CN202805192U - Two-degree of freedom machine hand - Google Patents
Two-degree of freedom machine hand Download PDFInfo
- Publication number
- CN202805192U CN202805192U CN 201220523962 CN201220523962U CN202805192U CN 202805192 U CN202805192 U CN 202805192U CN 201220523962 CN201220523962 CN 201220523962 CN 201220523962 U CN201220523962 U CN 201220523962U CN 202805192 U CN202805192 U CN 202805192U
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- hydraulic cylinder
- hand
- grabbed
- degrees
- sliding platform
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Abstract
The utility model relates to a two-degree of freedom machine hand which is used for grabbing and moving workpieces, in particular to a two-degree of freedom machine hand which is used for assisting the workpieces to execute machining operation. The two-degree of freedom machine hand comprises a hand part, a horizontal sliding die set and a vertical sliding die set. The hand part comprises a left hand, a right hand, a base plate, a guide block, a cover plate and a hydraulic cylinder. The horizontal sliding die set comprises a support, a linear guide, a sliding block and a long hydraulic cylinder. The vertical sliding die set comprises a guide pillar, a big base seat, a sliding platform and a vertical hydraulic cylinder. Linear motion of the long hydraulic cylinder drives the guide block to conduct horizontal linear motion, and therefore a left boss ands a right boss move in a parallel groove. Finally a left extended part and a right extended part finish clamping or loosing the workpieces. Linear motion of the vertical hydraulic cylinder drives the sliding platform to conduct vertical linear motion, and therefore the sliding platform moves along the guide pillar and finally the sliding platform finishes driving the horizontal sliding die set to go up and down.
Description
Technical field
The utility model relates to a kind of two degrees of freedom manipulator for crawl and travelling workpiece, relates in particular to the two degrees of freedom manipulator that auxiliary work-piece is carried out machining operations.
Background technology
The two degrees of freedom manipulator is the industrial robot that occurs the earliest; also be the modern machines people who occurs the earliest; it can replace people's mechanization and the automation of heavy work to realize producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.The two degrees of freedom manipulator is normally simulated the grasping movement of staff when grabbing workpiece, cooperate two degrees of freedom manipulator palm to clamp the outer surface of workpiece from the outside by the two degrees of freedom manipulator finger, thereby realizes crawl and discharging to workpiece.The two degrees of freedom arm-and-hand system generally has complicated frame for movement and accurate electronic component, the two degrees of freedom manipulator is under hot environment during operation, metal parts has good thermal conductivity, it is inner that the temperature of high temperature workpiece is transmitted to the two degrees of freedom manipulator by finger, and had a greatly reduced quality the service life of two degrees of freedom manipulator.
The utility model is directed to miniature workpiece crawl, carrying or the similar operations under the adverse circumstances such as high temperature, high dust in the industrial production, has proposed a kind of simple efficient and have the two degrees of freedom manipulator of long life.
The utility model content
The purpose of this utility model is to provide a kind of two degrees of freedom manipulator, and described two degrees of freedom manipulator is used for auxiliary work-piece and carries out machining operations, and described two degrees of freedom manipulator can use under the environment of high temperature, high dust, and long service life.
For achieving the above object, the utility model discloses a kind of two degrees of freedom manipulator, described two degrees of freedom manipulator comprises: hand, horizontal slip module and the module that vertically slides; Described hand comprises: left hand is grabbed, the right hand is grabbed, base plate, guide pad, cover plate, hydraulic cylinder, described left hand is grabbed to grab with the right hand and is movably attached on the described base plate, described left hand is grabbed and is grabbed in a symmetrical arrangement with the right hand, the left extension that described left hand is grabbed becomes to be arranged in parallel with the right extension that the described right hand is grabbed, the left cross part that described left hand is grabbed becomes arranged crosswise with the right cross part that the described right hand is grabbed, the middle part that described left hand is grabbed is provided with the left pin of flexible connection, described left pin and base plate are fixedly linked, the middle part that the described right hand is grabbed is provided with the right pin of flexible connection, described right pin and base plate are fixedly linked, be provided with on the described cover plate and described left pin, the hole that right pin is complementary, be provided with two first crossbeams that are parallel to each other on the described guide pad, second cross beam, the middle part of described first crossbeam and second cross beam forms parallel slot, left boss and the right boss on the right cross part on the described left cross part are positioned in the middle of the described parallel slot, and the connecting rod of described hydraulic cylinder connects described guide pad; Described horizontal slip module comprises: support, line slideway, slide block, long hydraulic cylinder, be furnished with the described line slideway of two opposing parallel on the described support, described slide block is positioned on the described line slideway, described base plate and described slide block are for being fixedly connected with, minor axis is extended in the below of described base plate, connect the second ball-joint on the described minor axis, described the second ball-joint and described long hydraulic cylinder are realized being threaded; Described vertical slip module comprises: guide pillar, large base, sliding platform, vertical hydraulic cylinder, be furnished with the described guide pillar of four opposing parallel on the described large base, be provided with the hole that is complementary with described guide pillar on the described sliding platform, described sliding platform passes described guide pillar, support on described sliding platform and the described horizontal slip module is for being fixedly connected with, and the hydraulic stem of described sliding platform and described vertical hydraulic cylinder is realized being threaded.
Preferably, also be provided with ball-joint between the connecting rod of described hydraulic cylinder and the described guide pad, the connecting rod of described hydraulic cylinder is connected screw thread with ball-joint and connects, and described guide pad connects described ball-joint.
Preferably, also be provided with connecting rod between the hydraulic stem of described the second ball-joint and described long hydraulic cylinder.
Preferably, the bottom of described long hydraulic cylinder also is provided with radiator.
Preferably, the cross section structure of described left extension, right extension is, its length dimension divided by the cross-sectional width size greater than 10.
Preferably, between described sliding platform and the described vertical hydraulic cylinder for being fixedly connected with.
Compare with conventional art, the beneficial effects of the utility model are:
1, described left extension, right extension are its length dimensions divided by the cross-sectional width size greater than 10 elongate rod, make it be easier to obtain good resilient clamp power, are stable and lasting thereby make the two degrees of freedom manipulator to the clamping of workpiece;
2, the rectilinear motion of described long hydraulic cylinder drives described guide pad and does horizontal rectilinear motion, so that described left boss and right boss move in described parallel slot, finally finishes described left extension, right extension to the clamping of workpiece or unclamps;
3, the rectilinear motion of described vertical hydraulic cylinder drives described sliding platform and does vertical rectilinear motion, so that described sliding platform moves along guide pillar, finally finishes the lifting that described sliding platform drives the horizontal slip module.
By following description also by reference to the accompanying drawings, it is more clear that the utility model will become, and these accompanying drawings are used for explaining embodiment of the present utility model.
Description of drawings
Fig. 1 is the structural representation that hand and horizontal slip module and the module that vertically slides are in released state in specific embodiment of the utility model two degrees of freedom manipulator;
Fig. 2 is the assembly structure schematic diagram in specific embodiment of shown in Figure 1 two degrees of freedom manipulator;
Fig. 3 is the hand structure schematic diagram of the utility model two degrees of freedom manipulator shown in Figure 1;
Fig. 4 is the assembly structure schematic diagram after the hand of shown in Figure 3 two degrees of freedom manipulator omits described cover plate.
Among the figure:
1, left hand is grabbed, and 2, the right hand is grabbed, and 3, cover plate, 4, ball-joint, 5, gripper shoe, 6, hydraulic cylinder, 7, radiator, 8, base plate, 9, left pin, 10, left boss, 11, guide pad, 12, first crossbeam, 13, second cross beam, 14, parallel slot, 15, right pin, 20, left extension, 21, right extension, 22, right cross part, 23, left cross part, 30, hand, 31, the slip module, 32, long hydraulic cylinder, 33, line slideway, 34, slide block, 35, the second ball-joint, 36, support, 37, connecting rod, 38, minor axis, 41, vertical slip module, 51, guide pillar, 52, large base, 53, sliding platform, 54, the vertical hydraulic cylinder.
The specific embodiment
With reference now to accompanying drawing, describe embodiment of the present utility model, similar element numbers represents similar element in the accompanying drawing.As mentioned above, the utility model provides a kind of two degrees of freedom manipulator, and described two degrees of freedom manipulator is used for auxiliary work-piece and carries out machining operations, and described two degrees of freedom manipulator can use under the environment of high temperature, high dust, and long service life.
