CN204308960U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN204308960U CN204308960U CN201420543606.5U CN201420543606U CN204308960U CN 204308960 U CN204308960 U CN 204308960U CN 201420543606 U CN201420543606 U CN 201420543606U CN 204308960 U CN204308960 U CN 204308960U
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- Prior art keywords
- mechanical
- paw
- power set
- mechanical arm
- manipulator according
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- 230000000694 effects Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000007664 blowing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of manipulator, belong to automated machine technical field, comprise base and be arranged at the mechanical arm on base, it is characterized in that: on described mechanical arm, be provided with at least two mechanical paws, described mechanical arm is can respect thereto lifting and rotating under the effect of the first power set, mechanical paw can stretch relative to mechanical arm under the effect of the second power set, mechanical paw has and can be movable relatively thus open a pair dactylus with closed mechanical paw, and this can do relative motion to dactylus under the effect of the 3rd power set.By arranging at least two mechanical paws, and mechanical paw can be elevated, rotates under the effect of power set, opening and closing, in the streamline process of workpiece, can realize the good linking that workpiece takes, puts, saving process time, thus enhances productivity.
Description
Technical field
The utility model relates to a kind of manipulator, particularly relate to a kind of have multiplely pick and place paw thus the manipulator of enhancing productivity, belong to automated machine technical field.
Background technology
Manipulator can imitate some action of staff and arm, is widely used in each processing industry, especially automated productin line, partly to replace manual operation, reduces labour intensity and Labor Risk.In the machining production processes such as welding, assembling, die casting, generally all need to carry out blowing and feeding operation to workpiece, workpiece to be processed is positioned over processing stations, after machining, then the workpiece processed is taken out, enter next manufacturing procedure.In prior art, blowing and feeding are often carried out respectively, and this extends process time to a certain extent, reduce production efficiency.
Summary of the invention
The utility model, for the above-mentioned technical problem existed in prior art, provides a kind of manipulator, realizes synchronously carrying out of blowing and feeding, thus enhances productivity.For this reason, the utility model adopts following technical scheme:
A kind of manipulator, comprise base and be arranged at the mechanical arm on base, it is characterized in that: on described mechanical arm, be provided with at least two mechanical paws, described mechanical arm is can respect thereto lifting and rotating under the effect of the first power set, mechanical paw can stretch relative to mechanical arm under the effect of the second power set, mechanical paw has and can be movable relatively thus open a pair dactylus with closed mechanical paw, and this can do relative motion to dactylus under the effect of the 3rd power set.By arranging at least two mechanical paws, and mechanical paw can be elevated, rotates under the effect of power set, opening and closing, in the streamline process of workpiece, can realize the good linking that workpiece takes, puts, saving process time, thus enhances productivity.
Further, described first power set comprise for driving device arm rotate rotating servo motor and for driving device arm lifting lift cylinder or lift servo motor.Realize rotation and the lifting of mechanical arm, thus driving mechanical paw rotates and upgrading.
Further, described rotating servo motor is arranged at the below of mechanical arm and is connected with base by a mount pad, supportingly between mount pad and base be provided with slide rail and slide block, lift cylinder or upgrading servomotor are arranged on base, and its clutch end is connected with mount pad.Realize the lifting of mechanical arm and mechanical paw.
Further, between described rotating servo motor and mechanical arm, an accurate harmonic wave speed reducing machine is also provided with.Control accurately, effective.
Further, described second power set are be arranged at telescopic cylinder on mechanical arm or flexible servomotor, and its clutch end is connected with mechanical paw, supportingly between mechanical arm and mechanical paw are provided with slide rail and slide block.Realize mechanical paw stretching relative to mechanical arm.
Further, described 3rd power set are opening and closing cylinder.Realize the opening and closing of mechanical paw.
Further, arrange between adjacent machine paw with certain at an angle, described angle is 30-180 degree.Make to be spaced a distance between adjacent machine hand non-parallelly, be convenient to the carrying out picking and placeing work piece operations.
Further, described mechanical paw is 2-6.Multiple mechanical paw can simultaneously operating, enhances productivity.
Further, described mechanical paw is 2, and the angle between two mechanical paws is 90 degree.Take into account the actuating length of mechanical paw and pick and place the action need of workpiece, enhancing productivity.
Further, described a pair dactylus is removably connected on mechanical paw by a mount pad.Difform dactylus can be selected to install according to need of production, meet causing the demand of different workpieces.
Therefore, manipulator of the present utility model, multiple mechanical paw coordinates the power set of each action, realizes synchronously carrying out of blowing and feeding, and action is coherent, compact, and production efficiency is high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is top view of the present utility model;
Fig. 3 is side view of the present utility model;
Fig. 4 is the F direction view of Fig. 1;
Fig. 5 is the structural representation of the utility model mechanical arm and mechanical paw.
