CN203712696U - Two-degree-of-freedom linear manipulator - Google Patents

Two-degree-of-freedom linear manipulator Download PDF

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Publication number
CN203712696U
CN203712696U CN201420101592.1U CN201420101592U CN203712696U CN 203712696 U CN203712696 U CN 203712696U CN 201420101592 U CN201420101592 U CN 201420101592U CN 203712696 U CN203712696 U CN 203712696U
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CN
China
Prior art keywords
arm
leading screw
fixed
fixedly connected
claw
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
Application number
CN201420101592.1U
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Chinese (zh)
Inventor
余胜东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wenzhou Vocational and Technical College
Original Assignee
Wenzhou Vocational and Technical College
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Priority to CN201420101592.1U priority Critical patent/CN203712696U/en
Application granted granted Critical
Publication of CN203712696U publication Critical patent/CN203712696U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to an industrial automatic device, in particular to an automatic manipulator. A two-degree-of-freedom linear manipulator is characterized by comprising a first arm, a second arm and a claw. The first arm and the second arm are fixed through a transition plate. The claw is fixedly connected at one end of the second arm. The first arm comprises a base plate, a lead screw, a long guide rail, a square sliding block, a nut, a servo motor and a coupler. The second arm comprises a second servo motor and a precision reducer. An output shaft of the second servo motor is connected onto the precision reducer, the output shaft of the precision reducer is fixedly connected onto a rotating plate, and the claw is fixedly connected onto the rotating plate. The claw is fixedly connected with one end of the second arm, and the second arm drives the claw to do 360-degree rotating under drive of stretching or retreating of the first arm to match opening and closing of the claw to achieve a material grabbing function.

Description

Two degrees of freedom linear mechanical hand
Technical field
The utility model relates to industrial automation equipment, more particularly, relates to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding function that can imitate 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, and can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly comprised of hand, motion and control system three parts.Hand is for grasping the parts of workpiece (or instrument), has various structures form, as clamp-type, holding type and absorbent-type etc. according to the shape, size, weight, material and the job requirements that are grasped object.Motion, makes hand complete the action that various rotations (swing), movement or compound motion are realized regulation, changes the position and the posture that are grasped object.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is by the control to the motor of each free degree of manipulator, completes specific action.
Yet existing mechanical finger is often driven by motor, complex structure is expensive.
The life-span of existing mechanical finger is not long.
Utility model content
The purpose of this utility model is to provide a kind of two degrees of freedom linear mechanical hand, and the utility model is applicable in machine-building process, realize the carrying transmission of material, and frictional resistance is little, operates steadily, precision is high, the life-span is long.
A two degrees of freedom linear mechanical hand, comprises arm and base;
Described arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw and described long guideway are parallel to each other;
The quantity of described arm is 2, comprises the first arm, the second arm, and described the first arm is fixedly connected with the fixed head of described the second arm, and described the first arm is mutually vertical with the second arm;
The base plate of described the first arm is fixed on described base, and described the first arm is mutually vertical with described base plate, and described the second arm and described base are parallel to each other.
Described base is fixed on equipment, realizes the installation of the utility model two degrees of freedom linear mechanical hand is fixed.Described in driven by servomotor, leading screw rotates, described leading screw and then drive described nut to do traveling priority with respect to described leading screw, thus realize stretching out or retracting of described arm.
The base plate of described the first arm is fixed on described base, and the first arm is realized the elevating movement of manipulator.Described the second arm and described base are parallel to each other, and described the second arm is realized stretching out of manipulator or retracts.
The paw of manipulator is fixed on the end of described the second arm, and under the teamwork of described the first arm and described the second arm, the folding of the paw of cooperative mechanical hand, realizes the function that captures material.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model two degrees of freedom linear mechanical hand;
Fig. 2 is the structural representation of the utility model two degrees of freedom linear mechanical hand;
Fig. 3 is the structural representation of arm.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail, but does not form any restriction of the present utility model, in accompanying drawing, similarly element numbers represents similar element.As mentioned above, the utility model provides a kind of guide tracked manipulator, for realizing crawl and the transfer of material.
Fig. 1, Fig. 2 are the structural representations of the utility model two degrees of freedom linear mechanical hand.Fig. 3 is the structural representation of arm.
A two degrees of freedom linear mechanical hand, comprises arm and base 311;
Described arm comprises base plate 210, leading screw 211, long guideway 219, square slider 220, nut 213, servomotor 218, shaft coupling 217; One end of described leading screw 211 is connected with leading screw holder 216, one end is connected with leading screw supporting seat 215 in addition, and described leading screw holder 216 and described leading screw supporting seat 215 are fixedly connected on described base plate 210; The projecting shaft of described servomotor 218 and described leading screw 211 achieve a fixed connection by described shaft coupling 217; In the other one side of described base plate 210, be fixedly connected with described long guideway 219, on described long guideway 219, be flexibly connected square slider 220, described square slider 220 belows are fixed with fixed head 221; On described leading screw 211, be flexibly connected described nut 213, the outside of described nut 213 is fixed with nut connecting plate 212, and the both sides of described nut connecting plate 212 are fixed with riser 214, and described riser 214 is fixed on described fixed head 221; Described leading screw 21 and described long guideway 219 are parallel to each other; The quantity of described arm is 2, comprises the first arm, the second arm, and the fixed head 223 of described the first arm and described the second arm is fixedly connected with, and described the first arm is mutually vertical with the second arm; The base plate solid 212 of described the first arm is connected in described base 311, and described the first arm is mutually vertical with described base plate 311, and described the second arm and described base 311 are parallel to each other.
Finally, it should be pointed out that above embodiment is only the more representational example of the utility model.Obviously, the utility model is not limited to above-described embodiment, can also have many distortion.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present utility model is done above embodiment, all should think and belong to protection domain of the present utility model.