Fig. 1 is the structural representation that hand and horizontal slip module and the module that vertically slides are in released state in specific embodiment of the utility model two degrees of freedom manipulator; Fig. 2 is the assembly structure schematic diagram in specific embodiment of shown in Figure 1 two degrees of freedom manipulator; Fig. 3 is the hand structure schematic diagram of the utility model two degrees of freedom manipulator shown in Figure 1; Fig. 4 is the assembly structure schematic diagram after the hand of shown in Figure 3 two degrees of freedom manipulator omits described cover plate.A kind of two degrees of freedom manipulator, described two degrees of freedom manipulator comprises: hand 30 and slip module 31; Described hand 30 comprises: left hand grabs 1, the right hand grabs 2, base plate 8, guide pad 11, cover plate 3, hydraulic cylinder 6, described left hand grab 1 and the right hand grab 2 and be movably attached on the described base plate 8, described left hand grab 1 and the right hand grab 2 in a symmetrical arrangement, described left hand is grabbed 21 one-tenth of the right extensions that left extension 20 and the described right hand on 1 grab on 2 and is arranged in parallel, described left hand is grabbed left cross part 23 and the described right hand on 1 and is grabbed 22 one-tenth arranged crosswise of right cross part on 2, described left hand is grabbed the left pin 1 that 1 middle part is provided with flexible connection, described left pin 9 and base plate 8 are fixedly linked, the described right hand is grabbed the right pin 15 that 2 middle part is provided with flexible connection, described right pin 15 and base plate 8 are fixedly linked, be provided with on the described cover plate 3 and described left pin 9, the hole that right pin 15 is complementary, be provided with two first crossbeams that are parallel to each other 12 on the described guide pad 11, second cross beam 13, the middle part of described first crossbeam 12 and second cross beam 13 forms parallel slot 14, left boss 10 on the described left cross part 23 and the right boss on the right cross part 22 are positioned in the middle of the described parallel slot 14, and the connecting rod of described hydraulic cylinder 6 connects described guide pad 11; Described horizontal slip module 31 comprises: support 36, line slideway 33, slide block 34, long hydraulic cylinder 32, be furnished with the described line slideway 31 of two opposing parallel on the described line slideway 31, described slide block 34 is positioned on the described line slideway 31, described base plate 8 and described slide block 34 are for being fixedly connected with, minor axis 38 is extended in the below of described base plate 8, connect the second ball-joint 35 on the described minor axis 38, described the second ball-joint 35 and described long hydraulic cylinder 32 are realized being threaded; Described vertical slip module comprises: guide pillar 51, large base 52, sliding platform 53, vertical hydraulic cylinder 54, be furnished with the described guide pillar 51 of four opposing parallel on the described large base 52, be provided with the hole that is complementary with described guide pillar 51 on the described sliding platform 53, described sliding platform 53 passes described guide pillar 51, support 36 on described sliding platform 53 and the described horizontal slip module 31 is for being fixedly connected with, and the hydraulic stem of described sliding platform 53 and described vertical hydraulic cylinder 54 is realized being threaded.
More specifically, also be provided with ball-joint 4 between the connecting rod of described hydraulic cylinder 6 and the described guide pad 11, the connecting rod of described hydraulic cylinder 6 is connected with ball-joint and is connected by screw thread, and described guide pad 11 connects described ball-joint 4, and described hydraulic cylinder 6 is fixing by gripper shoe 5.
More specifically, the bottom of described hydraulic cylinder 6 also is provided with radiator 7.
More specifically, also be provided with connecting rod 37 between the hydraulic stem of described the second ball-joint 35 and described long hydraulic cylinder 32.
More specifically, the cross section structure of described left extension 20, right extension 21 is, its length dimension divided by the cross-sectional width size greater than 10.
More specifically, described sliding platform 53 and described vertical hydraulic cylinder 54 are for being fixedly connected with.
At last, should be pointed out that above embodiment only is the more representational example of the utility model.Obviously, the utility model is not limited to above-described embodiment, and many distortion can also be arranged.Every foundation technical spirit of the present utility model all should be thought to belong to protection domain of the present utility model to any simple modification, equivalent variations and modification that above embodiment does.
