CN205521398U - Multi -freedom -degree manipulator - Google Patents
Multi -freedom -degree manipulator Download PDFInfo
- Publication number
- CN205521398U CN205521398U CN201620102115.6U CN201620102115U CN205521398U CN 205521398 U CN205521398 U CN 205521398U CN 201620102115 U CN201620102115 U CN 201620102115U CN 205521398 U CN205521398 U CN 205521398U
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- CN
- China
- Prior art keywords
- connecting rod
- cleft hand
- freedom
- telescoping cylinder
- rotary cylinder
- 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 discloses a multi -freedom -degree manipulator, including the base, connect the rotary cylinder on the base, be equipped with the connecting rod in the rotary cylinder, connecting rod upper portion is the lift jar, and the telescoping cylinder is connected on lift jar upper portion, is equipped with the telescopic link in the telescoping cylinder, telescopic link end connection connecting seat, slewing mechanism is connected to the connecting seat, and the cleft hand is connected to slewing mechanism sub -unit connection connecting rod on. Compared with the prior art, the utility model discloses the height -adjusting of being convenient for, prevent that the cleft hand from meetting the barrier at the rotation in -process, effect through telescopic link in the telescoping cylinder, can drive the connecting seat concertina movement that reciprocates, and then drive the cleft hand concertina movement that reciprocates, can drive the cleft hand through slewing mechanism rotates, it snatchs the work piece to be convenient for to adjust extremely suitable position with the cleft hand, moreover, the steam generator is simple in structure, high reliability and high work efficiency, the production cost is low, can realize the clamp of work piece automatically gets or the process of placing, with many freedom degrees, very big market perspective has.
Description
Technical field
This utility model relates to mechanical hand technical field, is specifically related to a kind of Multi-freedom-degreemanipulator manipulator.
Background technology
Mechanical hand is a kind of some holding function that can imitate staff and arm, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.Mechanical hand is the industrial robot occurred the earliest; also it is the modern machines people occurred the earliest; it can replace the heavy labor of people to realize the mechanization and the automatization that produce; 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.In prior art, the most structure of mechanical hand is complex, and operating process is loaded down with trivial details, and work efficiency is not the highest, and manufacturing cost is higher, it is impossible to well meet the market demand to mechanical hand, and for the problems referred to above, ad hoc meter this utility model is solved.
Utility model content
The purpose of this utility model is to provide a kind of Multi-freedom-degreemanipulator manipulator.
For achieving the above object, the following technical scheme of this utility model offer:
A kind of Multi-freedom-degreemanipulator manipulator, including base, rotary cylinder, connecting rod, telescoping cylinder, lift cylinders, expansion link, connection seat, rotating mechanism, apical axis, connecting rod and cleft hand, connecting rotary cylinder on base, be provided with connecting rod in rotary cylinder, connecting rod top is lift cylinders, lift cylinders top connects telescoping cylinder, being provided with expansion link in telescoping cylinder, expansion link end connects seat, connects seat connecting steering mechanism, rotating mechanism bottom connects connecting rod, and connecting rod connects cleft hand.
As the further improvement of above-mentioned technology, described rotating mechanism bottom connects connecting rod by apical axis.
As the further improvement of above-mentioned technology, described cleft hand is provided with 2.
As the further improvement of above-mentioned technology, connection seat bottom is located at by described rotating mechanism.
Compared with prior art, the beneficial effects of the utility model are: telescoping cylinder and cleft hand can be driven to carry out gyration by rotary cylinder, it is easy to cleft hand rotation direction, capture or put down workpiece, telescoping cylinder and cleft hand can be driven to carry out oscilaltion campaign by lift cylinders, it is easy to regulation height, prevent cleft hand from running into barrier in rotation process, by the effect of expansion link in telescoping cylinder, reciprocal telescopic movement can be carried out by the band seat that is dynamically connected, and then drive cleft hand to carry out reciprocal telescopic movement, cleft hand can be driven to rotate by rotating mechanism, it is easy to regulate to correct position grabbing workpiece cleft hand, simple in construction, work efficiency is high, low cost of manufacture, gripping or the placement process of workpiece can be automatically obtained, there is multiple degree of freedom, there is great market application foreground.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the technical scheme of this patent is described in more detail.
nullA kind of Multi-freedom-degreemanipulator manipulator，Including base 1、Rotary cylinder 2、Connecting rod 3、Telescoping cylinder 4、Lift cylinders 5、Expansion link 6、Connect seat 7、Rotating mechanism 8、Apical axis 9、Connecting rod 10 and cleft hand 11，Rotary cylinder 2 is connected on base 1，Telescoping cylinder 4 and cleft hand 11 can be driven to carry out gyration by rotary cylinder 2，It is easy to cleft hand 11 rotation direction，Capture or put down workpiece，Connecting rod 3 it is provided with in rotary cylinder 2，Connecting rod 3 top is lift cylinders 5，Telescoping cylinder 4 and cleft hand 11 can be driven to carry out oscilaltion campaign by lift cylinders 5，It is easy to regulation height，Prevent cleft hand 11 from running into barrier in rotation process，Lift cylinders 5 top connects telescoping cylinder 4，By the effect of expansion link 6 in telescoping cylinder 4，Reciprocal telescopic movement can be carried out by the band seat 7 that is dynamically connected，And then drive cleft hand 11 to carry out reciprocal telescopic movement，Expansion link 6 it is provided with in telescoping cylinder 4，Expansion link 6 end connects seat 7，Connect seat 7 bottom connecting steering mechanism 8，Rotating mechanism 8 bottom connects connecting rod 10 by apical axis 9，Cleft hand 11 is connected on connecting rod 10，Cleft hand 11 is provided with 2，Can either ensure that pawl takes performance reliability，Material can be saved again，Simplify structure.
