CN202985563U - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN202985563U CN202985563U CN 201220735987 CN201220735987U CN202985563U CN 202985563 U CN202985563 U CN 202985563U CN 201220735987 CN201220735987 CN 201220735987 CN 201220735987 U CN201220735987 U CN 201220735987U CN 202985563 U CN202985563 U CN 202985563U
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- driving wheel
- transmission shaft
- manipulator
- power transmission
- driving
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Abstract
The utility model discloses a manipulator. The manipulator comprises a first transmission shaft, a second transmission shaft, a synchronous belt and a manipulator finger arranged on the second transmission shaft, wherein a first driving wheel and a second driving wheel are respectively arranged at two ends of the first transmission shaft; a self-adaptive driven wheel is arranged at one end of the second transmission shaft, and the second transmission shaft is crossed with the first transmission shaft and can freely translate relative to the first transmission shaft; and two ends of the synchronous belt are fixed to the other end of the second transmission shaft, the synchronous belt sequentially moves around the first driving wheel, the self-adaptive driven wheel and the second driving wheel and is driven by the first driving wheel and the second driving wheel for transmission. When the synchronous belt is driven by the first driving wheel and the second driving wheel for transmission, the second transmission shaft can translate vertically or right and left and even can translate according to a certain inclination angle by setting different rotation speeds and rotation directions of the first driving wheel and the second driving wheel, so that an aim that the manipulator finger is controlled to be accurately located at different positions can be fulfilled.
Description
Technical field
The utility model relates to plant equipment manufacturing technology field, particularly a kind of manipulator.
Background technology
Now Palletizer is of a great variety, roughly is divided into two kinds, and a kind of is the multiaxis screw rod transmission, also has the mechanical arm of a kind of Ku Ka of being robot or similar Ku Ka robot, and frame for movement or vacuum cup structure are adopted in the handgrip position.
Wherein, the multiaxis screw rod transmission realizes that the difficulty run up is large, and cost is higher, and the Ku Ka robot can realize running up, but its complex structure and cost are too high, use robot too to waste in not too complicated stacking operation.For example, in the Production and Packaging process of battery, need to carry out quick piling and de-stacking to battery, need a kind of cost lower and can realize that the automated machine equipment of working at high speed completes the de-stacking piling.
Therefore, completing the de-stacking piling but how to make lower and automated machine equipment working at high speed of a kind of cost, is the technical problem that those skilled in the art need to be resolved hurrily.
The utility model content
In view of this, the utility model provides a kind of manipulator, and it is simple in structure, and cost is lower, and can run up.
For achieving the above object, the utility model provides following technical scheme:
A kind of manipulator comprises:
The first power transmission shaft, described the first power transmission shaft two ends are respectively arranged with the first driving wheel and the second driving wheel;
One end is provided with the second driving shaft of self adaptation driven pulley, described second driving shaft and described the first power transmission shaft arranged crosswise, but and described second driving shaft with respect to described the first power transmission shaft free shift;
Two ends all are fixed to the Timing Belt of the other end of described second driving shaft, and described Timing Belt is walked around described the first driving wheel, described self adaptation driven pulley and described the second driving wheel successively, and, by described the first driving wheel and described the second drive wheel transmission;
Be installed to the mechanical gripper on described second driving shaft.
Preferably, in above-mentioned manipulator, described the first driving wheel is by the first driven by servomotor, and described the second driving wheel is by the second driven by servomotor.
Preferably, in above-mentioned manipulator, also comprise for the hold down gag that described Timing Belt is pressed on described the first driving wheel, described self adaptation driven pulley and described the second driving wheel.
Preferably, in above-mentioned manipulator, described hold down gag comprises that four described carrying driven pulleys lay respectively at four angles of described second driving shaft and described the first power transmission shaft, and are fixed together by detent mechanism be used to four carrying driven pulleys pressing described Timing Belt.
