CN205240719U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN205240719U CN205240719U CN201521077911.0U CN201521077911U CN205240719U CN 205240719 U CN205240719 U CN 205240719U CN 201521077911 U CN201521077911 U CN 201521077911U CN 205240719 U CN205240719 U CN 205240719U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- finger
- clamp assemblies
- gripper shoe
- rotationally connected
- 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 discloses a manipulator, including backup pad, removal axle, centre gripping subassembly and link mechanism, link mechanism includes connecting rod C, connecting rod D and connecting rod E, connecting rod C and connecting rod D cross arrangement locate to rotate to connect through the round pin axle to fix in the backup pad at the point of intersect, connecting rod C and connecting rod D's one end is connected with a set of centre gripping subassembly respectively, the centre gripping subassembly is including the finger, connecting rod A and connecting rod B, connecting rod C's one end is connected with the connecting rod B's of a set of centre gripping subassembly the one end and the one end rotation of finger, connecting rod D's one end is rotated with the one end of the connecting rod B's of another group's centre gripping subassembly one end and finger and is connected, connecting rod B's the other end and connecting rod A's one end rotate is connected and connecting axle and backup pad on spout sliding fit, connecting rod A's the other end and finger middle part rotation are connected. The utility model discloses simple structure, centre gripping accuracy, good, accurate, the convenient to use of action of clamping -force degree can fine replacement people be engaged in numerous and diverse work, stable performance in addition, and the reliability is high.
Description
Technical field
The utility model relates to automation equipment field, relates in particular to a kind of manipulator.
Background technology
Through surveying and studying, city-level (provincial capital) educational system is provided teacher's qualification certificate, and annual approximately 2Wan Ben; PSC grading certificate, annual approximately 100,000; Colleges and universities' diploma annual approximately 30Wan Ben; City-level public security department, provides nearly 200,000 of passport, resident's household register thin approximately 300,000. Current, onThe dispensing flow path of stating these certificates is that neck witness is with the perfect instruments such as identity card or neck card voucher to hand over substantiallyGive staff, after staff's cross-check information, in up to ten thousand certificates, find out this neck witness's certificate alsoIssue this neck witness, just getting of a certificate need to take a long time, and the main time be exactlyThe process that cross-check information and certificate are searched. In the time that neck witness is many and concentrate to lead card, situation can becomeWorse.
Automation access part is the inexorable trend of development, and manipulator is for imitating some action of staff, completeBecome the automatic capturing object under fixed routine control, it can substitute the mankind and be engaged in numerous and diverse work, carriesHigh workload efficiency, manipulator by simply to complexity, to dexterous direction fast development, existing by clumsinessNeed a kind of manipulator that can capture object in super small space.
Utility model content
The utility model aim to provide a kind of in super small space clamping accurately, good, the use of clamping dynamicsConvenience, the manipulator accurate, simple in structure that moves.
For achieving the above object, the utility model is realized by the following technical solutions:
The disclosed a kind of manipulator of the utility model, comprises gripper shoe, shifting axle, clamp assemblies and connecting rodMechanism, one end of described gripper shoe is provided with chute, and described linkage comprises connecting rod C, connecting rod D and companyBar E, described connecting rod C and connecting rod D arranged crosswise are also rotationally connected and are fixed on by bearing pin at intersection point placeOn fagging, described connecting rod E has two, is hinged on respectively one end of connecting rod C and connecting rod D, connecting rod C andThe other end of connecting rod D is connected with respectively one group of clamp assemblies, and two groups of clamp assemblies are arranged in parallel, everyGroup clamp assemblies comprises finger, connecting rod A and connecting rod B, and described finger and connecting rod B be arranged in parallel, described inConnecting rod C is away from one end of connecting rod E and one end of connecting rod B of one group of clamp assemblies and one end of finger rotationConnect, connecting rod D organizes one end of connecting rod B of clamp assemblies and finger away from one end of connecting rod E and anotherOne end is rotationally connected, one end of the other end of described connecting rod B and connecting rod A be rotationally connected and connecting axle andChute on fagging is slidably matched, and the other end of connecting rod A is rotationally connected with finger middle part.
Further, described gripper shoe two ends are respectively equipped with U-shaped breach A and U-shaped breach B, described cunningGroove is located at U-shaped breach A one end, and described finger is positioned at U-shaped breach A inner side.
Further, also comprise pedestal, described pedestal is provided with U-shaped breach B one end with gripper shoe and is connected,On pedestal, be also provided with slide, be also provided with breach C on described slide, described breach C and shifting axle slide and joinClose, breach C opening part is also provided with briquetting, and described shifting axle middle part outer circumference surface is provided with stopper slot, instituteState briquetting and be positioned at stopper slot top.
Further, described connecting rod C and connecting rod D are L shaped connecting rod, the minor face of connecting rod C and connecting rod DBe rotationally connected with connecting rod B and the finger of clamp assemblies, the long limit medium position of connecting rod C is bent into step-like.
Further, every group of clamp assemblies has two connecting rod A at least, and described connecting rod A parallel arrangement arrangesBetween finger and connecting rod B, connecting rod A and finger and connecting rod B are and are rotationally connected.
Further, be also provided with drive unit on described pedestal, described drive unit is stepper motor, instituteStating stepper motor is connected by feed screw nut with shifting axle.
The utlity model has following beneficial effect: simple in structure, clamping accurately, clamping dynamics is good, makesWith convenient, can well replace people to be engaged in hard work, and stable performance, reliability is high.
Brief description of the drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is supporting plate structure schematic diagram;
Fig. 3 is connecting rod C front view;
Fig. 4 is the top view of Fig. 3;
Fig. 5 is connecting rod D front view;
Fig. 6 is the top view of Fig. 5.
In figure: 1-finger, 2-connecting rod A, 3-connecting rod B, 4-connecting rod C, 5-connecting rod D, 6-connecting rod E, 7Gripper shoe, 8-shifting axle, 9-slide, 10-motor cabinet, 11-briquetting, 12-feed screw nut, 13-are spacingGroove, 14-chute, 15-U v notch v A, 16-U v notch v B.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with attachedFigure, is further elaborated to the utility model.
As shown in Fig. 1-Fig. 6, the disclosed a kind of manipulator of the utility model, comprises gripper shoe 7, motorSeat 10, slide 9, shifting axle 8, clamp assemblies and linkage, gripper shoe 7 two ends are respectively equipped with UV notch v A15 and U-shaped breach B16, gripper shoe 7 is provided with U-shaped breach A15 one end and is also provided with chute14, motor cabinet 10 is fixed on gripper shoe 7 one end, and slide 9 is arranged on motor cabinet 10, on slide 9Jagged, shifting axle 8 is slidably matched with the breach on slide 9, and the breach oral area of slide 9 is also provided with pressurePiece 11, shifting axle 8 middle part outer circumference surfaces are provided with stopper slot 13, and briquetting 11 is positioned at stopper slot 13 tops,On motor cabinet 10, be also fixed with stepper motor, between stepper motor and shifting axle 8, pass through feed screw nut 12Connect, for driving shifting axle 8 to do linear reciprocating motion, clamp assemblies has two groups and be arranged in parallel, everyGroup clamp assemblies comprises a finger 1, two pieces connecting rod A2 and connecting rod B3, finger 1 and connecting rod B3Be arranged in parallel, finger 1 is positioned at U-shaped breach A15 inner side, and two connecting rod A2 are set in parallel in finger 1And between connecting rod B3, connecting rod A2 is and is rotationally connected with finger 1 and connecting rod B3, a wherein connecting rodChute 14 in A2 one end and connecting rod B3 one end hinged and jointed shaft and gripper shoe 7 is slidably matched, connecting rodThe A2 other end is hinged with finger 1 middle part; Linkage comprises connecting rod C4, connecting rod D5 and connecting rod E6, connectsBar C4 and connecting rod D5 arranged crosswise are also rotatably connected in gripper shoe 7 connecting rod by bearing pin at intersection point placeE6 has two, forms scissor structure with connecting rod C4 and connecting rod D5, one end of two connecting rod E6 all withShifting axle 8 one end are rotationally connected, the other end of two connecting rod E6 respectively with one of connecting rod C4 and connecting rod D5End is rotationally connected, and one end of the connecting rod B3 of the other end of connecting rod C4 and one group of clamp assemblies and finger 1 turnsBe dynamically connected, rotate the other end of connecting rod D5 and the connecting rod B3 of another group clamp assemblies and one end of finger 1Connect.
As shown in Fig. 3-Fig. 6, connecting rod C4 and connecting rod D5 are L shaped connecting rod, connecting rod C4 and connecting rod D5Minor face and the connecting rod B3 of clamp assemblies and finger 1 one end be rotationally connected, position in the long limit of connecting rod C4Put be bent into step-like.
Operation principle of the present utility model is as follows: when under the effect of shifting axle 8 at stepper motor to finger 1When move one end, the connecting rod C4 of linkage and connecting rod D5 front end are opened respectively laterally, and drive folderHold assembly parallel motion laterally, drive 1 parallel motion laterally respectively of two fingers simultaneously, ensuredTwo distances of opening of finger 1 front-end and back-end are all identical, in like manner, and when shifting axle 8 is to stepper motor oneWhen end is mobile, the connecting rod C4 of linkage and connecting rod D5 front end difference parallel closure to the inside, and driveClamp assemblies is parallel motion to the inside, has ensured two finger 1 parallel closures in front-end and back-end, and has clampedObject, dwindles the space of the same object of gripping greatly.
Certainly, the utility model also can have other various embodiments, do not deviate from the utility model spirit andIn the situation of its essence, those of ordinary skill in the art can make according to the utility model various correspondingChange and distortion, but these corresponding changes and distortion all should belong to the appended claim of the utility modelProtection domain.
Claims (6)
1. a manipulator, is characterized in that: comprise gripper shoe, shifting axle, clamp assemblies and connecting rod machineStructure, one end of described gripper shoe is provided with chute, and described linkage comprises connecting rod C, connecting rod D and connecting rod E,Described connecting rod C and connecting rod D arranged crosswise are also rotationally connected and are fixed in gripper shoe by bearing pin at intersection point place,Described connecting rod E has two, is hinged on respectively one end of connecting rod C and connecting rod D, connecting rod C and connecting rod D'sThe other end is connected with respectively one group of clamp assemblies, and two groups of clamp assemblies are arranged in parallel, every group of clamping groupPart comprises finger, connecting rod A and connecting rod B, and described finger and connecting rod B be arranged in parallel, and described connecting rod C is far awayBe rotationally connected from one end of connecting rod E and one end of connecting rod B of one group of clamp assemblies and one end of finger, connectBar D rotates away from one end of connecting rod E and one end of connecting rod B and one end of finger of another group clamp assembliesConnect, one end of the other end of described connecting rod B and connecting rod A be rotationally connected and connecting axle and gripper shoe onChute is slidably matched, and the other end of connecting rod A is rotationally connected with finger middle part.
2. manipulator according to claim 1, is characterized in that: establish respectively at described gripper shoe two endsHave U-shaped breach A and U-shaped breach B, described chute is located at U-shaped breach A one end, and described finger is positioned at UV notch v A inner side.
3. manipulator according to claim 2, is characterized in that: also comprise pedestal, described pedestalBe provided with U-shaped breach B one end with gripper shoe and be connected, on pedestal, be also provided with slide, on described slide, be also provided withBreach C, described breach C and shifting axle are slidably matched, breach C opening part is also provided with briquetting, described in moveMoving axis middle part outer circumference surface is provided with stopper slot, and described briquetting is positioned at stopper slot top.
4. manipulator according to claim 1, is characterized in that: described connecting rod C and connecting rod DBe L shaped connecting rod, the minor face of connecting rod C and connecting rod D and connecting rod B and the finger of clamp assemblies are rotationally connected,The long limit medium position of connecting rod C is bent into step-like.
5. manipulator according to claim 1, is characterized in that: every group of clamp assemblies has two at leastRoot connecting rod A, described connecting rod A parallel arrangement be arranged on finger with connecting rod B between, connecting rod A with finger withConnecting rod B is and is rotationally connected.
6. manipulator according to claim 3, is characterized in that: on described pedestal, be also provided with drivingDevice, described drive unit is stepper motor, described stepper motor is connected by feed screw nut with shifting axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521077911.0U CN205240719U (en) | 2015-12-21 | 2015-12-21 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521077911.0U CN205240719U (en) | 2015-12-21 | 2015-12-21 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205240719U true CN205240719U (en) | 2016-05-18 |
Family
ID=55939795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521077911.0U Expired - Fee Related CN205240719U (en) | 2015-12-21 | 2015-12-21 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205240719U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106315219A (en) * | 2016-11-18 | 2017-01-11 | 平利县凯灵汽车零部件有限公司 | Automatic rotary lifting device of automobile production line |
| CN106892263A (en) * | 2015-12-21 | 2017-06-27 | 董鹏钦 | Manipulator |
| CN108438348A (en) * | 2018-04-24 | 2018-08-24 | 烟台梦现自动化设备有限公司 | A kind of fruit mesh bag holds round system |
| CN109229530A (en) * | 2018-08-21 | 2019-01-18 | 合肥维晶电器有限公司 | A kind of equipment of the product description quality certification convenient for assembly |
-
2015
- 2015-12-21 CN CN201521077911.0U patent/CN205240719U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106892263A (en) * | 2015-12-21 | 2017-06-27 | 董鹏钦 | Manipulator |
| CN106315219A (en) * | 2016-11-18 | 2017-01-11 | 平利县凯灵汽车零部件有限公司 | Automatic rotary lifting device of automobile production line |
| CN108438348A (en) * | 2018-04-24 | 2018-08-24 | 烟台梦现自动化设备有限公司 | A kind of fruit mesh bag holds round system |
| CN109229530A (en) * | 2018-08-21 | 2019-01-18 | 合肥维晶电器有限公司 | A kind of equipment of the product description quality certification convenient for assembly |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160518 Termination date: 20171221 |