nullDuring utility model works，Base 1 top connects rotary cylinder 2，Telescoping cylinder 4 and cleft hand 11 can be driven to carry out gyration by rotary cylinder 2，It is easy to cleft hand 11 rotation direction，Capture or put down workpiece，Connecting rod 3 it is provided with in rotary cylinder 2，Connecting rod 3 top is lift cylinders 5，Telescoping cylinder 4 and cleft hand 11 can be driven to carry out oscilaltion campaign by lift cylinders 5，It is easy to regulation height，Prevent cleft hand 11 from running into barrier in rotation process，Lift cylinders 5 top connects telescoping cylinder 4，Expansion link 6 it is provided with in telescoping cylinder 4，Expansion link 6 end connects seat 7，By the effect of expansion link 6 in telescoping cylinder 4，Reciprocal telescopic movement can be carried out by the band seat 7 that is dynamically connected，And then drive cleft hand 11 to carry out reciprocal telescopic movement，Connect seat 7 bottom connecting steering mechanism 8，Cleft hand 11 can be driven to rotate by rotating mechanism 8，It is easy to regulate to correct position grabbing workpiece cleft hand 11，Rotating mechanism 8 bottom connects connecting rod 10 by apical axis 9，Cleft hand 11 is connected on connecting rod 10，When apical axis 9 ejects downwards，Apical axis 9 drivening rod 10 carries out circular motion，Connecting rod 10 drives cleft hand 11 to open，When apical axis 9 is upwards collected through，Apical axis 9 drivening rod 10 carries out circular motion，Connecting rod 10 drives cleft hand 11 to draw in，Workpiece clamping is convenient for transport，This utility model simple in construction，Work efficiency is high，Low cost of manufacture，Gripping or the placement process of workpiece can be automatically obtained，There is multiple degree of freedom，There is great market application foreground.
The foregoing is only this utility model preferred embodiment; not thereby embodiment of the present utility model and protection domain are limited; to those skilled in the art; the scheme obtained by the equivalent and obvious change that all utilization this utility model description and diagramatic content make should be can appreciate that, all should be included in protection domain of the present utility model.
Claims (4)
1. a Multi-freedom-degreemanipulator manipulator, including base, rotary cylinder, connecting rod, telescoping cylinder, lift cylinders, expansion link, company
Joint chair, rotating mechanism, apical axis, connecting rod and cleft hand, it is characterised in that connect rotary cylinder on base, be provided with in rotary cylinder
Connecting rod, connecting rod top is lift cylinders, and lift cylinders top connects telescoping cylinder, is provided with expansion link in telescoping cylinder, flexible rod end
Portion connects seat, connects seat connecting steering mechanism, and rotating mechanism bottom connects connecting rod, and connecting rod connects cleft hand.
Multi-freedom-degreemanipulator manipulator the most according to claim 1, it is characterised in that apical axis is passed through in described rotating mechanism bottom
Connect connecting rod.
Multi-freedom-degreemanipulator manipulator the most according to claim 1, it is characterised in that described cleft hand is provided with 2.
Multi-freedom-degreemanipulator manipulator the most according to claim 1, it is characterised in that described rotating mechanism is located under connection seat
Portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620102115.6U CN205521398U (en) | 2016-02-01 | 2016-02-01 | Multi -freedom -degree manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620102115.6U CN205521398U (en) | 2016-02-01 | 2016-02-01 | Multi -freedom -degree manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205521398U true CN205521398U (en) | 2016-08-31 |
Family
ID=56775136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620102115.6U Expired - Fee Related CN205521398U (en) | 2016-02-01 | 2016-02-01 | Multi -freedom -degree manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205521398U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139158A (en) * | 2017-06-20 | 2017-09-08 | 芜湖蓝天工程塑胶有限公司 | Removable Simple manipulator |
| CN107378931A (en) * | 2017-06-20 | 2017-11-24 | 芜湖蓝天工程塑胶有限公司 | Removable high stable Simple manipulator |
| CN107378992A (en) * | 2017-06-20 | 2017-11-24 | 芜湖蓝天工程塑胶有限公司 | Simple manipulator |
-
2016
- 2016-02-01 CN CN201620102115.6U patent/CN205521398U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139158A (en) * | 2017-06-20 | 2017-09-08 | 芜湖蓝天工程塑胶有限公司 | Removable Simple manipulator |
| CN107378931A (en) * | 2017-06-20 | 2017-11-24 | 芜湖蓝天工程塑胶有限公司 | Removable high stable Simple manipulator |
| CN107378992A (en) * | 2017-06-20 | 2017-11-24 | 芜湖蓝天工程塑胶有限公司 | Simple manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171025 Address after: The river dam street, Liangshan town of Liangping County of Chongqing city in 400000 (Fairview homes south) Patentee after: Chongqing Zhuo Ya Drilling Technology Service Co., Ltd. Address before: 400000 Chongqing city Hechuan Hechuan Industrial Park core area A group high-tech economic development Industrial Park Patentee before: Chongqing Daruisentong Industrial Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20180201 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |