CN204622073U - A kind of four paws clamping manipulator mechanism - Google Patents
A kind of four paws clamping manipulator mechanism Download PDFInfo
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- CN204622073U CN204622073U CN201520212359.5U CN201520212359U CN204622073U CN 204622073 U CN204622073 U CN 204622073U CN 201520212359 U CN201520212359 U CN 201520212359U CN 204622073 U CN204622073 U CN 204622073U
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- bearing
- rod
- small rod
- parallel
- screw
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Abstract
The utility model discloses a kind of four paws clamping manipulator mechanism, comprise rounded transitional dish, described rounded transitional dish is fixed on industrial robot terminal shaft by inner four screws, described rounded transitional dish fixes four quadrangulars by outside four screws, the described quadrangular other end is connected on round bearing, mounted motor between described round bearing and rounded transitional dish, described motor end connects ball-screw, the end of described ball screw connects small rod bearing, described small rod bearing surrounding connects small rod, the other end of described small rod is connected to the middle part of parallel rod one, the upper end of described parallel rod one is connected on parallel rod bearing, end connects paw, described small rod bearing is moved up and down by the drive of ball screw, change into opening of end paw by the drive of parallel rod and close, the utility model control procedure is simple, precisely, structure is simple, cheap, be suitable for applying.
Description
Technical field
The utility model relates to manipulator mechanism field, specifically, relates to a kind of four paws clamping manipulator mechanism.
Background technology
Manipulator is a kind of new device grown up in mechanization, automated production process.In present-day procedure, manipulator is widely deployed in automatic assembly line, the research and production of robot has become the emerging technology of of developing rapidly in high-tech sector, it facilitates the development of manipulator more, makes the combination that manipulator can better must realize with mechanization and automation.Most of existing robot manipulator structure is complicated, controls accurate not, cannot meet the demand of automated production.This is the deficiencies in the prior art part.
The Chinese patent literature of Authorization Notice No. CN202702239U discloses a kind of teaching six degree of freedom robot device, this device comprises: base, center small Spur gear, harmonic reducing mechanism, main rotary drive motor, center large straight gear, z-axis lifting body, lifting motor, rotate node drive motors, arm stretching structure, wrist rotational structure, wrist swing mechanism and end effector.The Chinese patent literature of Authorization Notice No. CN203862464U discloses a kind of six degree of freedom manipulator.
There is following shortcoming in the prior art comprising above-mentioned patent document: complex structure, needs more complicated hydraulic pressure, air pressure and electric-control system, and investment is large.The utility model provides a kind of four paws clamping manipulator mechanism, adopts machine driving, and structure is simple, controls accurately, reliable in action, fast, overcomes the above-mentioned shortcoming of manipulator.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of four paws clamping manipulator mechanism, and structure is simple, controls accurately, to adapt to automated production demand.
The utility model adopts following technological means to realize utility model object:
A kind of four paws clamping manipulator mechanism, comprise rounded transitional dish, described rounded transitional dish is fixed on industrial robot terminal shaft by inner four screws, described rounded transitional dish fixes four quadrangulars by outside four screws, the described quadrangular other end is connected on round bearing, mounted motor between described round bearing and rounded transitional dish, described motor end connects ball-screw, and the end of described ball-screw connects movement transferring.
As to the technical program further preferably, described movement transferring comprises small rod bearing, small rod, parallel rod one, single paw two pieces, parallel rod two, single paw two pieces, parallel rod bearing, paw, described small rod bearing surrounding connects small rod, the other end of described small rod is connected to the middle part of parallel rod one, described parallel rod one upper end is connected to parallel rod bearing, end connects paw, described parallel rod two is parallel with parallel rod one, head and end union piece is identical, repeat no more, described parallel bar bearing is fixed on round bearing, described small rod bearing moves up and down, by the drive of small rod, cause parallel rod one and parallel rod two hole on parallel rod bearing to rotate thus drive opening of end paw to close.
As to the technical program further preferably, the centre of described round bearing is provided with big hole, for passing ball-screw, described big hole periphery is provided with four motor fixing holes for fixed electrical machinery, the periphery of described motor fixing hole is provided with four circular holes for fixing quadrangular, and described motor fixing hole periphery is provided with connecting rod support for stationary links bearing.
As to the technical program further preferably, described small rod bearing is provided with a lead screw hole, described lead screw hole is for connecting ball-screw, be small rod bearing moving up and down along ball-screw by the convert rotational motion of ball-screw, described small rod bearing side is provided with tie rod holes, for connecting small rod.
As to the technical program further preferably, described paw is provided with circular hole for connecting parallel rod.Described paw is provided with circular hole two for connecting parallel rod one, circular hole three is for connecting parallel rod two.
The utility model provides a kind of four paws clamping manipulator mechanism, comprise rounded transitional dish, it is characterized in that: described rounded transitional dish is fixed on industrial robot terminal shaft by inner four screws, described rounded transitional dish fixes four quadrangulars by outside four screws, the described quadrangular other end is connected on round bearing, mounted motor between described round bearing and rounded transitional dish, described motor end connects ball-screw, the end of described ball screw connects small rod bearing, described small rod bearing surrounding connects small rod, the other end of described small rod is connected to the middle part of parallel rod one, the upper end of described parallel rod one is connected on parallel rod bearing, end connects paw, described small rod bearing is moved up and down by the drive of ball screw, change into opening of end paw by the drive of parallel rod and close, the utility model control procedure is simple, precisely, structure is simple, cheap, be suitable for applying.
Compared with prior art, advantage of the present utility model and good effect are: the utility model provides a kind of four paws clamping manipulator mechanism, comprise rounded transitional dish, it is characterized in that: described rounded transitional dish is fixed on industrial robot terminal shaft by inner four screws, described rounded transitional dish fixes four quadrangulars by outside four screws, the described quadrangular other end is connected on round bearing, mounted motor between described round bearing and rounded transitional dish, described motor end connects ball-screw, the end of described ball screw connects small rod bearing, described small rod bearing surrounding connects small rod, the other end of described small rod is connected to the middle part of parallel rod one, the upper end of described parallel rod one is connected on parallel rod bearing, end connects paw, described small rod bearing is moved up and down by the drive of ball screw, change into opening of end paw by the drive of parallel rod and close, the utility model control procedure is simple, precisely, structure is simple, cheap, be suitable for applying.
Accompanying drawing explanation
Fig. 1 is the general structure schematic diagram of the utility model preferred embodiment.
Fig. 2 is the movement transferring schematic diagram of the utility model preferred embodiment.
Fig. 3 is the round bearing structural representation of the utility model preferred embodiment.
Fig. 4 is the small rod seat structure schematic diagram of the utility model preferred embodiment.
Fig. 5 is the paw structural representation of the utility model preferred embodiment.
In figure, 1.1, rounded transitional dish, 1.2, motor, 1.3, quadrangular, 1.4, round bearing, 1.5, movement transferring, 1.6, ball screw; 2.1, small rod bearing, 2.2, small rod, 2.3, parallel rod one, 2.4, parallel rod two, 2.5, parallel rod bearing, 2.6, paw; 3.1, connecting rod support hole, 3.2, circular hole one, 3.3, big hole, 3.4, motor fixing hole; 4.1, lead screw hole, 4.2, tie rod holes; 5.1, circular hole two, 5.2, circular hole three.
Detailed description of the invention
Below in conjunction with embodiment, further illustrate the utility model.
Embodiment 1 one kinds of four paws clamping manipulator mechanisms.Structure is see Fig. 1-Fig. 5, comprise rounded transitional dish 1.1, described rounded transitional dish 1.1 is fixed on industrial robot terminal shaft by inner four screws, described rounded transitional dish 1.1 fixes four quadrangulars 1.3 by outside four screws, described quadrangular 1.3 other end is connected on round bearing 1.4, mounted motor 1.2 between described round bearing 1.4 and rounded transitional dish, described motor 1.2 end connects ball-screw 1.6, and the end of described ball-screw 1.6 connects movement transferring 1.5.
Described movement transferring 1.5 comprises small rod bearing 2.1, small rod 2.2, parallel rod 1, single paw two pieces, parallel rod 2 2.4, single paw two pieces, parallel rod bearing 2.5, paw 2.6, described small rod bearing 2.1 surrounding connects small rod 2.2, the other end of described small rod 2.2 is connected to the middle part of parallel rod 1, described parallel rod 1 upper end is connected to parallel rod bearing 2.5, end connects paw 2.6, described parallel rod 2 2.4 is parallel with parallel rod 1, head and end union piece is identical, repeat no more, described parallel bar bearing 2.5 is fixed on round bearing 1.4, described small rod bearing 2.1 moves up and down, by the drive of small rod 2.2, cause parallel rod 1 and parallel rod 2 2.4 hole on parallel rod bearing 2.5 to rotate thus drive opening of end paw 2.6 to close.
The centre of described round bearing 1.4 is provided with big hole 3.3, for passing ball-screw 1.6, described big hole periphery is provided with four motor fixing holes 3.4 for fixed electrical machinery 1.2, the periphery of described motor fixing hole is provided with four circular holes 1 for quadrangular 1.3, and described motor fixing hole 3.4 periphery is provided with connecting rod support hole 3.1 for stationary links bearing 2.5.
Described small rod bearing 2.1 is provided with a lead screw hole 4.1, described lead screw hole 4.1 is for connecting ball-screw 1.6, be small rod bearing 2.1 moving up and down along ball-screw 1.6 by the convert rotational motion of ball-screw 1.6, described small rod bearing 2.1 side is provided with tie rod holes 4.2, for connecting small rod 2.2.
Described paw 2.6 is provided with circular hole 2 5.2 for connecting parallel rod 1, circular hole 3 5.1 is for connecting parallel rod 2 2.4.
Motor 1.2 of the present utility model action, ball-screw 1.6 is driven to rotate, small rod bearing 2.1 is caused to move up and down, by the drive of small rod 2.2, cause parallel rod 1 and parallel rod 2 2.4 hole on parallel rod bearing 2.5 to rotate thus drive opening of end paw 2.6 to close, thus realizing opening and closing of paw.
Claims (5)
1. a four paws clamping manipulator mechanism, comprise rounded transitional dish, it is characterized in that: described rounded transitional dish is fixed on industrial robot terminal shaft by inner four screws, described rounded transitional dish fixes four quadrangulars by outside four screws, the described quadrangular other end is connected on round bearing, mounted motor between described round bearing and rounded transitional dish, described motor end connects ball-screw, and the end of described ball-screw connects movement transferring.
2. four paws clamping manipulator mechanism according to claim 1, it is characterized in that: described movement transferring comprises small rod bearing, small rod, parallel rod, parallel rod bearing, paw, described small rod bearing surrounding connects small rod, the other end of described small rod is connected to the middle part of parallel rod one, described parallel rod upper end is connected to parallel rod bearing, end connects paw, described parallel bar bearing is fixed on round bearing, described small rod bearing moves up and down, by the drive of small rod, cause the hole of parallel rod on parallel rod bearing to rotate thus drive opening of end paw to close.
3. four paws clamping manipulator mechanism according to claim 1, it is characterized in that: the centre of described round bearing is provided with big hole, for passing ball-screw, described big hole periphery is provided with four motor fixing holes for fixed electrical machinery, the periphery of described motor fixing hole is provided with four circular holes for fixing quadrangular, and described motor fixing hole periphery is provided with connecting rod support for stationary links bearing.
4. four paws clamping manipulator mechanism according to claim 2, it is characterized in that: described small rod bearing is provided with a lead screw hole, described lead screw hole is for connecting ball-screw, be small rod bearing moving up and down along ball-screw by the convert rotational motion of ball-screw, described small rod bearing side is provided with tie rod holes, for connecting small rod.
5. four paws clamping manipulator mechanism according to claim 2, is characterized in that: described paw is provided with circular hole for connecting parallel rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520212359.5U CN204622073U (en) | 2015-04-10 | 2015-04-10 | A kind of four paws clamping manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520212359.5U CN204622073U (en) | 2015-04-10 | 2015-04-10 | A kind of four paws clamping manipulator mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204622073U true CN204622073U (en) | 2015-09-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520212359.5U Expired - Fee Related CN204622073U (en) | 2015-04-10 | 2015-04-10 | A kind of four paws clamping manipulator mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN204622073U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760053A (en) * | 2015-04-10 | 2015-07-08 | 聊城大学 | Four claw clamping manipulator mechanism |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
| CN113084403A (en) * | 2021-04-10 | 2021-07-09 | 江苏三工钢桥股份有限公司 | Automatic welding trolley for welding nails on large steel plate and working method of automatic welding trolley |
-
2015
- 2015-04-10 CN CN201520212359.5U patent/CN204622073U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760053A (en) * | 2015-04-10 | 2015-07-08 | 聊城大学 | Four claw clamping manipulator mechanism |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
| CN113084403A (en) * | 2021-04-10 | 2021-07-09 | 江苏三工钢桥股份有限公司 | Automatic welding trolley for welding nails on large steel plate and working method of automatic welding trolley |
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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: 20150909 Termination date: 20160410 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |