CN204819519U - Manipulator device - Google Patents
Manipulator device Download PDFInfo
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- CN204819519U CN204819519U CN201520307833.2U CN201520307833U CN204819519U CN 204819519 U CN204819519 U CN 204819519U CN 201520307833 U CN201520307833 U CN 201520307833U CN 204819519 U CN204819519 U CN 204819519U
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- mount pad
- support
- dwang
- handgrip
- robot device
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Abstract
The utility model discloses the manipulator device that embodiment provided, including the mount pad, actuating mechanism, support and two fixture, actuating mechanism installs in the mount pad, and the support is connected with actuating mechanism, and two fixture symmetries set up in the support both sides for snatch article, each fixture includes connecting rod, dwang and tongs, connecting rod one end is rotated and is connected in the support, and the other end rotates to be connected in the middle part of dwang, the mount pad is connected to dwang one end, and the tongs is connected to the other end, actuating mechanism is used for taking movable support straight reciprocating motion to drive connecting rod makes the relative mount pad of dwang rotate, and then makes two fixture's tongs be close to each other and keep away from. The utility model discloses a manipulator device, simple structure, control is convenient, can realize accomplishing the serialization production and processing requirement of corresponding action completely, and the clamp is got efficiently, and loading and unloading are convenient.
Description
Technical field
The utility model relates to a kind of mechanical device, particularly a kind of robot device.
Background technology
At present, on factory lines, have many repeated labors needing to capture article, use manpower operation cost is too high and repeated labor makes staff make mistakes for a long time probability also becomes large; Along with development in science and technology, the concept of mechanization, automation deepens continuously the production of people, life, and manipulator completes a large amount of repeated work as a kind of common device on the streamline of workshop.
But existing robot manipulator structure is complicated, and gripping efficiency is poor, and assemble or unloading process all very loaded down with trivial details, bring a lot of inconvenience to the assembling of staff or maintenance.
Summary of the invention
Given this, be necessary to provide a kind of robot device, its structure is simple, easy to loading and unloading, gripping excellent in efficiency.
The utility model provides a kind of robot device, comprises mount pad, driving mechanism, support and two clamping devices; Described driving mechanism is installed on described mount pad, and described support is connected with described driving mechanism, and two described clamping devices are symmetricly set on described support both sides, for capturing article; Each described clamping device comprises connecting rod, dwang and handgrip; Described connecting rod one end is rotationally connected with described support, and the other end is rotationally connected with the middle part of described dwang; Described dwang one end connects described mount pad, and the other end connects described handgrip; Described driving mechanism for driving described support straight reciprocating motion, to drive described connecting rod to make described dwang rotate relative to described mount pad, so make the handgrip of two described clamping devices close to each other with away from.
Wherein, described dwang comprises two of detachable connection and rotates sub bar, and described mount pad, described connecting rod and described handgrip are connected to described in two and rotate between sub bar.
Wherein, each described rotation sub bar is equipped with buckle and buckle slot, and the buckle rotated described on sub bar can be buckled in the buckle slot rotated described in another on sub bar.
Wherein, rotate between sub bar and be provided with three rotating shafts described in two, three described rotating shafts are rotationally connected described mount pad, described connecting rod and described handgrip respectively; Each described rotating shaft comprises half cylinder that two are butted into cylinder; Two described half cylinders are individually fixed in described in two and rotate sub bar.
Wherein, the shape of rotating sub bar described in two is identical with structure.
Wherein, described clamping device also comprises auxiliary rod, and described auxiliary rod and described dwang be arranged in parallel, and the relatively described dwang of described auxiliary rod is away from described support; The two ends of described auxiliary rod are rotationally connected with described mount pad and described handgrip respectively; Described dwang and described handgrip are rotationally connected.
Wherein, described auxiliary rod is identical with structure with the shape of described both dwangs.
Wherein, two described handgrips arrange soft cushion in relative two sides.
Wherein, in described mount pad, support and clamping device, the material of at least one is plastic alloy.
Wherein, in described mount pad, support and clamping device, at least one is injection mo(u)lding.
