CN201922444U - Flexible four-degree-of-freedom mechanical hand - Google Patents
Flexible four-degree-of-freedom mechanical hand Download PDFInfo
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- CN201922444U CN201922444U CN2011200379518U CN201120037951U CN201922444U CN 201922444 U CN201922444 U CN 201922444U CN 2011200379518 U CN2011200379518 U CN 2011200379518U CN 201120037951 U CN201120037951 U CN 201120037951U CN 201922444 U CN201922444 U CN 201922444U
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- displacement cylinder
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- pawl
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Abstract
The utility model discloses a flexible four-degree-of-freedom mechanical hand and relates to the mechanical hand. The flexible four-degree-of-freedom mechanical hand comprises a support device and a pneumatic device, wherein the support device comprises a horizontal fixed plate, a material storage device support, vertical supports and fixed foot plates, the two vertical supports are fixedly arranged on two sides of the horizontal fixed plate through positioning pins and bolts respectively, the fixed foot plates are fixedly arranged at the bottoms of the vertical supports through the bolts, the material storage device support is further fixedly arranged between the two vertical supports, and a material storage device is mounted on the material storage device support; and the pneumatic device comprises a horizontal displacement cylinder, a vertical displacement cylinder, a rotating cylinder and a pneumatic claw, the bottom of the horizontal displacement cylinder is fixed on a connecting part, the connecting part is fixed on the horizontal fixed plate through the bolt, the bottom of the vertical displacement cylinder is fixed at one end of the horizontal displacement cylinder, the rotating cylinder is fixedly arranged at the tail end of the vertical displacement cylinder, and the rotating cylinder is fixedly provided with the pneumatic claw through a flange. Through the adoption of the flexible four-degree-of-freedom mechanical hand, block-shaped parts or the parts with inner holes can be conveniently grabbed and placed into the designated positions, the grabbing precision is high, the reliability is high, and the volume is small.
Description
Technical field
The utility model relates to a kind of manipulator, specifically a kind of flexible four-degree-of-freedom manipulator.
Background technology
Development along with technology, manipulator more and more is applied to all kinds of fields, especially automatic production line, but the employed manipulator of automatic production line is bigger mostly at present, be not suitable for producing the less part of volume, because micro parts is difficult for clamping, will be very strict to the manufacturing requirement of manipulator, should realize that high-precision extracting also will improve functional reliability.The for example production of civilian power switch because a part volume is less, is difficult for grasping, and also adopts artificial the installation at present, and is very inconvenient.
The utility model content
The purpose of this utility model is to provide a kind of flexible four-degree-of-freedom manipulator, addresses the above problem.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of flexible four-degree-of-freedom manipulator, comprise holder device and the pneumatic means that is fixed on the holder device, it is characterized in that, described holder device comprises horizontal fixed plate, accumulator support, staking and fixing sole, the both sides of horizontal fixed plate are fixed with a staking respectively by alignment pin and bolt, the bottom of staking is fixed with fixedly sole by bolt and alignment pin, between two stakings, also be fixed with an accumulator support, on the accumulator support storage device be installed; Described pneumatic means comprises horizontal displacement cylinder, vertical displacement cylinder, the gentle pawl of revolving cylinder, the bottom of horizontal displacement cylinder is fixed on the connector, connector is by being bolted on the horizontal fixed plate, the bottom of vertical displacement cylinder is fixed on an end of horizontal displacement cylinder, the end of vertical displacement cylinder is fixed with revolving cylinder, and revolving cylinder is fixed with the gas pawl by flange; Described storage device comprises the storing pipe, is provided with multi-layer groove in the storing pipe, and groove matches with the shape of material, and the end of storing pipe is equipped with the end face fixed head by screw; Also be provided with storing pipe lid on the described storage device, storing pipe lid is fixed on storing pipe upper surface both sides by screw; Also be provided with Fibre Optical Sensor on the described storage device, described Fibre Optical Sensor is between storing pipe and end face fixed head; The end of described vertical displacement cylinder also can pass through the direct fixed air pawl of flange; Described gas pawl can adopt parallel gas pawl, treibgas pawl or card slot type gas pawl in also can adopting; The pawl head of treibgas pawl is cylindrical in described, in be provided with the gas claw bar, the end of gas claw bar is provided with cavity, is provided with ball in the cavity, cavity wall is provided with a circular hole, the diameter of circular hole is not more than ball, is provided with spring between ball and the cavity wall.
The beneficial effects of the utility model are: can grasp block part easily or the part of endoporus is arranged, put into assigned address, grasp the precision height, and the reliability height, volume is little.
Description of drawings
Fig. 1 is a structural representation of the present utility model,
Fig. 2 A is the vertical view of the utility model storage device,
Fig. 2 B is the left view of the utility model storage device,
Fig. 3 is a treibgas pawl structural representation in the utility model,
Fig. 4 is the utility model card slot type gas pawl structural representation,
Fig. 5 is the utility model duty block diagram.
Among the figure: 1 horizontal fixed plate, 2 accumulator supports, 3 stakings, 4 fixing soles, 5 horizontal displacement cylinders, 6 vertical displacement cylinders, 7 revolving cylinders, 8 gas pawls, treibgas pawl in 81,811 pawl heads, 812 gas claw bars, 813 cavitys, 814 balls, 815 springs, 82 card slot type gas pawls, 9 connectors, 10 flanges, 11 storing pipes, 12 end face fixed heads, 13 storing pipes lid, 14 Fibre Optical Sensors.
The specific embodiment
As Fig. 1, Fig. 2 A, shown in Fig. 2 B, a kind of flexible four-degree-of-freedom manipulator, comprise holder device and the pneumatic means that is fixed on the holder device, described holder device comprises horizontal fixed plate 1, accumulator support 2, staking 3 and fixing sole 4, the both sides of horizontal fixed plate 1 are fixed with a staking 3 respectively by alignment pin and bolt, the bottom of staking 3 is fixed with fixedly sole 4 by bolt and alignment pin, between two stakings 3, also be fixed with an accumulator support 2, on the accumulator support 2 storage device be installed; Described pneumatic means comprises horizontal displacement cylinder 5, vertical displacement cylinder 6, revolving cylinder 7 gentle pawls 8, the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by a plurality of bolted, can adjust the front and back position of horizontal displacement cylinder 5 by loose bolts, connector 9 is by on the strip locating hole that is bolted to horizontal fixed plate 1, can adjust the left and right displacement of connector 9 as required, also can adjust the left and right displacement of integral body by the fixing strip hole of sole 4, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, the end of vertical displacement cylinder 6 is fixed with revolving cylinder 7, and revolving cylinder 7 is fixed with gas pawl 8 by flange 10; Described storage device comprises storing pipe 11, is provided with multi-layer groove in the storing pipe 11, and groove matches with the shape of material, and the end of storing pipe 11 is equipped with end face fixed head 12 by screw; Also be provided with storing pipe lid 13 on the described storage device, storing pipe lid 13 is fixed on storing pipe 11 upper surface both sides by screw, the power because material has certain effect in materail tube each other, therefore the problem that easy generation has been lifted up because of extruding, can push down the two ends of material by storing pipe lid 13, material is in the plane always, keeps the stability of material; Also be provided with Fibre Optical Sensor 14 on the described storage device, whether described Fibre Optical Sensor 14 can be used to detect material and puts in place between storing pipe 11 and end face fixed head 12, improves the degree of accuracy; The end of described vertical displacement cylinder 6 also can pass through flange 10 direct fixed air pawls 8; Described gas pawl 8 can adopt parallel gas pawl, and treibgas pawl 81 in also can adopting is used for grasping the material that has endoporus; As shown in Figure 3, the pawl head 811 of treibgas pawl 81 is cylindrical in described, in be provided with gas claw bar 812, the end of gas claw bar 812 is provided with cavity 813, be provided with ball 814 in the cavity 813, cavity wall is provided with a circular hole, and the diameter of circular hole is not more than ball, is provided with spring 815 between ball 814 and the cavity wall, when extracting has the material of endoporus, the end of gas claw bar 812 extend in the material endoporus, and ball 814 withstands the material inwall material is taken up under the effect of spring 815.As shown in Figure 4, described gas pawl 8 also can adopt card slot type gas pawl 82.
Embodiment one: the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by being bolted on the horizontal fixed plate 1, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, the end of vertical displacement cylinder 6 is fixed with revolving cylinder 7, and revolving cylinder 7 is fixed with parallel gas pawl by flange 10.
Embodiment two: the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by being bolted on the horizontal fixed plate 1, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, the end of vertical displacement cylinder 6 is fixed with revolving cylinder 7, treibgas pawl 81 or card slot type gas pawl 82 in revolving cylinder 7 is fixed with by flange 10.
Embodiment three: the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by being bolted on the horizontal fixed plate 1, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, and the end of vertical displacement cylinder 6 is fixed with parallel gas pawl by flange 10.