Detailed description of the invention
Be described further the utility model with detailed description of the invention below in conjunction with Fig. 1-5, part same as the prior art in the utility model is with reference to prior art.
As Figure 1-5, manipulator of the present utility model, the mechanical arm 2 comprising base 1 and be arranged on base 1, mechanical arm 2 is provided with two mechanical paws 3, at mechanical arm 2 can respect thereto lifting and rotating under the effect of the first power set, mechanical paw 3 can stretch relative to mechanical arm 2 under the effect of the second power set, mechanical paw 3 has and can be movable relatively thus open a pair dactylus 3a and 3b with closed mechanical paw, and this can do relative motion to dactylus under the effect of the 3rd power set.3rd power set are an opening and closing cylinder (not shown).
Wherein: the first power set comprise the rotating servo motor 4 rotated for driving device arm 2 and the lift cylinder 5 be elevated for driving device arm 2, an accurate harmonic wave speed reducing machine 6 is also provided with between rotating servo motor 4 and mechanical arm 2, rotating servo motor 4 is arranged at the below of mechanical arm 2 and is connected with base 1 by a mount pad 7, supportingly between mount pad 7 and base 1 be provided with slide rail 8 and slide block 9, the cylinder block of lift cylinder 5 is arranged on base 1, and its clutch end-cylinder rod is connected with mount pad 7.Second power set are the telescopic cylinder 10 be arranged on mechanical arm 2, and its clutch end-cylinder rod is connected with mechanical paw 3, supportingly between mechanical arm 2 and mechanical paw 3 are provided with slide rail 8 and slide block 9.
Mechanical paw 3 is 2-6, and between adjacent machine paw, angle is 30-180 degree, and in the present embodiment, the quantity of mechanical paw is 2, and the angle between two mechanical paws is 90 degree.
A pair dactylus 3a and 3b is removably connected on mechanical paw 3 by a mount pad.
The utility model is in the process used, when a mechanical paw is used for the workpiece processed to take away, the workpiece to be processed grasped can be positioned over processing stations by other mechanical paw, realizes taking, putting of workpiece and synchronously carries out, save process time, improve production efficiency.Meanwhile, coordinate and carry out the power set of each action, lifting, rotation can be completed, stretch, the action such as folding, the flow production line of all kinds of processing industry can be widely used in, to enhance productivity.
Certainly, the utility model also has other embodiments, is only preferred embodiment of the present utility model above, is not used for limiting practical range of the present utility model, all equivalences done according to the content of the application's the scope of the claims change and modify, and all should be technology category of the present utility model.
Claims (10)
1. a manipulator, comprise base (1) and be arranged at the mechanical arm (2) on base (1), it is characterized in that: on described mechanical arm (2), be provided with at least two mechanical paws (3), described mechanical arm (2) is can respect thereto (1) lifting and rotating under the effect of the first power set, mechanical paw (3) can stretch relative to mechanical arm (2) under the effect of the second power set, mechanical paw (3) has and can be movable relatively thus open a pair dactylus (3a with closed mechanical paw, 3b), this can do relative motion to dactylus under the effect of the 3rd power set.
2. manipulator according to claim 1, is characterized in that: described first power set comprise the rotating servo motor (4) that rotates for driving device arm (2) and for the lift cylinder (5) of driving device arm lifting or lift servo motor.
3. manipulator according to claim 2, it is characterized in that: described rotating servo motor (4) is arranged at the below of mechanical arm (2) and is connected with base (1) by a mount pad (7), supportingly between mount pad (7) and base (1) be provided with slide rail (8) and slide block (9), lift cylinder (5) or upgrading servomotor are arranged on base (1), and its clutch end is connected with mount pad (7).
4. manipulator according to claim 2, is characterized in that: between described rotating servo motor (4) and mechanical arm (2), be also provided with an accurate harmonic wave speed reducing machine (6).
5. manipulator according to claim 1, it is characterized in that: described second power set are for being arranged at telescopic cylinder (10) on mechanical arm (2) or flexible servomotor, its clutch end is connected with mechanical paw (3), supportingly between mechanical arm (2) and mechanical paw (3) is provided with slide rail (8) and slide block (9).
6. manipulator according to claim 1, is characterized in that: described 3rd power set are opening and closing cylinder.
7. manipulator according to claim 1, is characterized in that: adjacent machine paw is arranged with certain at an angle between (3), and described angle is 30-180 degree.
8. manipulator according to claim 1, is characterized in that: described mechanical paw is 2-6.
9. manipulator according to claim 8, is characterized in that: described mechanical paw is 2, and the angle between two mechanical paws is 90 degree.