Claims (5)
1. a two degrees of freedom manipulator is characterized in that composed as follows: hand, horizontal slip module and the module that vertically slides;
Described hand comprises: left hand is grabbed, the right hand is grabbed, base plate, guide pad, cover plate, hydraulic cylinder, described left hand is grabbed to grab with the right hand and is movably attached on the described base plate, described left hand is grabbed and is grabbed in a symmetrical arrangement with the right hand, the left extension that described left hand is grabbed becomes to be arranged in parallel with the right extension that the described right hand is grabbed, the left cross part that described left hand is grabbed becomes arranged crosswise with the right cross part that the described right hand is grabbed, the middle part that described left hand is grabbed is provided with the left pin of flexible connection, described left pin and base plate are fixedly linked, the middle part that the described right hand is grabbed is provided with the right pin of flexible connection, described right pin and base plate are fixedly linked, be provided with on the described cover plate and described left pin, the hole that right pin is complementary, be provided with two first crossbeams that are parallel to each other on the described guide pad, second cross beam, the middle part of described first crossbeam and second cross beam forms parallel slot, left boss and the right boss on the right cross part on the described left cross part are positioned in the middle of the described parallel slot, and the connecting rod of described hydraulic cylinder connects described guide pad;
Described horizontal slip module comprises: support, line slideway, slide block, long hydraulic cylinder, be furnished with the described line slideway of two opposing parallel on the described support, described slide block is positioned on the described line slideway, described base plate and described slide block are for being fixedly connected with, minor axis is extended in the below of described base plate, connect the second ball-joint on the described minor axis, described the second ball-joint and described long hydraulic cylinder are realized being threaded;
Described vertical slip module comprises: guide pillar, large base, sliding platform, vertical hydraulic cylinder, be furnished with the described guide pillar of four opposing parallel on the described large base, be provided with the hole that is complementary with described guide pillar on the described sliding platform, described sliding platform passes described guide pillar, support on described sliding platform and the described horizontal slip module is for being fixedly connected with, and the hydraulic stem of described sliding platform and described vertical hydraulic cylinder is realized being threaded.
2. two degrees of freedom manipulator according to claim 1, it is characterized in that: also be provided with ball-joint between the connecting rod of described hydraulic cylinder and the described guide pad, the connecting rod of described hydraulic cylinder is connected screw thread with ball-joint and connects, and described guide pad connects described ball-joint.
3. two degrees of freedom manipulator according to claim 1, it is characterized in that: the bottom of described hydraulic cylinder also is provided with radiator.
4. two degrees of freedom manipulator according to claim 1 is characterized in that: the cross section structure of described left extension, right extension is, its length dimension divided by the cross-sectional width size greater than 10.
5. two degrees of freedom manipulator according to claim 1 is characterized in that: also be provided with connecting rod between the hydraulic stem of described the second ball-joint and described long hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220523962 CN202805192U (en) | 2012-10-14 | 2012-10-14 | Two-degree of freedom machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220523962 CN202805192U (en) | 2012-10-14 | 2012-10-14 | Two-degree of freedom machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202805192U true CN202805192U (en) | 2013-03-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220523962 Expired - Fee Related CN202805192U (en) | 2012-10-14 | 2012-10-14 | Two-degree of freedom machine hand |
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| CN (1) | CN202805192U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017028509A1 (en) * | 2015-08-16 | 2017-02-23 | 深圳市越疆科技有限公司 | Grasping mechanism, grasping device and robot |
| CN113911813A (en) * | 2021-09-09 | 2022-01-11 | 浙江帝浩科技股份有限公司 | Intelligent adjusting butt-joint mechanism of paper feeder |
-
2012
- 2012-10-14 CN CN 201220523962 patent/CN202805192U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017028509A1 (en) * | 2015-08-16 | 2017-02-23 | 深圳市越疆科技有限公司 | Grasping mechanism, grasping device and robot |
| CN113911813A (en) * | 2021-09-09 | 2022-01-11 | 浙江帝浩科技股份有限公司 | Intelligent adjusting butt-joint mechanism of paper feeder |
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| 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: 20130320 Termination date: 20131014 |