CN203371544U - Clamping manipulator - Google Patents
Clamping manipulator Download PDFInfo
- Publication number
- CN203371544U CN203371544U CN201320357753.9U CN201320357753U CN203371544U CN 203371544 U CN203371544 U CN 203371544U CN 201320357753 U CN201320357753 U CN 201320357753U CN 203371544 U CN203371544 U CN 203371544U
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- CN
- China
- Prior art keywords
- connecting rod
- chute
- clamping manipulator
- ring flange
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a clamping manipulator which comprises a support. Two manipulator fingers for clamping are arranged on the support, a sliding groove is formed in the support, and the fingers extend, retract, open and close along the sliding groove through a driving mechanism arranged on the support. Actions with a plurality of degrees of freedom such as extending, retracting, opening and closing of the manipulator are controlled by a motor, the driving mechanism is simple in structure, and manufacturing cost is reduced.
Description
Technical field
The utility model relates to a kind of manipulator, relates in particular to a kind of clamping manipulator.
Background technology
Manipulator can imitate some holding function of staff and arm; in order to the automatic pilot that captures, carries object or operation tool by fixed routine; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
Existing clamp-type manipulator changes position and the posture of being grabbed object by driving mechanism, the self-movement modes such as the lifting of motion, flexible, rotation, the free degree that is called manipulator, the manipulator of general clamp-type has 2～3 each frees degree, and each free degree is by Electric Machine Control.As can be seen here, existing motion structure is more complicated, needs to coordinate a plurality of motors to complete a plurality of frees degree.
The utility model content
The utility model has overcome the deficiencies in the prior art, provides a kind of motion simple, can be by the manipulator of a plurality of frees degree of Electric Machine Control.
For achieving the above object, the technical solution adopted in the utility model is: a kind of clamping manipulator, comprise bearing, described bearing is provided with two manipulator fingers for clamping, it is characterized in that: described bearing is provided with chute, and described finger is by being arranged on the driving mechanism flexible and folding along described chute on described bearing.
In preferred embodiment of the utility model, further comprise that described driving mechanism comprises the ring flange be arranged on described bearing, be arranged on the first connecting rod on described ring flange, the second connecting rod that connects described first connecting rod and finger, described second connecting rod and described chute are slidably connected, and described ring flange drives rotation by motor.
In preferred embodiment of the utility model, further comprise on described first connecting rod, second connecting rod end and be equipped with the circular hole matched, run through described circular hole and chute and described chute by straight pin and be slidably connected.
In preferred embodiment of the utility model, further comprise that described finger inner wall of end is provided with liner.
In preferred embodiment of the utility model, further comprise between described two fingers and be connected with spring.
In preferred embodiment of the utility model, further comprise between described second connecting rod and described finger and being bolted.
In preferred embodiment of the utility model, further comprise that described ring flange is for circular.
The utility model has solved the defect existed in the background technology, and clamping manipulator of the present utility model is by the action of a plurality of frees degree such as flexible, folding of Electric Machine Control machinery hand, and driving mechanism structure is simple, has reduced manufacturing cost.
The accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the structural front view of preferred embodiment of the present utility model;
Fig. 2 is the structure side view of preferred embodiment of the present utility model;
In figure: 10, bearing, 20, finger, 30, chute, 40, ring flange, 50, first connecting rod, 60, second connecting rod, 70, motor, 81, straight pin, 82, bolt, 90, liner, 100, spring.
The specific embodiment
In conjunction with the accompanying drawings and embodiments the utility model is described in further detail now, these accompanying drawings are the schematic diagram of simplification, basic structure of the present utility model only is described in a schematic way, so it only show the formation relevant with the utility model.
As depicted in figs. 1 and 2, a kind of clamping manipulator, capture, clamp product to be processed for producing on line, comprise manipulator bearing 10, bearing 10 is provided with two manipulator fingers 20 for capturing and clamping, flexible and folding by two fingers 20 realizes capturing and holding action, can offer chute 30 on bearing 10, points 20 and realizes flexible and opening and closing movement by the driving mechanism be arranged on bearing 10 along chute 30.