Preferably, in above-mentioned manipulator, described second driving shaft and described the first power transmission shaft are arranged vertically.
Preferably, in above-mentioned manipulator, described mechanical gripper and described self adaptation driven pulley are positioned at the same end of described second driving shaft.
Preferably, in above-mentioned manipulator, described mechanical gripper comprises four handgrip unit that are used for grasping manipulation, and four described handgrip unit are in rectangular layout, by air cylinder driven can be simultaneously and constant speed ground move to the center.
Preferably, in above-mentioned manipulator, described mechanical gripper also comprises:
Installing plate;
The center connector, described center connector is set on described installing plate rotationally, be provided with four coupling parts on the connector of described center, wherein two described coupling parts are about the center of rotation Central Symmetry of described center connector, and two other described coupling part is also about described center of rotation Central Symmetry;
Be arranged at four line slideways on described installing plate, wherein two described line slideways are about described center of rotation Central Symmetry, two other described line slideway is also about described center of rotation Central Symmetry, and four described handgrip unit are slidably connected from different described line slideway respectively;
Four connecting rods, the two ends of each described connecting rod are hinged with a described coupling part and a described handgrip unit respectively, and different described rod hinge connections is in different described coupling parts and different described handgrip unit.
Preferably, in above-mentioned manipulator, described cylinder has two, drives respectively different described handgrip unit.
Preferably, in above-mentioned manipulator, described manipulator is for being used for the cell panel dish is carried out the manipulator of de-stacking piling.
Can find out from above-mentioned technical scheme, in the manipulator that the utility model embodiment provides, but due to second driving shaft with respect to the first power transmission shaft free shift, so, when the first driving wheel and the second drive wheel toothed belt transmission, arrange with turning to respectively by the rotating speed to the first driving wheel and the second driving wheel, can make second driving shaft upper and lower translation or left and right translation, or even by certain angle of inclination translation, thereby, the driving mechanical handgrip moves, the operation that makes mechanical gripper grasp in different positions.Due to toothed belt transmission not only compact conformation and also gearratio accurate, as seen, the manipulator that the utility model embodiment provides can be realized controlling mechanical gripper by the simple mechanism of a Timing Belt and two power transmission shaft formations and carry out pinpoint purpose at diverse location, not only simple in structure, with low cost, and can realize running up.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The structural representation of the manipulator that Fig. 1 provides for the utility model embodiment;
The structural representation of the mechanical gripper that Fig. 2 provides for the utility model embodiment.
The specific embodiment
The utility model discloses a kind of manipulator, it is simple in structure, and cost is lower, but and working at high speed.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all belong to the scope of the utility model protection.
See also Fig. 1 and Fig. 2, the structural representation of the mechanical gripper that the structural representation of the manipulator that Fig. 1 provides for the utility model embodiment, Fig. 2 provide for the utility model embodiment.
The manipulator that the utility model embodiment provides comprises the first power transmission shaft 1, second driving shaft 2, Timing Belt 3 and mechanical gripper 5.
Wherein, the first power transmission shaft 1 two ends are respectively arranged with the first driving wheel 11 and the second driving wheel 12; In the time of second driving shaft 2 and the first power transmission shaft 1 arranged crosswise, but second driving shaft 2 with respect to the first power transmission shaft 1 free shift, and an end of second driving shaft 2 is provided with self adaptation driven pulley 21; Timing Belt 3 is walked around the first driving wheel 11, self adaptation driven pulley 21 and the second driving wheel 12 successively, and simultaneously, the two ends of Timing Belt 3 all are fixed to the other end of second driving shaft 2, and Timing Belt 3 drives transmission by the first driving wheel 11 and the second driving wheel 12; Mechanical gripper 5 is installed on second driving shaft 2, moves with the movement of second driving shaft 2.
