仕槚 | Self -adaption manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338580A (en) * | 2020-11-05 | 2021-02-09 | 扬州大学 | Variable-diameter three-point centering device |
| CN114313045A (en) * | 2021-12-23 | 2022-04-12 | 中国科学院宁波材料技术与工程研究所 | Pole-climbing robot |
| CN114313045B (en) * | 2021-12-23 | 2023-12-26 | 中国科学院宁波材料技术与工程研究所 | Pole climbing robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190111 |