CN203141503U

CN203141503U - Manipulator

Info

Publication number: CN203141503U
Application number: CN 201320059695
Authority: CN
Inventors: 王慧明
Original assignee: SHENGZHOU BOAI MACHINERY DESIGN STUDIO
Current assignee: SHENGZHOU BOAI MACHINERY DESIGN STUDIO
Priority date: 2013-01-30
Filing date: 2013-01-30
Publication date: 2013-08-21
Anticipated expiration: 2023-01-30

Abstract

The utility model discloses a manipulator which comprises a left pawl, a right pawl and a cylinder. A piston rod is arranged in the cylinder, a double-faced rack is in screwed joint with the top end of the piston rod, a first fixed seat is fixedly mounted at the left front end on the cylinder, a second fixed seat is fixedly mounted at the right lower end on the cylinder, a first sector gear movably connected with the first fixed seat is meshed with the left end face of the double-faced rack, a second sector gear movably connected with the second fixed seat is meshed with a right end face of the double-faced rack, the first sector gear is composed of a first sector face and a first movable tail rod, the second sector gear is composed of a second sector face and a second movable tail rod, the first fixed seat and the left pawl are connected through a first movable connecting rod and the first movable tail rod, and the second fixed seat and the right pawl are connected through a second movable connecting rod and the second movable tail rod. The manipulator enables the left pawl and the right pawl to operate synchronously and stably and to be in forced linkage, so that precision and rapid stability of material clamping of the manipulator are guaranteed.

Description

A kind of manipulator

Technical field

The utility model relates to a kind of manipulator, particularly a kind of manipulator for the gripping material.

Background technology

In the industrial automation production process, manipulator is normally simulated the grasping movement of staff, finish realization to material grasping and the discharging of material, when the relatively large shape of volume of material again during comparison rule, the general mode that adopts gripping, namely with about two paws draw close the clamping material mutually, but in the process of drawing close mutually, about two paws often asynchronous, cause the fast paw that moves on one side promoting the phenomenon that material is drawn close to the paw of another side easily, the precision of manipulator gripping material and fast and stable have been produced seriously influence.

The utility model content

For solving the problems of the technologies described above, the utility model provide a kind of about two paw synchronism stabilities operations, and be the manipulator of forcing interlock in running.

For achieving the above object, the technical solution of the utility model is: a kind of manipulator, comprise the left hand pawl, right hand pawl, cylinder, be provided with piston rod in the cylinder, the piston rod top is bolted with two-sided tooth bar, left front end on the cylinder is installed with first holder, bottom righthand side on the cylinder is installed with second holder, first sector gear that flexibly connects on first holder is meshed with the left side of two-sided tooth bar, second sector gear that flexibly connects on second holder is meshed with the right side of two-sided tooth bar, first sector gear is made up of first sector and the first movable foot piece, second sector gear is made up of second sector and the second movable foot piece, be connected with the first movable foot piece by first movable rod between first holder and the left hand pawl, be connected with the second movable foot piece by second movable rod between second holder and the right hand pawl.

First clamping area of described left hand pawl is provided with first screwed hole, and second clamping area of right hand pawl is provided with second screwed hole.

The beneficial effects of the utility model are: about the synchronism stability operation of two paws, namely clamp synchronously and extract material, discharging synchronously, and be to force interlock, avoided speed faster a paw pushing away the phenomenon that material is drawn close clamping to the another paw, guaranteed precision and the fast and stable of manipulator gripping material.

Description of drawings

Fig. 1 is the utility model structural representation.

Among the figure: left hand pawl 11, right hand pawl 12, cylinder 2, piston rod 3, piston rod top 31, two-sided tooth bar 4, two-sided tooth bar left side 41, two-sided tooth bar right side 42, the left front end 51 of cylinder, cylinder bottom righthand side 52, first holder 61, second holder 62, first sector gear 71, second sector gear 72, first sector 81, second sector 82, the first movable foot piece 91, the second movable foot piece 92, first movable rod 101, second movable rod 102, first clamping area 111, second clamping area 112, first screwed hole 121, second screwed hole 122.

The specific embodiment

Below in conjunction with accompanying drawing, and in conjunction with the embodiments, the utility model is described further.

Embodiment:

As shown in Figure 1, a kind of manipulator, comprise left hand pawl 11, right hand pawl 12, cylinder 2, be provided with piston rod 3 in the cylinder 2, piston rod 3 tops 31 are bolted with two-sided tooth bar 4, left front end 51 on the cylinder 1 is installed with first holder 61, bottom righthand side 52 on the cylinder 1 is installed with second holder 62, first sector gear 71 that flexibly connects on first holder 61 is meshed with the left side 41 of two-sided tooth bar 4, second sector gear 72 that flexibly connects on second holder 62 is meshed with the right side 42 of two-sided tooth bar 4, first sector gear 71 is made up of first sector 81 and the first movable foot piece 91, second sector gear 72 is made up of second sector 82 and the second movable foot piece 92, be connected with the first movable foot piece 91 by first movable rod 101 between first holder 61 and the left hand pawl 11, be connected with the second movable foot piece 92 by second movable rod 102 between second holder 62 and the right hand pawl 12.

First clamping area 111 of left hand pawl 11 is provided with first screwed hole 121, second clamping area 112 of right hand pawl 12 is provided with second screwed hole 122, can be connected and installed the jaw of various different model specifications at first screwed hole 121 and second screwed hole 122, with the various material of gripping.

Operation principle of the present utility model is: during piston rod 3 backhaul backward of cylinder 2, be connected the also and then operation backward of two-sided tooth bar 4 on piston rod 3 tops 31, at this moment, rotate synchronously by circular-arc tooth surface with the left side 41 of two-sided tooth bar 4, right side 42 intermeshing first sector gears 71 and second sector gear 72, thereby drawn close to material with right hand pawl 12 synchronism stabilities then that linked to each other with the second movable foot piece 92 by second movable rod 102 by the left hand pawl 11 that first movable rod 101 links to each other with the first movable foot piece 91 then, and clamp the extraction material.Otherwise, when the piston rod 3 of cylinder 2 moves forward, then finish discharge process.

Claims

1. manipulator, comprise left hand pawl (11), right hand pawl (12), cylinder (2), be provided with piston rod (3) in the cylinder (2), it is characterized in that: described piston rod (3) top (31) is bolted with two-sided tooth bar (4), left front end (51) on the described cylinder (1) is installed with first holder (61), bottom righthand side (52) on the described cylinder (1) is installed with second holder (62), described first holder (61) is gone up first sector gear (71) that flexibly connects and is meshed with the left side (41) of two-sided tooth bar (4), described second holder (62) is gone up second sector gear (72) that flexibly connects and is meshed with the right side (42) of two-sided tooth bar (4), described first sector gear (71) is made up of first sector (81) and the first movable foot piece (91), described second sector gear (72) is made up of second sector (82) and the second movable foot piece (92), be connected with the first movable foot piece (91) by first movable rod (101) between described first holder (61) and the left hand pawl (11), be connected with the second movable foot piece (92) by second movable rod (102) between described second holder (62) and the right hand pawl (12).

2. a kind of manipulator as claimed in claim 1, it is characterized in that: first clamping area (111) of described left hand pawl (11) is provided with first screwed hole (121), and second clamping area (112) of described right hand pawl (12) is provided with second screwed hole (122).