can find out from technique scheme, in the manipulator that the utility model embodiment provides, but due to second driving shaft 2 with respect to the first power transmission shaft 1 free shift, so, when the first driving wheel 11 and the second driving wheel 12 driving Timing Belt 3 transmission, arrange with turning to respectively by the rotating speed to the first driving wheel 11 and the second driving wheel 12, can make second driving shaft 2 with respect to the first power transmission shaft 1 upper and lower translation or left and right translation, or even by certain angle of inclination translation, thereby, driving mechanical handgrip 5 moves, the operation that makes mechanical gripper 5 grasp in different positions.Due to toothed belt transmission not only compact conformation and also gearratio accurate, as seen, the manipulator that the utility model embodiment provides can be realized controlling mechanical gripper 5 by the simple mechanism of a Timing Belt 3 and two power transmission shaft formations and carry out pinpoint purpose at diverse location, not only simple in structure, with low cost, and can realize running up.
In order further to optimize technique scheme, the first power transmission shaft 1 in the present embodiment fixedly mounts, and second driving shaft 2 and the first power transmission shaft 1 are arranged vertically, and the first driving wheel 11 is by the first driven by servomotor, and the second driving wheel 12 is by the second driven by servomotor.When the first driving wheel 11 and the second driving wheel 12 simultaneously constant speed or etc. acceleration when turning clockwise, second driving shaft 2 moves right with the axis direction level of mechanical gripper 5 along the first power transmission shaft 1; When the first driving wheel 11 and the second driving wheel 12 simultaneously constant speed or etc. acceleration when being rotated counterclockwise, second driving shaft 2 is moved to the left with mechanical gripper 5 levels; When the first driving wheel 11 counterclockwise and the second clockwise constant speed of driving wheel 12 or when waiting acceleration to rotate, second driving shaft 2 promotes straight up with the axis direction of mechanical gripper 5 along second driving shaft 2; When the first driving wheel 11 clockwise and the second counterclockwise constant speed of driving wheel 12 or when waiting acceleration to rotate, second driving shaft 2 moves straight down with mechanical gripper 5; When the running speed of the first driving wheel 11 and the second driving wheel 12 is inconsistent, can realize two-axle interlocking, namely mechanical gripper 5 can be along oblique line or curvilinear motion.
But be not limited to this, second driving shaft 2 in the present embodiment and the first power transmission shaft 1 also can be arranged by other angle, the first driving wheel 11 and the second driving wheel 12 can also be driven by stepper motor and rotate, at this moment, can carry out different settings with turning to by the rotating speed to the first driving wheel 11 and the second driving wheel 12 equally, reach and make second driving shaft 2 do the purpose of the translation of different directions with respect to the first power transmission shaft 1, therefore, the utility model is not done restriction to this.
In order further to optimize technique scheme, Timing Belt 3 is realized by hold down gag and the close contact of the first driving wheel 11, self adaptation driven pulley 21 and the second driving wheel 12, to reach the purpose of effective and accurate transmission.As shown in Figure 1, in the present embodiment, hold down gag comprises that carrying driven pulleys 4 for four 4, four of carrying driven pulleys that compress Timing Belt 3 lays respectively at four angles of second driving shaft 2 and the first power transmission shaft 1, and is fixed together by detent mechanism.When second driving shaft 2 and the first power transmission shaft 1 relatively move, this hold down gag also is subjected to displacement with respect to second driving shaft 2 and/or the first power transmission shaft 1, but four carrying driven pulleys 4 wherein lay respectively at four angles of second driving shaft 2 and the first power transmission shaft 1 all the time, thereby play the purpose that compresses all the time driving-belt 3.Preferably in specific embodiment, detent mechanism is fixed together the axle center of four carrying driven pulleys 4 at one, and simultaneously, four carrying driven pulleys 4 all can rotate with the transmission of driving-belt 3.But, those skilled in the art, there is multiple design form in the concrete structure of hold down gag, all can use to be used for compressing Timing Belt 3 in the present embodiment, for example, be respectively arranged with the driven pulley that is used for compressing driving-belt 3 that is connected with himself on second driving shaft 2 and the first power transmission shaft 1.Therefore, therefore not to repeat here for the utility model.
In the present embodiment, mechanical gripper 5 and self adaptation driven pulley 21 can lay respectively at the two ends of second driving shaft 2, also can be positioned at the same end of second driving shaft 2, as shown in Figure 1, mechanical gripper 5 is connected with the turning cylinder of the self adaptation driven pulley 21 that arranges at second driving shaft 2 one ends, thus the translation with the translation of second driving shaft 2.Wherein, mechanical gripper 5 comprises that handgrip unit 51,51, four of four handgrip unit that are used for grasping manipulation is in rectangular layout, the driving by cylinder 6 can be simultaneously and constant speed ground move to the center, with the purpose that realizes parts or product are firmly grasped.
Particularly, as shown in Figure 2, mechanical gripper 5 also comprises installing plate 55, center connector 52 and four connecting rods 54, and is arranged at four line slideways 53 on installing plate 55.Wherein, center connector 52 is set on installing plate 55 rotationally, and, be provided with four coupling parts on center connector 52, wherein two coupling parts are about the center of rotation Central Symmetry of center connector 52, two other coupling part is also about the center of rotation Central Symmetry, and namely on center connector 52, the edge circumferentially is provided with four coupling parts symmetrically, is used for hinged with connecting rod 54; Wherein two line slideways 53 are about the center of rotation Central Symmetry of center connector 52, and two other line slideway 53 is also about this center of rotation Central Symmetry, and each handgrip unit 51 is slidably connected from different line slideway 53 respectively; In addition, the two ends of each connecting rod 54 respectively with a handgrip unit 51 and center connector 52 on a coupling part hinged, namely an end of a handgrip unit 51 and a connecting rod 54 is hinged, the other end of this connecting rod 54 again with center connector 52 on a coupling part hinged, and different connecting rods 54 is articulated in different coupling parts and different handgrips unit 51.Finally, when cylinder 6 promotes one of them handgrip unit 51 and slides along guide rail 53, by the transmission of connecting rod 54, other handgrip unit 51 all simultaneously and constant speed ground move to center of rotation.As seen, this linkage can guarantee that amount of movement, translational speed and the translational acceleration of each handgrip unit 51 in moving process keeps highly consistent, high-precision line slideway 53 has guaranteed its repetitive positioning accuracy, simultaneously, mechanical gripper 5 has been guaranteed when promptly operating by accurate Calculation in the angle of bevel of line slideway 53 and position, can fit tightly with the product that will grasp.
In order further to optimize technique scheme, the cylinder 6 in the present embodiment has two, and drives respectively different handgrips unit 51.
Need to prove at this, this manipulator can be applicable to multiple fields, and for example, to the de-stacking piling of cell panel dish, this moment, mechanical gripper 5 product that will grasp was the cell panel dish, and wherein, the layout of handgrip unit 51 will get final product with the shape and structure of cell panel dish is adaptive.But be not limited to this, the utility model is not done restriction to the application field.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the utility model.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from spirit or scope of the present utility model, realization in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a manipulator, is characterized in that, comprising:
The first power transmission shaft (1), described the first power transmission shaft (1) two ends are respectively arranged with the first driving wheel (11) and the second driving wheel (12);
One end is provided with the second driving shaft (2) of self adaptation driven pulley (21), described second driving shaft (2) and described the first power transmission shaft (1) arranged crosswise, and described second driving shaft (2) with respect to described the first power transmission shaft (1) but free shift;
Two ends all are fixed to the Timing Belt (3) of the other end of described second driving shaft (2), described Timing Belt (3) is walked around described the first driving wheel (11), described self adaptation driven pulley (21) and described the second driving wheel (12) successively, and, drive transmission by described the first driving wheel (11) and described the second driving wheel (12);
Be installed to the mechanical gripper (5) on described second driving shaft (2).
2. manipulator according to claim 1, is characterized in that, described the first driving wheel (11) is by the first driven by servomotor, and described the second driving wheel (12) is by the second driven by servomotor.
3. manipulator according to claim 1, is characterized in that, also comprises for the hold down gag that described Timing Belt (3) is pressed on described the first driving wheel (11), described self adaptation driven pulley (21) and described the second driving wheel (12).
4. manipulator according to claim 3, it is characterized in that, described hold down gag comprises be used to four carrying driven pulleys (4) pressing described Timing Belt (3), four described carrying driven pulleys (4) lay respectively at four angles of described second driving shaft (2) and described the first power transmission shaft (1), and are fixed together by detent mechanism.
5. manipulator according to claim 1, is characterized in that, described second driving shaft (2) is arranged vertically with described the first power transmission shaft (1).
6. manipulator according to claim 1, is characterized in that, described mechanical gripper (5) and described self adaptation driven pulley (21) are positioned at the same end of described second driving shaft (2).
7. manipulator according to claim 1, it is characterized in that, described mechanical gripper (5) comprises four handgrip unit (51) that are used for grasping manipulation, and four described handgrip unit (51) are in rectangular layout, by cylinder (6) drive can be simultaneously and constant speed ground move to the center.
8. manipulator according to claim 7, is characterized in that, described mechanical gripper (5) also comprises:
Installing plate (55);
Center connector (52), described center connector (52) is set on described installing plate (55) rotationally, be provided with four coupling parts on described center connector (52), wherein two described coupling parts are about the center of rotation Central Symmetry of described center connector (52), and two other described coupling part is also about described center of rotation Central Symmetry;
Be arranged at four line slideways (53) on described installing plate (55), wherein two described line slideways (53) are about described center of rotation Central Symmetry, two other described line slideway (53) is also about described center of rotation Central Symmetry, and four described handgrip unit (51) are slidably connected from different described line slideway (53) respectively;
Four connecting rods (54), the two ends of each described connecting rod (54) are hinged with a described coupling part and a described handgrip unit (51) respectively, and different described connecting rods (54) is articulated in different described coupling parts and different described handgrip unit (51).
9. manipulator according to claim 8, is characterized in that, described cylinder (6) has two, drives respectively different described handgrip unit (51).
10. according to claim 1-9 described manipulators of any one, is characterized in that, described manipulator is for being used for the cell panel dish is carried out the manipulator of de-stacking piling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220735987 CN202985563U (en) | 2012-12-26 | 2012-12-26 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220735987 CN202985563U (en) | 2012-12-26 | 2012-12-26 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202985563U true CN202985563U (en) | 2013-06-12 |
Family
ID=48556780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220735987 Expired - Lifetime CN202985563U (en) | 2012-12-26 | 2012-12-26 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202985563U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107758335A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of battery tray haulage equipment |
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN109500807A (en) * | 2018-11-14 | 2019-03-22 | 苏州诚拓机械设备有限公司 | A kind of six pawl handgrip mechanism of intelligence |
| CN113291790A (en) * | 2021-05-25 | 2021-08-24 | 武汉理工大学 | Self-adaptive grabbing mechanism |
-
2012
- 2012-12-26 CN CN 201220735987 patent/CN202985563U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN107758335A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of battery tray haulage equipment |
| CN109500807A (en) * | 2018-11-14 | 2019-03-22 | 苏州诚拓机械设备有限公司 | A kind of six pawl handgrip mechanism of intelligence |
| CN109500807B (en) * | 2018-11-14 | 2022-05-24 | 苏州诚拓机械设备有限公司 | Six claw tongs mechanisms of intelligence |
| CN113291790A (en) * | 2021-05-25 | 2021-08-24 | 武汉理工大学 | Self-adaptive grabbing mechanism |
| CN113291790B (en) * | 2021-05-25 | 2022-08-30 | 武汉理工大学 | Self-adaptive grabbing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130612 |