Robot device of the present utility model, by the structural design of driving mechanism and support and two clamping devices, under the drive of driving mechanism, support does straight reciprocating motion, to drive described connecting rod, described dwang is rotated relative to described mount pad, and then make the handgrip of two described clamping devices close to each other with away from, thus realize capture article.The utility model structure is simple, and it is convenient to control, and can realize the continuous prodution processing request of corresponding actions completely, gripping efficiency is high, easy to loading and unloading.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the robot device of the utility model embodiment;
Fig. 2 is the connecting rod decomposing schematic representation of the robot device of the utility model embodiment.
Fig. 3 is the structural representation of a connection sub bar in the robot device of the utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
See also Fig. 1, Fig. 2 and Fig. 3, a kind of robot device 100 that the utility model embodiment provides, comprise mount pad 110, driving mechanism 120, support 130 and two clamping devices 140; Driving mechanism 120 is installed on mount pad 110, and support 130 is connected with driving mechanism 120, and two clamping devices 140 are symmetricly set on support 120 both sides, for capturing article; Each clamping device 140 comprises connecting rod 141, dwang 142 and handgrip 143; Connecting rod 141 one end is rotationally connected with support 130, and the other end is rotationally connected with the middle part of dwang 142; Dwang 142 one end is connected and installed seat 110, and the other end connects handgrip 143; Driving mechanism 120, for driving support 130 straight reciprocating motion, makes dwang 142 be mounted opposite seat 110 with drivening rod 141 and rotates, so make the handgrip of two clamping devices 140 close to each other with away from, thus realize capture article.By the design of driving mechanism 120 and support 130 and two symmetrically arranged clamping devices 140, robot device 100 structure of the present utility model is simple, and it is convenient to control, and can realize the continuous prodution processing request of corresponding actions completely, gripping efficiency is high, easy to loading and unloading.
In the present embodiment, driving mechanism 120 comprises motor 121 and the screw rod 122 as Motor Shaft, screw rod 122 is threaded with support 130, when motor 121 drives screw rod 122 to rotate, support 130 does straight reciprocating motion along screw rod 122, thus drivening rod 141 makes dwang 142 be mounted opposite seat 110 rotates, finally make the handgrip of two clamping devices 140 close to each other with away from, thus realize the function capturing article.In other embodiments, driving mechanism 120 can comprise motor and pitch wheel and tooth bar, and tooth bar is fixedly connected with support 130, and gear drive is connected to motor and rotates under the driving of motor, and band carry-over bar and support 130 do rectilinear motion; Or driving mechanism is the pneumatic cylinder be connected with support 130; Or driving mechanism is the hydraulic cylinder be connected with support 130.
Dwang 142 comprises two rotation sub bars 1421,1422 of detachable connection, and mount pad 110, connecting rod 141 and handgrip 143 are connected to two and rotate between sub bars 1421,1422.In the present embodiment, two rotation sub bars 1421,1422 are connected by buckle; In other embodiments, two are rotated that sub bar 1421,1422 can be threaded connection, the mode such as riveted joint connects.When dismantling and keep in repair, two can be rotated sub bars 1421,1422 dismounting and come, mount pad 110, connecting rod 141 and handgrip 143 and the annexation of dwang 142 can be removed, therefore tear open and bring conveniently to staff, improve operating efficiency.
Further, the buckle 1423 each rotation sub bar is equipped with on buckle 1423 and buckle slot 1424, rotation sub bar 1421 can be buckled in another buckle slot 1424 rotated on sub bar 1422.Connected by simple buckle, sub bar is detachable to link together to make two to rotate, and structure is simple, stable connection, convenient disassembly.
