CN204382277U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN204382277U CN204382277U CN201420779952.3U CN201420779952U CN204382277U CN 204382277 U CN204382277 U CN 204382277U CN 201420779952 U CN201420779952 U CN 201420779952U CN 204382277 U CN204382277 U CN 204382277U
- Authority
- CN
- China
- Prior art keywords
- base station
- screw element
- hinged
- slipmat
- screw mandrel
- 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 kind of manipulator, comprises base station, the drive motors be located on base station, the screw element be spirally connected and the screw mandrel be connected with drive motors, two linkages and slipmat; Linkage comprises pull bar, Z-shaped bar and two connecting rods; One end of two connecting rods is hinged on screw element, and the other end is hinged on one end of Z-shaped bar, and slipmat is located at the other end of Z-shaped bar; The two ends of pull bar are hinged on base station and connecting rod respectively; The work shape guide rail that screw element has slides along pilot hole and is connected on base station.Driven the opening and closing of two linkages by screw element, make two slipmat remain parallel, apply uniform active force on square objects, avoid square objects local pressure uneven and damaged or distortion.To be connected on base station due to work shape guide rail card and to slide along pilot hole, screw element comparatively accurately and move along screw mandrel direction stably, can be avoided causing because screw element rocks Z-shaped bar to rock, drop to make the square objects of clamping.
Description
Technical field
The utility model relates to a kind of manipulator, particularly relates to a kind of manipulator for capturing square objects.
Background technology
Manipulator is a kind of some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
But manipulator of the prior art is when capturing square objects, and the active force be applied on object is uneven, make object local pressure uneven and damaged or distortion; In addition, due to the defect of structural design, easily rock during manipulator clamping square objects in prior art, cause object to drop.
Utility model content
Based on this, be necessary for easily rocking during manipulator clamping square objects of the prior art and the uneven problem that exerts a force, provide a kind of can stably clamping square objects and the manipulator of uniform force application.
A kind of manipulator, comprising: drive motors, base station, screw element, screw mandrel, two linkages and slipmat;
Described drive motors is arranged on described base station, and described screw mandrel is connected with the rotating shaft of described drive motors, and described screw element and described screw mandrel are spirally connected, and two described linkage symmetries are positioned at described screw mandrel both sides;
Described linkage comprises: the connecting rod that pull bar, Z-shaped bar and two length are identical;
One end of two described connecting rods is hinged on described screw element, and two described connecting rods be arranged in parallel, and the other end of two described connecting rods is hinged on one end of described Z-shaped bar, and described slipmat is arranged on the other end of described Z-shaped bar;
One end of described pull bar is hinged on described base station, and its other end is hinged on the middle part of connecting rod described in one of them;
Described screw element has a work shape guide rail, described base station offers the pilot hole extended along described screw mandrel direction, and described work shape guide rail slides along described pilot hole and is connected on described base station.
Wherein in an embodiment, described drive motors is stepper motor.
Wherein in an embodiment, described slipmat is rubber blanket.
Wherein in an embodiment, described screw element is formed in one structure.
Wherein in an embodiment, the described base station being positioned at described screw mandrel both sides arranges a column respectively, one end of described pull bar is hinged on corresponding described column.
Above-mentioned manipulator drives the opening and closing of symmetrically arranged two linkages by screw element, the first slipmat is made to remain parallel with the second slipmat, uniform active force can be applied on square objects, avoid square objects local pressure excessive and damaged or distortion.In addition, in screw element moving process, to be connected on base station due to work shape guide rail card and to slide along pilot hole, making screw element can comparatively accurately and move along screw mandrel direction stably, avoid causing because screw element rocks Z-shaped bar and Z-shaped bar to rock, drop to make the square objects of clamping.
Accompanying drawing explanation
Fig. 1 is a visual angle figure of the manipulator of the utility model one preferred embodiment;
The another visual angle figure that Fig. 2 is manipulator shown in Fig. 1;
Fig. 3 is the structure chart of screw element shown in Fig. 1.
Detailed description of the invention
As shown in Figure 1, it is a visual angle figure of the manipulator 10 of the utility model one preferred embodiment.
Manipulator 10 comprises: base station 100, drive motors 200, screw mandrel 300, screw element 400, first connecting rod mechanism 500, second connecting rod mechanism 600, first slipmat 700 and the second slipmat 800.
Drive motors 200 is arranged on base station 100, and screw mandrel 300 is connected with the rotating shaft of drive motors 200, and screw element 400 and screw mandrel 300 are spirally connected, and first connecting rod mechanism 500 and second connecting rod mechanism 600 symmetry are positioned at the both sides of screw mandrel 300.Like this, the rotating shaft of drive motors 200 drives screw mandrel 300 to rotate, and the screw element 400 be spirally connected with screw mandrel 300 can be reciprocatingly moved along the length direction of screw mandrel 300.
For the ease of accurately controlling the rotating shaft amplitude of drive motors 200, preferably, drive motors 200 is stepper motor.
In the present embodiment, first connecting rod mechanism 500 is identical with the structure of second connecting rod mechanism 600.
First connecting rod mechanism 500 comprises: the first connecting rod 530 that pull bar 510, Z-shaped bar 520 and length are identical and second connecting rod 540.
One end of first connecting rod 530 and second connecting rod 540 is hinged on screw element 400, first connecting rod 530 and second connecting rod 540 be arranged in parallel, the other end of first connecting rod 530 and second connecting rod 540 is hinged on one end of Z-shaped bar 520, and the first slipmat 700 is arranged on the other end of Z-shaped bar 520.
In the present embodiment, the base station 100 being positioned at screw mandrel 300 both sides arranges the first column 910 and the second column 920 respectively, one end of pull bar 510 is hinged on and is positioned on first column 910 of screw mandrel 300 the same side with it, and the other end of pull bar 510 is hinged on the middle part of first connecting rod 530.In other embodiments, the other end of pull bar 510 also can be hinged on the middle part of second connecting rod 540.
In order to increase the frictional force with the square objects of clamping, prevent object landing, such as, the first slipmat 700 is rubber blanket, and and for example, the first slipmat 700 is for being convexly equipped with the clamping plate of anti-slip veins.
Be appreciated that second connecting rod mechanism 600 comprises: the first connecting rod 630 that pull bar 610, Z-shaped bar 620 and length are identical and second connecting rod 640.
One end of first connecting rod 630 and second connecting rod 640 is hinged on screw element 400, first connecting rod 630 and second connecting rod 640 be arranged in parallel, the other end of first connecting rod 630 and second connecting rod 640 is hinged on one end of Z-shaped bar 620, and the first slipmat 700 is arranged on the other end of Z-shaped bar 620.In order to increase the frictional force with the square objects of clamping, prevent object landing, such as, the second slipmat 800 is rubber blanket, and and for example, the second slipmat 800 is for being convexly equipped with the clamping plate of anti-slip veins.
One end of pull bar 610 is hinged on and is positioned on second column 920 of screw mandrel 300 the same side with it, and the other end of pull bar 610 is hinged on the middle part of first connecting rod 630.In other embodiments, the other end of pull bar 610 also can be hinged on the middle part of second connecting rod 640.
As shown in Figures 2 and 3, wherein, the structure chart that Fig. 2 is manipulator 10 shown in Fig. 1 another visual angle figure, Fig. 3 are screw element 400 shown in Fig. 1.
Screw element 400 has a work shape guide rail 410, and base station 100 offers the pilot hole 110 extended along screw mandrel 300 direction, work shape guide rail 410 slides along pilot hole 110 and is connected on base station 100.Preferably, screw element 400 is formed in one structure.
First connecting rod mechanism 500 is with under second connecting rod mechanism 600 closure state, and screw element 400 is near the position of drive motors 200.Along with drive motors 200 drives screw mandrel 300 to rotate forward, screw element 400 moves to away from drive motors 200 gradually, in moving process, screw element 400 applies to be parallel to screw mandrel 300 and the thrust deviating from drive motors 200 to first connecting rod 530 and second connecting rod 540 and first connecting rod 630 and second connecting rod 640 simultaneously, due to the pulling force of pull bar 510 pairs of first connecting rods 530 and the pulling force effect of pull bar 610 pairs of first connecting rods 630, make one end of Z-shaped bar 520 and one end of Z-shaped bar 620 remain parastate and mutually away from, like this, the other end of Z-shaped bar 520 remains parallel with the other end of Z-shaped bar 620 and opens gradually, and then drive the first slipmat 700 and the second slipmat 800 run-in index away from, now, square objects is placed between the first slipmat 700 and the second slipmat 800.
First connecting rod mechanism 500 is with second connecting rod mechanism 600 closing course, along with drive motors 200 drives screw mandrel 300 to rotate backward, screw element 400 moves near drive motors 200 gradually, in moving process, screw element 400 applies to be parallel to screw mandrel 300 to first connecting rod 530 and second connecting rod 540 and first connecting rod 630 and second connecting rod 640 and towards the pulling force of drive motors 200 simultaneously, due to the thrust of pull bar 510 pairs of first connecting rods 530 and the thrust of pull bar 610 pairs of first connecting rods 630, one end of Z-shaped bar 520 and one end of Z-shaped bar 620 is made to remain parastate and close to each other, like this, the other end of Z-shaped bar 520 remains parallel with the other end of Z-shaped bar 620 and closes gradually, and then drive the close of the first slipmat 700 and the second slipmat 800 run-in index, square objects is clamped between the first slipmat 700 and the second slipmat 800 the most at last.
Due to when clamping square objects, the first slipmat 700 remains parallel with the second slipmat 800, can apply uniform active force on square objects, avoid square objects local pressure excessive and damaged or distortion.In addition, in screw element 400 moving process, to be connected on base station 100 due to work shape guide rail 410 and to slide along pilot hole 110, make screw element 400 can comparatively accurately and move along screw mandrel 300 direction stably, avoid because screw element 400 rocks and cause Z-shaped bar 520 and Z-shaped bar 620 to rock, dropping to make the square objects of clamping.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this description is recorded.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (5)
1. a manipulator, is characterized in that, comprising: drive motors, base station, screw element, screw mandrel, two linkages and slipmat;
Described drive motors is arranged on described base station, and described screw mandrel is connected with the rotating shaft of described drive motors, and described screw element and described screw mandrel are spirally connected, and two described linkage symmetries are positioned at described screw mandrel both sides;
Described linkage comprises: the connecting rod that pull bar, Z-shaped bar and two length are identical;
One end of two described connecting rods is hinged on described screw element, and two described connecting rods be arranged in parallel, and the other end of two described connecting rods is hinged on one end of described Z-shaped bar, and described slipmat is arranged on the other end of described Z-shaped bar;
One end of described pull bar is hinged on described base station, and its other end is hinged on the middle part of connecting rod described in one of them;
Described screw element has a work shape guide rail, described base station offers the pilot hole extended along described screw mandrel direction, and described work shape guide rail slides along described pilot hole and is connected on described base station.
2. manipulator according to claim 1, is characterized in that, described drive motors is stepper motor.
3. manipulator according to claim 1, is characterized in that, described slipmat is rubber blanket.
4. manipulator according to claim 1, is characterized in that, described screw element is formed in one structure.
5. manipulator according to claim 1, is characterized in that, the described base station being positioned at described screw mandrel both sides arranges a column respectively, and one end of described pull bar is hinged on corresponding described column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420779952.3U CN204382277U (en) | 2014-12-10 | 2014-12-10 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420779952.3U CN204382277U (en) | 2014-12-10 | 2014-12-10 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204382277U true CN204382277U (en) | 2015-06-10 |
Family
ID=53355031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420779952.3U Expired - Fee Related CN204382277U (en) | 2014-12-10 | 2014-12-10 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204382277U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105405472A (en) * | 2015-12-28 | 2016-03-16 | 哈尔滨工业大学 | Articulated type opening mechanism of heat radiation shielding case of refrigeration target |
| CN108273648A (en) * | 2017-12-25 | 2018-07-13 | 朱园园 | A kind of grab type rubbish pulverization process feeding transport device |
| CN111069957A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Material clamping robot for three-way pipe joint |
-
2014
- 2014-12-10 CN CN201420779952.3U patent/CN204382277U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105405472A (en) * | 2015-12-28 | 2016-03-16 | 哈尔滨工业大学 | Articulated type opening mechanism of heat radiation shielding case of refrigeration target |
| CN108273648A (en) * | 2017-12-25 | 2018-07-13 | 朱园园 | A kind of grab type rubbish pulverization process feeding transport device |
| CN111069957A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Material clamping robot for three-way pipe joint |
| CN111069957B (en) * | 2019-12-23 | 2021-03-19 | 深圳市明战精密科技有限公司 | Material clamping robot for three-way pipe joint |
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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: 20150610 Termination date: 20151210 |
|
| EXPY | Termination of patent right or utility model |