CN205969110U - Scalable manipulator - Google Patents
Scalable manipulator Download PDFInfo
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- CN205969110U CN205969110U CN201620779586.0U CN201620779586U CN205969110U CN 205969110 U CN205969110 U CN 205969110U CN 201620779586 U CN201620779586 U CN 201620779586U CN 205969110 U CN205969110 U CN 205969110U
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- China
- Prior art keywords
- arm
- telescopic manipulator
- side wall
- adjacent arm
- manipulator according
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- 230000007246 mechanism Effects 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- RTZKZFJDLAIYFH-UHFFFAOYSA-N ether Substances CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 claims 2
- -1 Ether ether ketone Chemical class 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 5
- 239000004696 Poly ether ether ketone Substances 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 229920002530 polyetherether ketone Polymers 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a scalable manipulator relates to manipulator technical field. Scalable manipulator includes the same and relative movement's of two at least length direction arm, all is equipped with bearing structure on two at least arms, and bearing structure's height such as holding surface on the different arms are equipped with the guide rail between the adjacent arm for make adjacent arm relative movement, be equipped with the two relative movement's of restriction locking structure on one of them arm of adjacent arm. The utility model provides a scalable manipulator, guide rail make between the adjacent arm can the relative slip, and when the relative position that guarantees the arm changes stability, smooth and easy nature are higher, prevents that the manipulator from reaching through locking structure locking after the required length, avoids length to change.
Description
Technical field
This utility model is related to mechanical hand technical field, more particularly, to a kind of telescopic manipulator.
Background technology
Mechanical hand is the automatic pilot by fixed routine crawl, carrying object or operation instrument, can replace that people's is numerous
Heavy work, to realize the mechanization and the automatization that produce, can operate to protect personal safety under hostile environment.But for not
Different structure designs with board are different with space, the length of mechanical hand also difference it is contemplated that mechanical hand in use can
The problem occurring damaging or rupturing, in order to ensure to change in time, needs the mechanical hand of standby multigroup different length, cost
Greatly；In addition, when board needs to change mechanical arm length after being transformed, the mechanical hand making and changing length-specific need to be coordinated,
Make complexity high, the cycle is longer, and improvement cost is higher.
Utility model content
The purpose of this utility model is to propose a kind of telescopic manipulator it is adaptable to multiple different board, versatility
By force, reduce the cost of transformation board.
For reaching this purpose, this utility model employs the following technical solutions：
A kind of telescopic manipulator, the arm of and relative movement identical including at least two length directions, at least two handss
Supporting construction is equipped with arm, the supporting surface of different arm upper support structures is contour, is provided with guide rail, is used for making between adjacent arm
Adjacent arm relative movement, one of arm of adjacent arm is provided with the locking mechanism limiting the two relative movement.
As a kind of preferred version of above-mentioned telescopic manipulator, described guide rail includes inboard track, follower rail and rolling
Pearl, inboard track and follower rail are separately mounted on adjacent arm, and described ball is arranged at inboard track and follower rail
Between.
As a kind of preferred version of above-mentioned telescopic manipulator, described inboard track and follower rail all offer with
The circular groove of ball engagement, described ball is folded between two described grooves.
As a kind of preferred version of above-mentioned telescopic manipulator, described follower rail is the structure of channel steel shape, including the
Side wall, second sidewall and the connection wall for connecting described the first side wall and second sidewall, described the first side wall and second
Described circular groove is equipped with the wall of side, described inboard track is placed between described the first side wall and second sidewall, described interior
On side rails, the surface relative with described the first side wall, second sidewall is provided with circular groove, the first side wall and inboard track
And between second sidewall and inboard track, it is equipped with described ball.
As a kind of preferred version of above-mentioned telescopic manipulator, between adjacent arm, it is provided with two described guide rails.
As a kind of preferred version of above-mentioned telescopic manipulator, described locking mechanism includes clamping part and elastic adjustment
Portion, described clamping part is U-shaped, and described elastic adjustment portion includes two relative projections, and two projections are located at described clamping respectively
, there is gap between two projections in the prolongation of portion's opening two opposite side walls, described elastic adjustment portion also includes screw, institute
State the described two projection of screw connection.
As a kind of preferred version of above-mentioned telescopic manipulator, described locking mechanism is lock screw, described locking screw
Silk is located in one of them on adjacent arm, and is resisted against on the side wall of another of adjacent arm by lock screw.
As a kind of preferred version of above-mentioned telescopic manipulator, described supporting construction is sucker or polyether-ether-ketone supports
Part.
As a kind of preferred version of above-mentioned telescopic manipulator, including at least one fixing arm.
As a kind of preferred version of above-mentioned telescopic manipulator, adjacent arm is the set that section is rectangular frame
Pipe, larger-size casing pipe sleeve is outside the less sleeve pipe of size.
The beneficial effects of the utility model：
The utility model proposes telescopic manipulator, guide rail makes between adjacent arm relatively to slide it is ensured that handss
When the relative position of arm changes, stability, smoothness are higher, pass through locking mechanism after the length required for preventing mechanical hand from reaching
Locking, it is to avoid length changes.
Brief description
Fig. 1 is the structural representation of the telescopic manipulator that this utility model specific embodiment provides；
Fig. 2 is the first arm of this utility model specific embodiment offer and the cross section structure of the second arm cooperation is illustrated
Figure；
Fig. 3 is the structural representation of the follower rail that this utility model specific embodiment provides；
Fig. 4 is the structural representation of the locking mechanism that this utility model specific embodiment provides.
Wherein, 1, inboard track；2nd, follower rail；3rd, ball；4th, the first side wall；5th, second sidewall；6th, connection wall；7th,
One arm；8th, the second arm；9th, clamping part；10th, projection；11st, gap；12nd, screw；13rd, supporting construction.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment.
Reference picture 1-4, present embodiment protects a kind of telescopic manipulator, including at least two length directions are identical and phase
Arm to movement, at least two arms are equipped with supporting construction 13, and the supporting surface of different arm upper support structures 13 is contour,
It is provided with guide rail between adjacent arm, is used for making adjacent arm relative movement, one of arm of adjacent arm is provided with restriction
The locking mechanism of the two relative movement.
This telescopic manipulator, makes can relatively slide so that this mechanical hand can between adjacent arm by guide rail
When arm relative position is different, reach different length, stability when guide rail ensure that the relative position of arm changes, suitable
Smooth property is higher, is locked by locking mechanism, it is to avoid length changes after the length required for preventing mechanical hand from reaching.
Further, as shown in Fig. 2 guide rail includes inboard track 1, follower rail 2 and ball 3, inboard track 1 and outside
Guide rail 2 is separately mounted on adjacent arm, and ball 3 is arranged between inboard track 1 and follower rail 2.Specifically, inner side is led
Circular groove with ball 3 cooperation is all offered on rail 1 and follower rail 2, ball 3 is folded between two grooves.Ball 3
Setting ensure that the relative movement between inboard track 1 and follower rail 2 is smooth, ball 3 is arranged between the grooves, carries
High stability.
In present embodiment, as shown in figure 3, follower rail 2 is the structure of channel steel shape, including the first side wall 4, second sidewall
5 and for connecting the connection wall 6 of the first side wall 4 and second sidewall 5, the first side wall 4 and second sidewall 5 are equipped with circular arc
Groove, inboard track 1 is placed between the first side wall 4 and second sidewall 5, with the first side wall 4, second sidewall 5 phase on inboard track 1
To surface be provided with above-mentioned circular groove, the first side wall 4 and inboard track 1 and second sidewall 5 and inboard track 1 it
Between be equipped with ball 3.This guide rail structure is stable, compact, is less prone to fault.
Preferably, because adjacent arm is the sleeve pipe that section is rectangular frame, wherein, larger-size arm is
First arm 7, the less arm of size is the second arm 8, is provided with two guide rails between the first arm 7 and the second arm 8, two
Bar guide rail is located at symmetrical position it is ensured that the relative movement between the first arm 7 and the second arm 8 is stable, smooth.Tool
Body, the first arm 7 is connected with inboard track 1, and the second arm 8 is connected with follower rail 2
As shown in figure 4, the locking mechanism in present embodiment includes clamping part 9 and elastic adjustment portion, clamping part 9 is U-shaped,
Elastic adjustment portion includes two relative projections 10, and two projections 10 are located at prolonging of clamping part 9 opening two opposite side walls respectively
, there is gap 11 in long part, elastic adjustment portion also includes screw 12 between two projections 10, screw 12 connects two projections 10,
Rotary screw 12 direction being passed through, controlling the change in the gap 11 between two projections 10 greatly or to diminish, thus controlling clamping
Portion 9 is to clamped condition.Locking mechanism is located at one end with the second arm 8 cooperation of the first arm 7, then the second arm 8 passes through
Clamping part 9, is then coordinated with the guide rail of the first arm 7, and when needing flexible second arm 8, adjustment screw 12 is so that two projections
Gap 11 between 10 increases, and clamping part 9 will not play clamping action to the second arm 8, and the therefore second arm 8 can arbitrarily be stretched
Contracting, when being adjusted to the length required for mechanical hand, adjustment screw 12, so that the gap 11 between two projections 10 reduces, clamps
Portion 9 clamps the second arm 8 so that the frictional force between the second arm 8 and clamping part 9 increases it is known that the second arm 8 cannot be stretched
Contracting is it is ensured that the length of mechanical hand will not arbitrarily change.
Present embodiment additionally provides another specific locking mechanism, and this locking mechanism is lock screw 12, locking
Screw 12 be located in adjacent arm one of on, and be resisted against another side wall of adjacent arm by lock screw 12
On.Specific set location is set as the case may be, is capable of locking positioning.
Supporting construction 13 in present embodiment be sucker or polyether-ether-ketone support member it is adaptable to support to glass and
Carrying.