Be provided with three rotating shafts, 1425, three rotating shafts 1425 between two rotation sub bars 1421,1422 and be rotationally connected mount pad 110, connecting rod 141 and handgrip 143 respectively; In the present embodiment, three pivot structures are identical, and each rotating shaft 1425 comprises the half cylinder 1425a that two are butted into cylinder; Two and half cylinder 1425a are individually fixed in two rotation sub bars 1421,1422.In other embodiments, rotating shaft 1425 can be a whole cylinder, and is fixed on a rotation sub bar 1421 or 1422; Or, rotating shaft 1425 can be set on mount pad 110, connecting rod 141 and handgrip 143, then rotation sub bar 1421,1422 is rotationally connected with rotating shaft; Or the structure of three rotating shafts 1425 is different, can be above structure any one.Rotating shaft 1425 is arranged to the half cylinder 1425a that two are butted into cylinder, structure is simple and connectivity is good, and quick for installation, easy to maintenance.
Two shapes of rotating sub bar 1421,1422 are all identical with structure.Dwang 142 is set to two identical rotation sub bars 1421,1422, can saves operation during making, and need not distinguish rotation sub bar when installing, any two rotation sub bars all can be connected to each other, thus increase work efficiency.
In the present embodiment, clamping device 140 also comprises auxiliary rod 144, and auxiliary rod 144 and dwang 142 be arranged in parallel, and auxiliary rod 144 relatively rotates bar 142 away from support 130; The two ends of auxiliary rod 144 are rotationally connected with mount pad 110 and handgrip 143 respectively.Dwang 142 and handgrip 143 are rotationally connected.
Arranging auxiliary rod 144 can make handgrip 143 can not rotate relative to mount pad 110, can only linear translation, thus captures better effects if.As preferably, auxiliary rod 144 is identical with structure with the shape of both dwangs 142, so that process and assemble, certainly in other embodiments also can be different, auxiliary rod 144 only can arrange two rotating shafts 1425 to be connected and installed seat 110 and handgrip 143 respectively at two ends; Certainly, in other embodiments, the structure of rotating shaft on auxiliary rod 144 can be different from the structure of the rotating shaft 1425 that dwang 14 is arranged; Or, the bar that auxiliary rod 144 can be as a whole, and the combination of two sub bars need not be divided into.
Two handgrips 143 arrange soft cushion 1431 in relative two sides.In the present embodiment, soft cushion 1431 is the flexible glue of band coarse groove, arranges coarse groove and the local frictional force of handgrip and object contact can be made comparatively large, can steadily pick up heavier object on flexible glue surface.In other embodiments, soft cushion 1431 can also be sponge, cotton etc.
Further, the corner circle of handgrip 143 is blunt, can prevent from causing because of sharp corner cutting hand scuffing.
As preferably, in mount pad 110, support 130 and clamping device 140, the material of at least one is plastic alloy.In the present embodiment, mount pad 110, support 130 and clamping device 140 mix with specific ratio by PC+ABS bi-material, and quality is light and firm, and material environment friendly is pollution-free.
As preferably, in mount pad 110, support 130 and clamping device 140, at least one is injection mo(u)lding.The part quality of injection mo(u)lding is light, and production efficiency is high, and cost is low.
Robot device of the present utility model, by the structural design of driving mechanism 120 and support 130 and two clamping devices 140, under the drive of driving mechanism 120, support 130 does straight reciprocating motion, make dwang 142 be mounted opposite seat 110 with drivening rod 141 to rotate, and then make the handgrip 143 of two clamping devices 140 close to each other with away from, thus realize capture article.Two symmetrical clamping devices 140 are set, the installation of connecting rod 142 adopts buckle structure, and 142 arrange the simple rotating shaft 1425 of structure to be connected and installed seat 110, connecting rod 141 and handgrip 143 on connecting rod, whole apparatus structure is simple, and in the process of installing, (except motor is installed) does not have screw and stop nut, installs simple, speed is fast, within about 2 ~ 3 minutes, can install, faster than existing manipulator about 10 times, facilitate assembling and the maintenance of staff.Handgrip 143 arranges the flexible glue of band coarse groove in side, add the frictional force with caught object, tightlier can pick up object more quietly.Mount pad 110, support 130 and clamping device 140 mix with specific ratio by PC+ABS bi-material, and adopt mold injection to process, the part quality stability of working it out is high, and each pts wt is light and firm, and material environment friendly is pollution-free.Robot device of the present utility model, structure is simple, and it is convenient to control, and can realize the continuous prodution processing request of corresponding actions completely, gripping efficiency is high, easy to loading and unloading.
Above disclosedly be only the utility model preferred embodiment, certainly can not limit the interest field of the utility model with this, therefore according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (10)
1. a robot device, is characterized in that, comprises mount pad, driving mechanism, support and two clamping devices; Described driving mechanism is installed on described mount pad, and described support is connected with described driving mechanism, and two described clamping devices are symmetricly set on described support both sides, for capturing article; Each described clamping device comprises connecting rod, dwang and handgrip; Described connecting rod one end is rotationally connected with described support, and the other end is rotationally connected with the middle part of described dwang; Described dwang one end connects described mount pad, and the other end connects described handgrip; Described driving mechanism for driving described support straight reciprocating motion, to drive described connecting rod to make described dwang rotate relative to described mount pad, so make the handgrip of two described clamping devices close to each other with away from.
2. robot device according to claim 1, is characterized in that, described dwang comprises two of detachable connection and rotates sub bar, and described mount pad, described connecting rod and described handgrip are connected to described in two and rotate between sub bar.
3. robot device according to claim 2, is characterized in that, each described rotation sub bar is equipped with buckle and buckle slot, and the buckle rotated described on sub bar can be buckled in the buckle slot rotated described in another on sub bar.
4. robot device according to claim 2, is characterized in that, rotates between sub bar and be provided with three rotating shafts described in two, and three described rotating shafts are rotationally connected described mount pad, described connecting rod and described handgrip respectively; Each described rotating shaft comprises half cylinder that two are butted into cylinder; Two described half cylinders are individually fixed in described in two and rotate sub bar.
5. the robot device according to any one of claim 2-4, is characterized in that, the shape of rotating sub bar described in two is identical with structure.
6. robot device according to claim 1, is characterized in that, described clamping device also comprises auxiliary rod, and described auxiliary rod and described dwang be arranged in parallel, and the relatively described dwang of described auxiliary rod is away from described support; The two ends of described auxiliary rod are rotationally connected with described mount pad and described handgrip respectively; Described dwang and described handgrip are rotationally connected.
7. robot device according to claim 6, is characterized in that, described auxiliary rod is identical with structure with the shape of described both dwangs.
8. robot device according to claim 1, is characterized in that, two described handgrips arrange soft cushion in relative two sides.
9. robot device according to claim 1, is characterized in that, in described mount pad, support and clamping device, the material of at least one is plastic alloy.
10. robot device according to claim 1, is characterized in that, in described mount pad, support and clamping device, at least one is injection mo(u)lding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520307833.2U CN204819519U (en) | 2015-05-13 | 2015-05-13 | Manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520307833.2U CN204819519U (en) | 2015-05-13 | 2015-05-13 | Manipulator device |
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| Publication Number | Publication Date |
|---|---|
| CN204819519U true CN204819519U (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520307833.2U Active CN204819519U (en) | 2015-05-13 | 2015-05-13 | Manipulator device |
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| CN (1) | CN204819519U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737810A (en) * | 2016-11-25 | 2017-05-31 | 拖（洛阳）汇德工装有限公司 | A kind of coring group core robot gripper |
| CN107140396A (en) * | 2017-06-06 | 2017-09-08 | 桂林电子科技大学 | A kind of multifunctional intellectual carrying platform |
| CN113084790A (en) * | 2021-04-29 | 2021-07-09 | 江南大学 | Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method |
-
2015
- 2015-05-13 CN CN201520307833.2U patent/CN204819519U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737810A (en) * | 2016-11-25 | 2017-05-31 | 拖（洛阳）汇德工装有限公司 | A kind of coring group core robot gripper |
| CN106737810B (en) * | 2016-11-25 | 2023-07-28 | 一拖（洛阳）汇德工装有限公司 | Coring and core assembling robot gripper |
| CN107140396A (en) * | 2017-06-06 | 2017-09-08 | 桂林电子科技大学 | A kind of multifunctional intellectual carrying platform |
| CN113084790A (en) * | 2021-04-29 | 2021-07-09 | 江南大学 | Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |