CN202225216U - Hand part structure of manipulator - Google Patents
Hand part structure of manipulator Download PDFInfo
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- CN202225216U CN202225216U CN2011202474659U CN201120247465U CN202225216U CN 202225216 U CN202225216 U CN 202225216U CN 2011202474659 U CN2011202474659 U CN 2011202474659U CN 201120247465 U CN201120247465 U CN 201120247465U CN 202225216 U CN202225216 U CN 202225216U
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- part structure
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Abstract
The utility model discloses a hand part structure of a manipulator, and aims at providing the handle part structure of the manipulator for loading operation during the pressing process of an automobile transmission bearing. The hand part structure of the manipulator has a simple structure, is sensitive to operate, convenient to control and smooth to clamp, and can well meet the space requirements of a pressing machine. The hand part structure of the manipulator comprises a wrist part casing, and further comprises two S-shaped fingers, a cam, a tension spring, and a piston push rod, wherein the lower parts of the S-shaped fingers are hinged with the wrist part casing, the tail ends of the S-shaped fingers are connected with the cam through tension springs, the cam is movably connected with the wrist part casing, the cam is further fixedly connected with the piston push rod, and the hand part structure of the manipulator can be widely used for loading and unloading operations during the component processing and assembling processes.
Description
Technical field
The utility model relates to a kind of manipulator, relates in particular to a kind of hand structure that in automobile gearbox bearing press mounting process, carries out the manipulator of material loading operation.
Background technology
In the material loading operation of automobile gearbox bearing press,, and satisfy the requirement of bearing installation technology more easily if use manipulator clamping material can increase substantially operating efficiency.The structure type of relevant manipulator is more; But can only be in applications targetedly; For example open day be that on 05 04th, 2011, publication number are that the patent documentation of CN201815021U discloses such technical scheme: it is made up of arm support, thimble, armed lever, armed lever cover, spring and finger, and the end that armed lever is equipped with internal thread is square termination, is equipped with external screw thread on the thimble; Thimble is threaded with armed lever; The termination of arm support is equipped with square armed lever cover, and armed lever and armed lever condom connect in succession, and two semi-round ring shape fingers are articulated and connected in the both sides of arm support; The syringe needle of thimble is arranged between two fingers, and spring housing is connected on the thimble in succession.This manipulator mechanism can auto-closing, when grasping object, realizes auto-lock function not coming off midway.The weak point of this scheme is that the full-size of manipulator clamping object must be less than the diameter of manipulator; Otherwise two semi-round ring shapes finger can not locking cause the clamping failure, if further learn from its structure chart simultaneously when the clamping object be difficult to add during for the hard object of column hold firm.
Summary of the invention
The purpose of the utility model is to provide the hand structure of the manipulator of material loading operation in a kind of automobile gearbox bearing press mounting process, and it is simple in structure, and manual dexterity is convenient to control, and clamping is steady, can satisfy the space requirement of pressing machine well.
The utility model mainly is able to solve through following technical proposals to the prior art problem, and a kind of hand structure of manipulator comprises the wrist shell; Also comprise two S shape fingers, cam, extension spring; And piston push rod, S shape finger is hinged with the wrist shell, and the tail end of S shape finger is connected with cam through extension spring; Cam and wrist shell are slidingly connected, and cam is fitted with the finger tail end, connects piston push rod and is fixedly connected on the cam.Through piston push rod actuating cam forward, the S shape finger of cam front end extruding both sides makes S shape finger produce the rotation of certain angle around pin joint, thereby makes S shape finger form closed action; Cam moves backward when piston push rod moves backward, S shape finger is produced open action.In the opening of S shape finger, closed action process, cam only produces the spatial translation campaign, does not produce to rotatablely move, and running status is very steady, flexible movements.
As preferably, cam is provided with V-shaped groove, is provided with V-shaped groove guide rail and suitable with the V-shaped groove of cam in the wrist shell.Cam is installed on the wrist shell guide rail through V-shaped groove, makes cam do steadily moving of certain displacement along rectilinear direction.
As preferably, cam is welded on the piston push rod.The front end of piston push rod adopts welding manner to be connected with the rear end of cam, simplifies installation procedure, is connected firmly.