At least one fixing arm of the inclusion of the telescopic manipulator in present embodiment, in the length of this fixing arm
Carry out the adjustment of length.
Note, above are only preferred embodiment of the present utility model.It will be appreciated by those skilled in the art that this utility model is not
It is limited to specific embodiment described here, various obvious changes can be carried out for a person skilled in the art, readjust
With replacement without departing from protection domain of the present utility model.Therefore although being carried out to this utility model by above example
It is described in further detail, but this utility model is not limited only to above example, conceive without departing from this utility model
In the case of, other Equivalent embodiments more can also be included, and scope of the present utility model is determined by scope of the appended claims
Fixed.
Claims (10)
1. a kind of telescopic manipulator is it is characterised in that include that at least two length directions are identical and the arm of relative movement, extremely
Be equipped with supporting construction (13) on few two arms, the supporting surface of different arm upper support structures (13) is contour, adjacent arm it
Between be provided with guide rail, be used for making adjacent arm relative movement, one of arm of adjacent arm is provided with restriction, and the two moves relatively
Dynamic locking mechanism.
2. telescopic manipulator according to claim 1 is it is characterised in that described guide rail includes inboard track (1), outside
Guide rail (2) and ball (3), inboard track (1) and follower rail (2) are separately mounted on adjacent arm, and described ball (3) sets
It is placed between inboard track (1) and follower rail (2).
3. telescopic manipulator according to claim 2 is it is characterised in that described inboard track (1) and follower rail (2)
On all offer the circular groove coordinating with ball (3), described ball (3) is folded between two described grooves.
4. telescopic manipulator according to claim 3 is it is characterised in that described follower rail (2) is the knot of channel steel shape
Structure, including the first side wall (4), second sidewall (5) and be used for connecting the connection of described the first side wall (4) and second sidewall (5)
Wall (6), described the first side wall (4) and second sidewall (5) are equipped with described circular groove, and described inboard track (1) is placed in
Between described the first side wall (4) and second sidewall (5), with described the first side wall (4), second sidewall on described inboard track (1)
(5) relative surface is provided with circular groove, and the first side wall (4) and inboard track (1) and second sidewall (5) and inner side are led
It is equipped with described ball (3) between rail (1).
5. the telescopic manipulator according to claim 1-4 any one is it is characterised in that be provided between adjacent arm
Article two, described guide rail.
6. telescopic manipulator according to claim 1 it is characterised in that described locking mechanism include clamping part (9) and
Elastic adjustment portion, described clamping part (9) is U-shaped, and described elastic adjustment portion includes two relative projections (10), two projections
(10) it is located at the prolongation of described clamping part (9) opening two opposite side walls respectively, between two projections (10), there is gap
(11), described elastic adjustment portion also includes screw (12), and described screw (12) connects described two projections (10).
7. telescopic manipulator according to claim 1 it is characterised in that described locking mechanism be lock screw (12),
Described lock screw (12) is located in one of them on adjacent arm, and is resisted against adjacent arm by lock screw (12)
Another side wall on.
8. telescopic manipulator according to claim 1 is it is characterised in that described supporting construction (13) is sucker or gathers
Ether ether ketone support member.
9. telescopic manipulator according to claim 1 is it is characterised in that include at least one fixing arm.
10. telescopic manipulator according to claim 1 is it is characterised in that it is rectangle that adjacent arm is section
The sleeve pipe of framework, larger-size casing pipe sleeve is outside the less sleeve pipe of size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620779586.0U CN205969110U (en) | 2016-07-22 | 2016-07-22 | Scalable manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620779586.0U CN205969110U (en) | 2016-07-22 | 2016-07-22 | Scalable manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969110U true CN205969110U (en) | 2017-02-22 |
Family
ID=58025998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620779586.0U Active CN205969110U (en) | 2016-07-22 | 2016-07-22 | Scalable manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205969110U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826634A (en) * | 2017-11-30 | 2018-03-23 | 绵阳市奇帆科技有限公司 | Electric slurry intelligence control transport robot |
| CN114734479A (en) * | 2022-04-15 | 2022-07-12 | 肇庆市华师大光电产业研究院 | Extension mechanism and high vacuum mechanical arm |
-
2016
- 2016-07-22 CN CN201620779586.0U patent/CN205969110U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826634A (en) * | 2017-11-30 | 2018-03-23 | 绵阳市奇帆科技有限公司 | Electric slurry intelligence control transport robot |
| CN114734479A (en) * | 2022-04-15 | 2022-07-12 | 肇庆市华师大光电产业研究院 | Extension mechanism and high vacuum mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215301, 1, Longteng Road, Kunshan, Jiangsu, Suzhou Patentee after: InfoVision Optoelectronics(Kunshan)Co.,Ltd. Address before: 215301, 1, Longteng Road, Kunshan, Jiangsu, Suzhou Patentee before: INFOVISION OPTOELECTRONICS (KUNSHAN) Co.,Ltd. |