Claims (1)

1. a two degrees of freedom linear mechanical hand, is characterized in that composed as follows: comprise arm and base;
Described arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw and described long guideway are parallel to each other;
The quantity of described arm is 2, comprises the first arm, the second arm, and described the first arm is fixedly connected with the fixed head of described the second arm, and described the first arm is mutually vertical with the second arm;
The base plate of described the first arm is fixed on described base, and described the first arm is mutually vertical with described base plate, and described the second arm and described base are parallel to each other.
CN201420101592.1U 2014-02-26 2014-02-26 Two-degree-of-freedom linear manipulator Expired - Fee Related CN203712696U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420101592.1U CN203712696U (en) 2014-02-26 2014-02-26 Two-degree-of-freedom linear manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420101592.1U CN203712696U (en) 2014-02-26 2014-02-26 Two-degree-of-freedom linear manipulator

Publications (1)

Publication Number Publication Date
CN203712696U true CN203712696U (en) 2014-07-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420101592.1U Expired - Fee Related CN203712696U (en) 2014-02-26 2014-02-26 Two-degree-of-freedom linear manipulator

Country Status (1)

Country Link
CN (1) CN203712696U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437210A (en) * 2015-12-09 2016-03-30 苏州承乐电子科技有限公司 Three-degree-of-freedom mechanical arm structure device
CN107567821A (en) * 2017-07-27 2018-01-12 杭州电子科技大学 A kind of tea picker
CN113059385A (en) * 2021-03-30 2021-07-02 浙江轩通机械有限公司 Manipulator for numerical control machine tool

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437210A (en) * 2015-12-09 2016-03-30 苏州承乐电子科技有限公司 Three-degree-of-freedom mechanical arm structure device
CN107567821A (en) * 2017-07-27 2018-01-12 杭州电子科技大学 A kind of tea picker
CN113059385A (en) * 2021-03-30 2021-07-02 浙江轩通机械有限公司 Manipulator for numerical control machine tool

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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: 20140716

Termination date: 20150226

EXPY Termination of patent right or utility model