Driving mechanism in the utility model specifically can comprise the circular flange dish 40 that is parallel to bearing 10 settings, be arranged on the first connecting rod 50 on ring flange 40, two second connecting rods 60 that connect first connecting rod 50 and two fingers 20, second connecting rod 60 is slidably connected with chute 30, and ring flange 40 drives rotation by motor 70; Can offer a circular hole with internal tooth on ring flange 40, rotating shaft and the circular hole of motor 70 are connected with a joggle, and can drive ring flange 40 rotations; One end of first connecting rod 50 is fixed on the upper of ring flange 40, and when ring flange 40 rotation, the end that ring flange 40 drives first connecting rod 50 moves in a circle; The other end of first connecting rod 50 is connected with the end of two second connecting rods 60, specifically can on the end of first connecting rod 50, second connecting rod 60, all offer identical circular hole, utilize straight pin 81 run through these two circular holes and run through chute 30, can make second connecting rod 60 and chute 30 be slidably connected, first connecting rod 50 is followed ring flange 40 while moving in a circle, and first connecting rod 50 pulls second connecting rod 60 flexible along chute 30; Because second connecting rod 60 is connected with two manipulator fingers 20, can be fixing by bolt 82 between second connecting rod 60 and finger 20, second connecting rod 60 pulls two fingers 20 also to do expanding-contracting action in the time of flexible, also can between two fingers 20, connect a spring 100, when two fingers 20 are flexible along chute 30 directions, two second connecting rods 60 pull two fingers 20 to open and closure, complete the action of crawl, clamping processed product, be arranged on two springs 100 between finger 20 and play reset role, make the opening action of two fingers 20 more smooth and easy.
For increasing the frictional force of manipulator finger 20 clampings, can antiskid pad 90 be set at finger 20 inner wall of ends.
Clamping manipulator of the present utility model is by the action of a plurality of frees degree such as flexible, folding of Electric Machine Control machinery hand, and driving mechanism structure is simple, has reduced manufacturing cost.
Above foundation desirable embodiment of the present utility model is enlightenment, and by above-mentioned description, the related personnel can, in the scope that does not depart from this utility model technological thought, carry out various change and modification fully.The technical scope of this utility model is not limited to the content on specification, must determine technical scope according to the claim scope.
Claims (7)
1. a clamping manipulator, comprise bearing, and described bearing is provided with two manipulator fingers for clamping, and it is characterized in that: described bearing is provided with chute, and described finger is by being arranged on the driving mechanism flexible and folding along described chute on described bearing.
2. a kind of clamping manipulator according to claim 1, it is characterized in that: described driving mechanism comprises the ring flange be arranged on described bearing, be arranged on the first connecting rod on described ring flange, the second connecting rod that connects described first connecting rod and finger, described second connecting rod and described chute are slidably connected, and described ring flange drives rotation by motor.
3. a kind of clamping manipulator according to claim 2, is characterized in that: be equipped with the circular hole matched on described first connecting rod, second connecting rod end, run through described circular hole and chute and described chute by straight pin and be slidably connected.
4. a kind of clamping manipulator according to claim 3, it is characterized in that: described finger inner wall of end is provided with liner.
5. a kind of clamping manipulator according to claim 4, is characterized in that: between described two fingers, be connected with spring.
6. a kind of clamping manipulator according to claim 5, is characterized in that: between described second connecting rod and described finger, be bolted.
7. a kind of clamping manipulator according to claim 6 is characterized in that: described ring flange is for circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320357753.9U CN203371544U (en) | 2013-06-21 | 2013-06-21 | Clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320357753.9U CN203371544U (en) | 2013-06-21 | 2013-06-21 | Clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203371544U true CN203371544U (en) | 2014-01-01 |
Family
ID=49834096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320357753.9U Expired - Fee Related CN203371544U (en) | 2013-06-21 | 2013-06-21 | Clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203371544U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273488A (en) * | 2013-06-21 | 2013-09-04 | 苏州速腾电子科技有限公司 | Clamping manipulator |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN104959995A (en) * | 2015-07-01 | 2015-10-07 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | Robot grabbing hand |
| CN108656142A (en) * | 2018-07-19 | 2018-10-16 | 华侨大学 | A kind of sorting manipulator |
-
2013
- 2013-06-21 CN CN201320357753.9U patent/CN203371544U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273488A (en) * | 2013-06-21 | 2013-09-04 | 苏州速腾电子科技有限公司 | Clamping manipulator |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN104959995A (en) * | 2015-07-01 | 2015-10-07 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | Robot grabbing hand |
| CN108656142A (en) * | 2018-07-19 | 2018-10-16 | 华侨大学 | A kind of sorting manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140101 Termination date: 20140621 |
|
| EXPY | Termination of patent right or utility model |