CN201659562U

CN201659562U - Internally spring piece supporting manipulator

Info

Publication number: CN201659562U
Application number: CN2010201031150U
Authority: CN
Inventors: 程远
Original assignee: Wuxi Institute of Technology
Current assignee: Wuxi Institute of Technology
Priority date: 2010-01-28
Filing date: 2010-01-28
Publication date: 2010-12-01
Anticipated expiration: 2020-01-28

Abstract

The utility model discloses an internally spring piece supporting manipulator. The top end of a wrist seat of the manipulator is provided with an electric machine; the electric machine is internally provided with a rolling wheel; the two sides of the upper end of the wrist seat of the manipulator are provided with sliding wheels; the wrist seat of the manipulator is fixedly connected with the upper end of a mandrel through a screw A, the upper end and the lower end of a spring piece are respectively connected with a sliding sleeve and a fixing sleeve through a screw B; a compressing spring is arranged between the wrist seat of the manipulator and the sliding sleeve; the sliding sleeve is sleeved on the mandrel to be capable of axially moving; the fixing sleeve is fixed at the lower end of the mandrel; a steel wire rope is connected with the rolling wheel, the sliding sleeve and the fixing sleeve; and the electric machine drives the steel wire rope through the rolling wheel to lift the sliding sleeve. By adopting an internally spring piece supporting clamping mechanism, the internally spring piece supporting manipulator does not need a detecting system, can not damage a hole wall of a work piece under the condition that that the clamping is guaranteed to be reliable, has advantages of simple structure, convenient operation, strong reliability, long service life and the like, and has enormous popularization value.

Description

Spring leaf inner bearing type manipulator

Technical field:

The utility model relates to a kind of manipulator of grabbing workpiece, relates in particular to the spring leaf inner bearing type manipulator that a kind of hole wall that utilizes workpiece steps up.

Background technology:

Traditional inner bearing type manipulator is to utilize various mechanisms to finish to clamp action, there is linkage in mechanism commonly used, gear mechanism etc., make hand finish various rotations (swing), mobile or compound motion is realized specified action, change is grasped the position and the posture of object, but this structure has a defective, be exactly that clamping force is bigger usually, this is main because finger is less with workpiece hole wall contact area, clamping force is provided increase in order to provide enough frictional force that workpiece is mentioned, for the harder workpiece of material, as various metal works, this clamping force can not produce damage to workpiece substantially, but the workpiece to softer or more crisp material not too is suitable for (as plastics, rubber, glass and foamed plastics etc.), might cause damage to workpiece, solution now commonly used is to increase checkout gear, as power detection or deformation detection etc., clamping force is controlled, though this method is feasible, but need to increase checkout gear, can raise the cost on the one hand, on the other hand, if checkout gear goes wrong, will influence normal production process, bring economic loss.

Summary of the invention:

The utility model is at the deficiencies in the prior art, the spring leaf inner bearing type manipulator that provides a kind of hole wall that utilizes workpiece to step up.

Realize above purpose, the technical solution adopted in the utility model is as follows:

Spring leaf inner bearing type manipulator is made up of motor, rolling wheel, pulley, steel wire rope, mechanical wrist seat, axle, compression spring, slip cap, screw A, screw B, spring leaf, rubber layer, fixed cover, workpiece; Machinery wrist seat top is equipped with motor, be provided with rolling wheel in the motor, pulley is equipped with in both sides, machinery wrist seat upper end, machinery wrist seat is connected by screw A and axle upper end, spring leaf two ends up and down is connected with fixed cover respectively at slip cap by screw B, and the compression spring is arranged between mechanical wrist seat and the slip cap, and slip cap is sleeved on the axle, can move axially, fixed cover is fixed on the lower end of axle.

Described steel wire rope and rolling wheel, pulley, slip cap link together, and form a sets of transmission mechanism, and motor drives steel wire rope by rolling wheel and comes the lifting slip cap.

Described spring leaf is provided with rubber layer, works to increase frictional force.

The utility model adopts the clamp mechanism of spring leaf inner bearing type, do not need detection system, guaranteeing can not produce damage under the positioning and reliable clamping situation to the workpiece hole wall, simple in structure, compact and reasonable, utilize the distortion of spring leaf that workpiece is clamped, this method required clamping force under the situation that enough frictional force (lifting the power of workpiece) is provided is less, and spring leaf and workpiece hole wall contact area are bigger, so the suffered pressure of hole wall is less; Secondly, better to the size fault-tolerant ability in the hole of workpiece, even the size in hole has certain deviation also can not influence the clamping action of spring leaf; At last, motor is shorter conduction time, long service life, good reliability.

Description of drawings:

Fig. 1 is the utility model structural representation;

Fig. 2 is the utility model manipulator clamped condition figure;

Fig. 3 unclamps state diagram for the utility model manipulator;

The specific embodiment:

As shown in Figure 1, spring leaf inner bearing type manipulator is made up of motor 1, rolling wheel 2, pulley 3, steel wire rope 4, mechanical wrist seat 5, axle 6, compression spring 7, slip cap 8, screw A9, screw B10, spring leaf 11, rubber layer 12, fixed cover 13, workpiece 14; Machinery wrist seat 5 tops are equipped with motor 1, be provided with rolling wheel 2 in the motor 1, pulley 3 is equipped with in both sides, machinery wrist seat 5 upper end, machinery wrist seat 5 is connected by screw 9A and axle 6 upper ends, it is two among spring leaf 11 figure, can adopt three or four evenly to distribute along circumference, spring leaf is connected with fixed cover 13 respectively at slip cap 8 by screw B10 at two ends about in the of 11, compression spring 7 is arranged between mechanical wrist seat 5 and the slip cap 8, slip cap 8 is sleeved on the axle 6, can move axially, fixed cover 13 is fixed on the lower end of axle 6, steel wire rope 4 and rolling wheel 2, pulley 3, slip cap 8 links together, and motor 1 drives steel wire rope 4 by rolling wheel 2 and comes lifting slip cap 8, spring leaf 11 is provided with rubber layer 12, works to increase frictional force.

As shown in Figure 2, be the clamped condition of manipulator because slip cap 8 held by steel wire rope 4, can not move down, so the time compression spring 7 be in compressive state, and spring leaf 11 is in free state, does not come in contact with the hole wall of workpiece 14; If want clamping work pieces, motor clockwise rotates, and discharges steel wire rope 4, and slip cap 8 moves down under the driving of compression spring 7, and spring leaf 11 is bent, and outwards withstands hole wall.

As shown in Figure 3, be the releasing orientation of manipulator, if will unclamp workpiece 14, then motor rotates counterclockwise, and drives on the slip cap 8 to move, and makes spring leaf 11 return to free state, unclamps workpiece 14 thereby make.

The utlity model has simple in structure, easy to operate, the advantages such as reliability strong, long service life, have great promotional value.

Claims

1. spring leaf inner bearing type manipulator is made up of motor, rolling wheel, pulley, steel wire rope, mechanical wrist seat, axle, compression spring, slip cap, screw A, screw B, spring leaf, rubber layer, fixed cover, workpiece; It is characterized in that: mechanical wrist seat top is equipped with motor, be provided with rolling wheel in the motor, pulley is equipped with in both sides, machinery wrist seat upper end, machinery wrist seat is connected by screw A and axle upper end, spring leaf two ends up and down is connected with fixed cover with slip cap respectively by screw B, and the compression spring is arranged between mechanical wrist seat and the slip cap, and slip cap is sleeved on the axle, can move axially, fixed cover is fixed on the lower end of axle.

2. spring leaf inner bearing type manipulator according to claim 1, it is characterized in that: described steel wire rope and rolling wheel, pulley, slip cap link together, and form a sets of transmission mechanism, and motor drives steel wire rope by rolling wheel and comes the lifting slip cap.

3. spring leaf inner bearing type manipulator according to claim 1, it is characterized in that: described spring leaf is provided with rubber layer.