As preferably, cam is provided with the cam extension spring and articulates post.The cam extension spring articulates post and is positioned at the cam rear end, and an end of extension spring is articulated in the cam extension spring and articulates on the post, and the other end is articulated in the tail end of S shape finger.
As preferably, S shape finger is provided with pad, and pad is between the contact-making surface of S shape finger and clamping object.In the bonding pad of corresponding site of S shape finger, be not damaged with protection clamping body surface.
As preferably, the bottom and the wrist shell edge place of S shape finger are hinged.
The beneficial effect that the utility model brings is; Use cam link mechanism to realize the opening and closing of manipulator hand; The hand reaction is flexible, and simple in structure, clamping is steady; Well satisfy the space requirement of pressing machine, can be widely used in material loading and blanking operation in parts processing and the assembling process.
Description of drawings
Fig. 1 is a kind of structure chart of the utility model;
Fig. 2 is the A-A cutaway view of the utility model.
Among the figure: the 1st, the wrist shell, the 2nd, cam, the 3rd, extension spring, the 4th, the tail end extension spring articulates post, and the 5th, pin joint, the 6th, S shape finger, the 7th, pad, the 8th, the V-shaped groove guide rail, the 9th, piston push rod, the 10th, the cam extension spring articulates post.
The specific embodiment
Below through embodiment, and combine accompanying drawing, the technical scheme of the utility model is further specified.
Embodiment: like Fig. 1, shown in Figure 2, the utility model is a kind of hand structure of manipulator, comprises wrist shell 1; Also comprise two S shape fingers 6, cam 2, extension spring 3; Piston push rod 9, the tail end extension spring articulates post 4, and the cam extension spring articulates post 10; Corner, bottom at S shape finger 6 is provided with pin joint 5, and pin joint 5 is hinged with the arm exit of wrist shell 1, and the tail end extension spring of S shape finger 6 articulates and articulates extension spring 3 on the post 4; The other end of extension spring 3 is articulated in the cam extension spring and articulates post 10; Cam 2 is installed in through V-shaped groove on the V-shaped groove guide rail 8 of wrist shell 1, and cam 1 is welded on the piston push rod 9, and pad (rubber blanket) 7 is bonded in the contact-making surface zone of S shape finger 6 and clamping object.
Cam 2 can be done the rectilinear motion of certain displacement on V-shaped groove guide rail 8; S shape finger 6 is done the rotation of certain angle around pin joint 5; S shape is pointed 6 afterbodys and is placed flank of cam, and extension spring 3 connects S shape and points 6 tail ends and cam 2, makes S shape point 6 afterbodys and nestles up cam 2 side slippages all the time.When piston push rod 9 moved forward, cam 2 front ends promoted S shape finger 6 and rotate around pin joint 5, make S shape point 6 closures, the object of holding; When piston push rod 9 moves backward, rotate around pin joint 5 through extension spring 3 pulling S shape fingers 6, S shape finger 6 is opened, unload object carrier.
So the utlity model has hand reaction flexibly, simple in structure, clamping is steady, can satisfy the space requirement of pressing machine well, and can be widely used in the characteristics such as material loading and blanking operation in parts processing and the assembling process.
Claims (6)
1. the hand structure of a manipulator; Comprise the wrist shell, it is characterized in that: also comprise two S shape fingers, cam, extension spring and piston push rods, said S shape finger is hinged with the wrist shell; The tail end of S shape finger is connected with cam through extension spring; Cam and wrist shell are slidingly connected, and cam is fitted with the finger tail end, connects piston push rod and is fixedly connected on the cam.
2. according to the hand structure of the said a kind of manipulator of claim 1, it is characterized in that: said cam is provided with V-shaped groove, is provided with V-shaped groove guide rail and suitable with the V-shaped groove of cam in the said wrist shell.
3. according to the hand structure of the said a kind of manipulator of claim 1, it is characterized in that: said cam is welded on the piston push rod.
4. according to the hand structure of claim 1 or 2 or 3 said a kind of manipulators, it is characterized in that: said cam is provided with the cam extension spring and articulates post.
5. according to the hand structure of the said a kind of manipulator of claim 1, it is characterized in that: said S shape finger is provided with pad, and said pad is between the contact-making surface of S shape finger and clamping object.
6. according to the hand structure of the said a kind of manipulator of claim 1, it is characterized in that: the bottom and the wrist shell edge place of said S shape finger are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202474659U CN202225216U (en) | 2011-07-14 | 2011-07-14 | Hand part structure of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202474659U CN202225216U (en) | 2011-07-14 | 2011-07-14 | Hand part structure of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202225216U true CN202225216U (en) | 2012-05-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202474659U Expired - Fee Related CN202225216U (en) | 2011-07-14 | 2011-07-14 | Hand part structure of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202225216U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744596A (en) * | 2012-07-02 | 2012-10-24 | 浙江理工大学 | Paw type universal clamp for loading and unloading air bottle valve |
| CN103831838A (en) * | 2014-03-13 | 2014-06-04 | 东南大学 | Manipulator |
| CN104626175A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Hugging type box clamping mechanism |
| CN105500003A (en) * | 2015-08-07 | 2016-04-20 | 重庆煜琨珑冶金材料有限公司 | Feeding mechanism |
| CN105712073A (en) * | 2014-12-05 | 2016-06-29 | 苏州台祥机电设备有限公司 | Rapid lifting-hanging exchange car |
| CN106564540A (en) * | 2016-11-24 | 2017-04-19 | 杭州壕车科技有限公司 | Bicycle gripper fixed by clamping force |
| CN108045926A (en) * | 2017-11-16 | 2018-05-18 | 郑州诚合信息技术有限公司 | A kind of protection palm for building grabs brick device |
| CN108068118A (en) * | 2016-11-14 | 2018-05-25 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of sample conveyance system applied to vacuum interacted system |
| CN108621374A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of feed back manipulator for injection molding machine |
| CN110640431A (en) * | 2019-09-24 | 2020-01-03 | 黎兴文 | Horizontal pressure equipment machine of precision bearing |
| CN110978039A (en) * | 2019-12-11 | 2020-04-10 | 东北石油大学 | Fixed pipeline clamp for detection type underwater robot |
| CN111015716A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
-
2011
- 2011-07-14 CN CN2011202474659U patent/CN202225216U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744596A (en) * | 2012-07-02 | 2012-10-24 | 浙江理工大学 | Paw type universal clamp for loading and unloading air bottle valve |
| CN102744596B (en) * | 2012-07-02 | 2014-10-08 | 浙江理工大学 | Paw type universal clamp for loading and unloading air bottle valve |
| CN104626175A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Hugging type box clamping mechanism |
| CN103831838A (en) * | 2014-03-13 | 2014-06-04 | 东南大学 | Manipulator |
| CN105712073A (en) * | 2014-12-05 | 2016-06-29 | 苏州台祥机电设备有限公司 | Rapid lifting-hanging exchange car |
| CN105500003A (en) * | 2015-08-07 | 2016-04-20 | 重庆煜琨珑冶金材料有限公司 | Feeding mechanism |
| CN108068118A (en) * | 2016-11-14 | 2018-05-25 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of sample conveyance system applied to vacuum interacted system |
| CN108068118B (en) * | 2016-11-14 | 2021-06-22 | 中国科学院苏州纳米技术与纳米仿生研究所 | Sample conveying system applied to vacuum interconnection system |
| CN106564540A (en) * | 2016-11-24 | 2017-04-19 | 杭州壕车科技有限公司 | Bicycle gripper fixed by clamping force |
| CN108045926A (en) * | 2017-11-16 | 2018-05-18 | 郑州诚合信息技术有限公司 | A kind of protection palm for building grabs brick device |
| CN108045926B (en) * | 2017-11-16 | 2020-02-07 | 湖北宇瑞建筑工程有限公司 | Brick device of grabbing of protection palm for building |
| CN108621374A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of feed back manipulator for injection molding machine |
| CN110640431A (en) * | 2019-09-24 | 2020-01-03 | 黎兴文 | Horizontal pressure equipment machine of precision bearing |
| CN110978039A (en) * | 2019-12-11 | 2020-04-10 | 东北石油大学 | Fixed pipeline clamp for detection type underwater robot |
| CN110978039B (en) * | 2019-12-11 | 2020-09-22 | 东北石油大学 | Fixed pipeline clamp for detection type underwater robot |
| CN111015716A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN111015716B (en) * | 2019-12-25 | 2022-11-22 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
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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: 20120523 Termination date: 20130714 |