CN204414124U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN204414124U CN204414124U CN201420802193.8U CN201420802193U CN204414124U CN 204414124 U CN204414124 U CN 204414124U CN 201420802193 U CN201420802193 U CN 201420802193U CN 204414124 U CN204414124 U CN 204414124U
- Authority
- CN
- China
- Prior art keywords
- telescoping cylinder
- hinged
- contiguous block
- support portion
- cushions
- 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
Links
Abstract
The utility model relates to a kind of manipulator, comprise: telescoping cylinder, support portion, contiguous block, two link assemblies, two index arms and two cushions, described support portion is fixed on described telescoping cylinder, the telescopic shaft of described telescoping cylinder is fixedly connected on the middle part of described contiguous block, described contiguous block is hinged with two described link assemblies, two equidistant telescopic shaft both sides being arranged on described telescoping cylinder of described link assembly; Two described index arms are hinged on described support portion, and hinged with two described link assemblies respectively; Two described cushions mutually towards, and be separately positioned on the position away from described telescoping cylinder on two described index arms.Above-mentioned robot manipulator structure is simple, drives two cushions be separately positioned on two index arms mutually to draw close, realize firm for object to be clamped between two cushions by telescoping cylinder.
Description
Technical field
The utility model relates to manipulator technical field, particularly relates to a kind of manipulator.
Background technology
Manipulator is a kind of some holding function can 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 mechanism of the prior art is complicated, for grasping body built on the sand, easily causes object to drop.
Utility model content
Based on this, be necessary for robot manipulator structure in prior art complicated, and capture the unsteady problem of object, provide a kind of structure simple and capture the firm manipulator of object.
A kind of manipulator, comprising: telescoping cylinder, support portion, contiguous block, two link assemblies, two index arms and two cushions,
Described support portion is fixed on described telescoping cylinder, the telescopic shaft of described telescoping cylinder is fixedly connected on the middle part of described contiguous block, described contiguous block is hinged with two described link assemblies, two equidistant telescopic shaft both sides being arranged on described telescoping cylinder of described link assembly;
Two described index arms are hinged on described support portion, and hinged with two described link assemblies respectively;
Two described cushions mutually towards, and be separately positioned on the position away from described telescoping cylinder on two described index arms.
Wherein in an embodiment, described support portion is the rectangular box with an opening, and the telescopic shaft of described telescoping cylinder passes the bottom of described rectangular box, and described bottom towards described opening, and is fixed on described telescoping cylinder;
Described contiguous block, two described link assemblies are placed in described rectangular box, and two described index arms partially pass through described opening, and it is outside to protrude out described rectangular box.
Wherein in an embodiment, link assembly described in each comprises the connecting rod that two parallel interval are arranged, and the two ends that a pair of two described connecting rods is adjacent are hinged on described contiguous block, and another of two described connecting rods is hinged on index arm described in adjacent two ends.
Above-mentioned robot manipulator structure is simple, drives two cushions be separately positioned on two index arms mutually to draw close, realize firm for object to be clamped between two cushions by telescoping cylinder.
Accompanying drawing explanation
Fig. 1 is a state diagram of the manipulator of the utility model one preferred embodiment;
Another state diagram that Fig. 2 is manipulator shown in Fig. 1.
Detailed description of the invention
As shown in Figure 1, it is a state diagram of the manipulator 10 of the utility model one preferred embodiment.
Manipulator 10 comprises: telescoping cylinder 110, support portion 120, contiguous block 130, first connecting rod assembly 140, second connecting rod assembly 150, first index arm 160, second index arm 170 and the first cushion 180 and the second cushion 190.
Support portion 120 is fixed on telescoping cylinder 110, the telescopic shaft 111 of telescoping cylinder 110 is fixedly connected on the middle part of contiguous block 130, contiguous block 130 is hinged with first connecting rod assembly 140 and second connecting rod assembly 150, first connecting rod assembly 140 and equidistant telescopic shaft 111 both sides being arranged on telescoping cylinder 110 of second connecting rod assembly 150.First index arm 160 and the second index arm 170 are hinged on support portion 120, and respectively with first connecting rod assembly 140 and second connecting rod assembly 150 hinged.First cushion 180 and the second cushion 190 mutually towards, and be separately positioned on the position away from telescoping cylinder 110 on the first index arm 160 and the second index arm 170.
Cause crushing in order to avoid during gripping objects to it, the first cushion 180 and the second cushion 190 are preferably rubber blanket, and the first cushion 180 and the second cushion 190 also can be foam-rubber cushion.
Specifically in the present embodiment, support portion 120 is for having the rectangular box of an opening 121, and the telescopic shaft 111 of telescoping cylinder 110 passes the bottom 122 of rectangular box.Bottom 122 towards opening 121, and to be fixed on telescoping cylinder 110.Contiguous block 130, first connecting rod assembly 140 and second connecting rod assembly 150 are placed in rectangular box, and the first index arm 160 and the second index arm 170 partially pass through opening 121, and protrude out rectangular box outside.
Concrete each link assembly comprises the connecting rod that two parallel interval are arranged in the present embodiment, and the two ends that a pair of two connecting rods is adjacent are hinged on contiguous block 130, and another of two connecting rods is hinged on an index arm adjacent two ends.
Be described for first connecting rod assembly 140, first connecting rod assembly 140 comprises first connecting rod 141 and the second connecting rod 142 of two parallel interval settings, the two ends that first connecting rod 141 and second connecting rod 142 a pair is adjacent are hinged on contiguous block 130, and another of first connecting rod 141 and second connecting rod 142 is hinged on the first index arm 160 adjacent two ends.
Under original state, as shown in Figure 1, the telescopic shaft 111 of telescoping cylinder 110 is in the state of protruding out, along with the retraction of the telescopic shaft 111 of telescoping cylinder 110, the first cushion 180 on the first index arm 160 and the second index arm 170 and the second cushion 190 is driven mutually to draw close respectively by first connecting rod assembly 140 and second connecting rod assembly 150, form the state shown in Fig. 2, firm for object is clamped between the first cushion 180 and the second cushion 190 by final realization.
Above-mentioned manipulator 10 structure is simple, drive the first cushion 180 of being separately positioned on the first index arm 160 and the second index arm 170 and the second cushion 190 mutually to draw close by telescoping cylinder 110, realize firm for object to be clamped between the first cushion 180 and the second cushion 190.
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 (3)
1. a manipulator, is characterized in that, comprising: telescoping cylinder, support portion, contiguous block, two link assemblies, two index arms and two cushions,
Described support portion is fixed on described telescoping cylinder, the telescopic shaft of described telescoping cylinder is fixedly connected on the middle part of described contiguous block, described contiguous block is hinged with two described link assemblies, two equidistant telescopic shaft both sides being arranged on described telescoping cylinder of described link assembly;
Two described index arms are hinged on described support portion, and hinged with two described link assemblies respectively;
Two described cushions mutually towards, and be separately positioned on the position away from described telescoping cylinder on two described index arms.
2. manipulator according to claim 1, is characterized in that, described support portion is the rectangular box with an opening, and the telescopic shaft of described telescoping cylinder passes the bottom of described rectangular box, and described bottom towards described opening, and is fixed on described telescoping cylinder;
Described contiguous block, two described link assemblies are placed in described rectangular box, and two described index arms partially pass through described opening, and it is outside to protrude out described rectangular box.
3. manipulator according to claim 1, it is characterized in that, link assembly described in each comprises the connecting rod that two parallel interval are arranged, and the two ends that a pair of two described connecting rods is adjacent are hinged on described contiguous block, and another of two described connecting rods is hinged on index arm described in adjacent two ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420802193.8U CN204414124U (en) | 2014-12-16 | 2014-12-16 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420802193.8U CN204414124U (en) | 2014-12-16 | 2014-12-16 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204414124U true CN204414124U (en) | 2015-06-24 |
Family
ID=53464529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420802193.8U Expired - Fee Related CN204414124U (en) | 2014-12-16 | 2014-12-16 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204414124U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN106002981A (en) * | 2016-06-17 | 2016-10-12 | 洪明 | Folded rotary mechanical arm |
| CN106182062A (en) * | 2016-08-08 | 2016-12-07 | 苏州亘富机械科技有限公司 | A kind of mechanical hand component of Pneumatic replaceable gripper |
| CN106311573A (en) * | 2015-07-01 | 2017-01-11 | 中国五洲工程设计集团有限公司 | Automated fast curing device for propellant high in slenderness ratio |
| CN106737813A (en) * | 2017-01-19 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of four paws handgrip for being easy to adjust |
| CN107866760A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of electric clamp |
| CN107866759A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of hydraulic clamp |
| CN108190498A (en) * | 2018-01-24 | 2018-06-22 | 郑存伟 | A kind of pole formula air brushing terrine mobile device |
| CN108501018A (en) * | 2018-03-08 | 2018-09-07 | 杨煜海 | A kind of heavy-duty machinery gripper equipment |
| CN108582131A (en) * | 2018-07-03 | 2018-09-28 | 安徽航大智能科技有限公司 | A kind of new energy motor stator casing and rotor together equipment manipulator |
-
2014
- 2014-12-16 CN CN201420802193.8U patent/CN204414124U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106311573A (en) * | 2015-07-01 | 2017-01-11 | 中国五洲工程设计集团有限公司 | Automated fast curing device for propellant high in slenderness ratio |
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN106002981A (en) * | 2016-06-17 | 2016-10-12 | 洪明 | Folded rotary mechanical arm |
| CN106182062A (en) * | 2016-08-08 | 2016-12-07 | 苏州亘富机械科技有限公司 | A kind of mechanical hand component of Pneumatic replaceable gripper |
| CN107866760A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of electric clamp |
| CN107866759A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of hydraulic clamp |
| CN106737813A (en) * | 2017-01-19 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of four paws handgrip for being easy to adjust |
| CN108190498A (en) * | 2018-01-24 | 2018-06-22 | 郑存伟 | A kind of pole formula air brushing terrine mobile device |
| CN108501018A (en) * | 2018-03-08 | 2018-09-07 | 杨煜海 | A kind of heavy-duty machinery gripper equipment |
| CN108582131A (en) * | 2018-07-03 | 2018-09-28 | 安徽航大智能科技有限公司 | A kind of new energy motor stator casing and rotor together equipment 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: 20150624 Termination date: 20151216 |
|
| EXPY | Termination of patent right or utility model |