CN201645487U - A gear meshing manipulator - Google Patents
A gear meshing manipulator Download PDFInfo
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- CN201645487U CN201645487U CN2010200332269U CN201020033226U CN201645487U CN 201645487 U CN201645487 U CN 201645487U CN 2010200332269 U CN2010200332269 U CN 2010200332269U CN 201020033226 U CN201020033226 U CN 201020033226U CN 201645487 U CN201645487 U CN 201645487U
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- 238000007789 sealing Methods 0.000 claims description 4
- 239000011148 porous material Substances 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
一种齿轮啮合式机械手，包括上缸盖、气缸、活塞、机架、一对主齿轮、一对连动齿轮、一对机械手指、气孔a和气孔b，所述的上缸盖设置在气缸一端，所述的机架设置在气缸另一端，所述的活塞包括活塞头和连接杆，活塞头设置在气缸内，连接杆一端连接活塞头，另一端穿设在机架内，所述的一对主齿轮分别设置在机架内连接杆两侧，所述的一对连动齿轮分别与所述的一对主齿轮啮合，并分别连接所述的一对机械手指，所述的气孔a设置在气缸上近上缸盖处，所述的气孔b设置在气缸上近机架处。本实用新型具有准确可靠、应用范围广、结构简单等特点。
A gear-engagement manipulator, comprising an upper cylinder head, a cylinder, a piston, a frame, a pair of main gears, a pair of interlocking gears, a pair of mechanical fingers, air holes a and air holes b, the upper cylinder head is arranged on the cylinder One end, the frame is arranged at the other end of the cylinder, the piston includes a piston head and a connecting rod, the piston head is arranged in the cylinder, one end of the connecting rod is connected to the piston head, and the other end is passed through the frame, the A pair of main gears are respectively arranged on both sides of the connecting rod in the frame, and the pair of interlocking gears are respectively engaged with the pair of main gears, and respectively connected to the pair of mechanical fingers, and the air hole a It is arranged on the cylinder near the upper cylinder head, and the air hole b is arranged on the cylinder near the frame. The utility model has the characteristics of accuracy and reliability, wide application range, simple structure and the like.
Description
Technical field
The utility model relates to manipulator, particularly relates to a kind of gear-engaged type manipulator.
Background technology
Manipulator is the part action of a kind of energy anthropomorphic dummy's arm, by preset program track and other requirement, realizes grasping, and carrying workpiece or behaviour do the automation equipment of instrument.Owing to the performed work of most of industrial robots is worked for anthropomorphic dummy's arm, thereby usually industrial robot is called the manipulator in China.Manipulator is represented the development level of industrial robot, and the extracting ability of manipulator seems very important.Manipulator is the important component part of flexible manufacturing system, and existing mechanical hand structure is single, generally can only grasp the workpiece of single size, and interchangeability is relatively poor, can not adapt to the needs of a small amount of many kind processing.
Patent application 200910111091.5 discloses a kind of cone gear-driven mechanical hand, this manipulator comprises final drive shaft and final drive shaft pedestal, the uniform some groups of clamping plate that can step up object on the pedestal leading section, described each clamping plate are respectively through radially being arranged on the rotary screw rod on the pedestal, guide rod and the screw mandrel through hole and the guide rod through hole cooperating that are separately positioned on the clamping plate, each rotary screw rod rotates by being arranged on secondary driving of its conical gear near the final drive shaft center axis, to realize moving radially of each clamping plate, in this process, rotate by the motor-driven final drive shaft, final drive shaft rotates by the secondary screw mandrel that drives of conical gear, clamping plate move radially under the supporting role of the drive of screw mandrel and guide rail, thereby realize that this manipulator is to the extracting of the big small articles of different size with loosen, this complex structure, bulky, cost is higher, and range of application is narrower, and accuracy is relatively poor.
Summary of the invention
Technical problem to be solved in the utility model be exactly in order to overcome defective that above-mentioned prior art exists a kind of accurately and reliably, applied range, gear-engaged type manipulator simple in structure.
The purpose of this utility model can be achieved through the following technical solutions: a kind of gear-engaged type manipulator, it is characterized in that, comprise upper cylinder cover, cylinder, piston, frame, a pair of master gear, a pair of linked gear, a pair of mechanical finger, pore a and pore b, described upper cylinder cover is arranged on cylinder one end, described frame is arranged on the cylinder other end, described piston comprises piston head and connecting rod, piston head is arranged in the cylinder, connecting rod one end connects piston head, the other end is located in the frame, described a pair of master gear is separately positioned on frame inside connecting rod both sides, described a pair of linked gear meshes with described a pair of master gear respectively, and connect described a pair of mechanical finger respectively, and described pore a is arranged on nearly upper cylinder cover place on the cylinder, and described pore b is arranged on nearly frame place on the cylinder.
Described upper cylinder cover, cylinder and frame constitute an annular seal space, and described piston head is arranged in the annular seal space.
Described piston head is arranged in the cylinder, between pore a and pore b.
The junction of described upper cylinder cover, cylinder, frame and piston is equipped with sealing ring.
Described a pair of master gear is resisted against on the connecting rod of piston.
Described a pair of linked gear connects a pair of mechanical finger by couple axle.
Described a pair of mechanical finger is by being bolted on the couple axle.
Compared with prior art, the utility model is pneumatic by cylinder piston, realizes the folding alternating movement of mechanical finger, thereby realizes the extracting function of manipulator, has the following advantages:
One, action accurately: this manipulator makes its transmission accurate, safe and reliable owing to adopt the gears engaged structure.
Two, extracting scope is wide: the size range that bidentate wheel machine hand has grabbing workpiece equally enlarges, and is suitable for the flexible manufacturing system of the many kinds of small lot, can increase work efficiency.
Three, simple in structure easy to maintenance: bidentate wheel manipulator can be changed at any time, and simple in structure because of it, maintenance is convenient.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
As shown in Figure 1, a kind of gear-engaged type manipulator, comprise upper cylinder cover 1, cylinder 2, piston 3, frame 4, a pair of master gear 5, a pair of linked gear 6, a pair of mechanical finger 7, sealing ring 8, pore a9 and pore b10, described upper cylinder cover 1 is arranged on cylinder 2 one ends, described frame 4 is arranged on cylinder 2 other ends, described piston comprises piston head 31 and connecting rod 32, upper cylinder cover 1, cylinder 2, the junction of frame 4 and piston 3 is equipped with sealing ring 8, upper cylinder cover 1, cylinder 2 and frame 4 constitute an annular seal space, described piston head 31 is arranged in the annular seal space, it is interior between pore a9 and pore b10 that piston head 31 is arranged on cylinder 2, connecting rod 32 1 ends connect piston head 31, the other end is located in the frame 4, described a pair of master gear 5 is separately positioned in the frame 4, be resisted against connecting rod 32 both sides of piston, described a pair of linked gear 6 meshes with described a pair of master gear 5 respectively, and connect described a pair of mechanical finger 7 respectively, a pair of linked gear 6 connects a pair of mechanical finger 7 by couple axle 11, a pair of mechanical finger 7 is fixed on the couple axle 11 by bolt 12, described pore a is arranged on nearly upper cylinder cover place on the cylinder, and described pore b is arranged on nearly frame place on the cylinder.
When pore a9 inflates in cylinder, impel the motion of piston 3 stander end, a pair of master gear 5 of piston 3 engagements rotates, and a pair of master gear 5 drives a pair of linked gear 6, exerts pressure to mechanical hand, finishes the action of opening manipulator finger 7.When pore 10 applied admission pressure, upwards head side motion of piston 3 reached the closed motion purpose of pointing, and above-mentioned folding alternating movement realizes that manipulator grasps function.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200332269U CN201645487U (en) | 2010-01-19 | 2010-01-19 | A gear meshing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200332269U CN201645487U (en) | 2010-01-19 | 2010-01-19 | A gear meshing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201645487U true CN201645487U (en) | 2010-11-24 |
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ID=43110703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200332269U Expired - Fee Related CN201645487U (en) | 2010-01-19 | 2010-01-19 | A gear meshing manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN201645487U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626929A (en) * | 2012-04-06 | 2012-08-08 | 常熟市惠一机电有限公司 | Horizontal angle rotation mechanism for mechanical hand |
| CN102699745A (en) * | 2012-06-01 | 2012-10-03 | 上海大学 | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
| CN103448060A (en) * | 2013-09-04 | 2013-12-18 | 宁夏巨能机器人系统有限公司 | Two-station pneumatic grabbing claw for shaft parts |
| CN106182063A (en) * | 2016-08-15 | 2016-12-07 | 广东技术师范学院 | A kind of robot paw of 10kg weight bar carrying on streamline |
| CN106734822A (en) * | 2016-12-06 | 2017-05-31 | 重庆市帝润锻造有限责任公司 | One kind forging clamping jaw |
-
2010
- 2010-01-19 CN CN2010200332269U patent/CN201645487U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626929A (en) * | 2012-04-06 | 2012-08-08 | 常熟市惠一机电有限公司 | Horizontal angle rotation mechanism for mechanical hand |
| CN102699745A (en) * | 2012-06-01 | 2012-10-03 | 上海大学 | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
| CN103448060A (en) * | 2013-09-04 | 2013-12-18 | 宁夏巨能机器人系统有限公司 | Two-station pneumatic grabbing claw for shaft parts |
| CN103448060B (en) * | 2013-09-04 | 2016-08-17 | 宁夏巨能机器人系统有限公司 | Axle class two station pneumatic graping chaw |
| CN106182063A (en) * | 2016-08-15 | 2016-12-07 | 广东技术师范学院 | A kind of robot paw of 10kg weight bar carrying on streamline |
| CN106734822A (en) * | 2016-12-06 | 2017-05-31 | 重庆市帝润锻造有限责任公司 | One kind forging clamping jaw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20110119 |