10. manipulator according to claim 1, is characterized in that: described a pair dactylus (3a, 3b) is removably connected on mechanical paw (3) by a mount pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420543606.5U CN204308960U (en) | 2014-09-21 | 2014-09-21 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420543606.5U CN204308960U (en) | 2014-09-21 | 2014-09-21 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204308960U true CN204308960U (en) | 2015-05-06 |
Family
ID=53131292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420543606.5U Expired - Lifetime CN204308960U (en) | 2014-09-21 | 2014-09-21 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204308960U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105382831A (en) * | 2015-11-25 | 2016-03-09 | 东莞市合辉精密机械设备有限公司 | High-efficiency dual-arm robot |
| CN105380772A (en) * | 2015-12-10 | 2016-03-09 | 浙江多迪斯泰保健器材有限公司 | Massaging mechanical arm used on massage armchair |
| CN105598955A (en) * | 2016-03-30 | 2016-05-25 | 叶侃 | Clamping steering device for ceramic products |
| CN106108825A (en) * | 2016-07-05 | 2016-11-16 | 青岛酒店管理职业技术学院 | The device of automatic scrubbing wine cup |
| CN106694731A (en) * | 2016-12-08 | 2017-05-24 | 宁波职业技术学院 | Two-rod gripping device for punch mechanical arm |
| CN107030721A (en) * | 2017-05-17 | 2017-08-11 | 上海幸福摩托车有限公司 | A kind of industry mechanical arm and its operational method |
| CN107363854A (en) * | 2017-08-24 | 2017-11-21 | 广东利元亨智能装备有限公司 | A kind of telescopic mechanical gripper |
| CN108274449A (en) * | 2018-02-09 | 2018-07-13 | 芜湖市海联机械设备有限公司 | A kind of industrial operations type six degree of freedom serial manipulator |
| CN112453150A (en) * | 2020-10-27 | 2021-03-09 | 青海东鑫铝业有限责任公司 | Processing equipment and production process for improving strength of aluminum profile |
-
2014
- 2014-09-21 CN CN201420543606.5U patent/CN204308960U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105382831A (en) * | 2015-11-25 | 2016-03-09 | 东莞市合辉精密机械设备有限公司 | High-efficiency dual-arm robot |
| CN105380772A (en) * | 2015-12-10 | 2016-03-09 | 浙江多迪斯泰保健器材有限公司 | Massaging mechanical arm used on massage armchair |
| CN105598955A (en) * | 2016-03-30 | 2016-05-25 | 叶侃 | Clamping steering device for ceramic products |
| CN106108825A (en) * | 2016-07-05 | 2016-11-16 | 青岛酒店管理职业技术学院 | The device of automatic scrubbing wine cup |
| CN106694731A (en) * | 2016-12-08 | 2017-05-24 | 宁波职业技术学院 | Two-rod gripping device for punch mechanical arm |
| CN106694731B (en) * | 2016-12-08 | 2018-06-01 | 宁波职业技术学院 | Punching machine mechanical arm double stick material grabbing device |
| CN107030721A (en) * | 2017-05-17 | 2017-08-11 | 上海幸福摩托车有限公司 | A kind of industry mechanical arm and its operational method |
| CN107030721B (en) * | 2017-05-17 | 2023-10-27 | 华域皮尔博格泵技术有限公司 | Industrial manipulator and operation method thereof |
| CN107363854A (en) * | 2017-08-24 | 2017-11-21 | 广东利元亨智能装备有限公司 | A kind of telescopic mechanical gripper |
| CN107363854B (en) * | 2017-08-24 | 2024-03-15 | 广东利元亨智能装备有限公司 | Telescopic mechanical gripper |
| CN108274449A (en) * | 2018-02-09 | 2018-07-13 | 芜湖市海联机械设备有限公司 | A kind of industrial operations type six degree of freedom serial manipulator |
| CN112453150A (en) * | 2020-10-27 | 2021-03-09 | 青海东鑫铝业有限责任公司 | Processing equipment and production process for improving strength of aluminum profile |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: HANGZHOU RUIGUAN TECHNOLOGY CO., LTD. Free format text: FORMER NAME: HANGZHOU RUIGUAN PRECISION MACHINERY CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: Liangzhu gouzhuang Street Village in Yuhang District of Hangzhou City, Zhejiang province 311112 Wu Wang Bridge Factory Patentee after: HANGZHOU RUIGUAN TECHNOLOGY Co.,Ltd. Address before: Liangzhu gouzhuang Street Village in Yuhang District of Hangzhou City, Zhejiang province 311112 Wu Wang Bridge Factory Patentee before: HANGZHOU RUIGUAN PRECISION MACHINERY Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20150506 |