Operation principle: as shown in Figure 5, vertical displacement cylinder 6 drives gas pawl 8 and moves downward, move to storing pipe 11 places, gas pawl 8 grasps material, vertical displacement cylinder 6 drives gas pawl 8 and moves upward, when moving to the top, horizontal displacement cylinder 5 drives vertical displacement cylinder 6 and proceeds to assigned address, simultaneously under the drive of revolving cylinder 7, gas pawl 8 half-twists, vertical displacement cylinder 6 drives gas pawl 8 and moves downward, and gas pawl 8 is moved upward by 6 drives of vertical displacement cylinder after material is put into the appointment station again, during to the top under the drive of revolving cylinder 7, gas pawl 8 half-twists are got back to original position, and horizontal displacement this moment cylinder 5 drives vertical displacement cylinder 6 and is back to original position, so far is a circulation.
Claims (7)
1. flexible four-degree-of-freedom manipulator, comprise holder device and the pneumatic means that is fixed on the holder device, it is characterized in that, described holder device comprises horizontal fixed plate, accumulator support, staking and fixing sole, the both sides of horizontal fixed plate are fixed with a staking respectively by alignment pin and bolt, there is fixedly sole the bottom of staking by bolting, also is fixed with an accumulator support between two stakings, on the accumulator support storage device is installed; Described pneumatic means comprises horizontal displacement cylinder, vertical displacement cylinder, the gentle pawl of revolving cylinder, the bottom of horizontal displacement cylinder is fixed on the connector, connector is by being bolted on the horizontal fixed plate, the bottom of vertical displacement cylinder is fixed on an end of horizontal displacement cylinder, the end of vertical displacement cylinder is fixed with revolving cylinder, and revolving cylinder is fixed with the gas pawl by flange.
2. a kind of flexible four-degree-of-freedom manipulator according to claim 1, it is characterized in that described storage device comprises the storing pipe, be provided with multi-layer groove in the storing pipe, groove matches with the shape of material, and the end of storing pipe is equipped with the end face fixed head by screw.
3. a kind of flexible four-degree-of-freedom manipulator according to claim 1 and 2 is characterized in that, also is provided with storing pipe lid on the described storage device, and storing pipe lid is fixed on storing pipe upper surface both sides by screw.
4. a kind of flexible four-degree-of-freedom manipulator according to claim 1 and 2 is characterized in that also be provided with Fibre Optical Sensor on the described storage device, described Fibre Optical Sensor is between storing pipe and end face fixed head.
5. a kind of flexible four-degree-of-freedom manipulator according to claim 1 is characterized in that, the end of described vertical displacement cylinder also can pass through the direct fixed air pawl of flange.
6. a kind of flexible four-degree-of-freedom manipulator according to claim 1 is characterized in that described gas pawl can adopt parallel gas pawl, treibgas pawl or card slot type gas pawl in also can adopting.
7. a kind of flexible four-degree-of-freedom manipulator according to claim 6, it is characterized in that, the pawl head of treibgas pawl is cylindrical in described, in be provided with the gas claw bar, the end of gas claw bar is provided with cavity, is provided with ball in the cavity, and cavity wall is provided with a circular hole, the diameter of circular hole is not more than ball, is provided with spring between ball and the cavity wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200379518U CN201922444U (en) | 2011-02-14 | 2011-02-14 | Flexible four-degree-of-freedom mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200379518U CN201922444U (en) | 2011-02-14 | 2011-02-14 | Flexible four-degree-of-freedom mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201922444U true CN201922444U (en) | 2011-08-10 |
Family
ID=44426313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200379518U Expired - Fee Related CN201922444U (en) | 2011-02-14 | 2011-02-14 | Flexible four-degree-of-freedom mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201922444U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145488A (en) * | 2011-02-14 | 2011-08-10 | 山东碧通通信技术有限公司 | Flexible four-DOF (Degree of Freedom) mechanical arm |
| CN103358306A (en) * | 2013-06-19 | 2013-10-23 | 健雄职业技术学院 | Feeding manipulator for stamping equipment |
-
2011
- 2011-02-14 CN CN2011200379518U patent/CN201922444U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145488A (en) * | 2011-02-14 | 2011-08-10 | 山东碧通通信技术有限公司 | Flexible four-DOF (Degree of Freedom) mechanical arm |
| CN102145488B (en) * | 2011-02-14 | 2012-12-26 | 山东爱通工业机器人科技有限公司 | Flexible four-DOF (Degree of Freedom) mechanical arm |
| CN103358306A (en) * | 2013-06-19 | 2013-10-23 | 健雄职业技术学院 | Feeding manipulator for stamping equipment |
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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: 20110810 Termination date: 20130214 |