CN206029897U - Scalable agravic manipulator - Google Patents
Scalable agravic manipulator Download PDFInfo
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- CN206029897U CN206029897U CN201620559062.0U CN201620559062U CN206029897U CN 206029897 U CN206029897 U CN 206029897U CN 201620559062 U CN201620559062 U CN 201620559062U CN 206029897 U CN206029897 U CN 206029897U
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- revolute joint
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- cylinder
- swing arm
- agravic
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Abstract
The utility model discloses a scalable agravic manipulator belongs to the mechanical hand technical field of pneumatic transport, control the case including stand, swing arm, connecting rod, telescopic boom, pull rod, clamping device, I gentleness in the cylinder, telescopic boom establishes outside the inner arm and can follow the outer arm of inner arm axial reciprocating sliding and locate the inner arm and outer arm a plurality of transfer ball within a definite time including inner arm, cover, the inner arm with II rotatable connections of revolute joint, the outer arm with III fixed connection of revolute joint. The utility model discloses quick radial sharp feed movement has been realized to the manipulator in the process of rotating, not only increased the operating space, has still improved work efficiency, and it is easily capable to have a simple structure, advantages such as convenient operation, swift, reliable, safe, efficient, labour saving and time saving.
Description
Technical field
This utility model belongs to Pneumatic Manipulator technical field, and in particular to a kind of scalable agravic mechanical hand.
Background technology
Agravic mechanical hand can be imitated to the function of the handss of people and arm, and can come real according to fixed program
The now crawl and carrying to object.With coming into operation for agravic mechanical hand, the labor intensity of people is significantly reduced, improved
Production efficiency, improves the automatization in production work and Mechanization Level, machinery manufacturing industry, electronics, metallurgy in China,
The industry such as atomic energy and light industry obtains increasingly extensive application, and personal safety and the health of staff has been effectively ensured.
However, existing mechanical hand is present in use, operating efficiency is low, automatization level is low, and security protection can not
Lean on, job area is fixed, the problems such as flexible adaptability to changes difference, therefore, in the urgent need to providing a kind of new agravic mechanical hand
To solve the above problems.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of scalable agravic mechanical hand.
For reaching above-mentioned purpose, this utility model is achieved through the following technical solutions：
This utility model provide a kind of scalable agravic mechanical hand, include column, swing arm, pull bar, telescopic cantilever,
Connecting rod, clamping device, cylinder I and Pneumatic controlled box, wherein, the clamping device is rotatablely connected with the connecting rod, the connecting rod
The telescopic cantilever, the telescopic cantilever are rotatablely connected with by revolute joint III in the one end away from the clamping device
The swing arm is rotatablely connected with by revolute joint II in the one end away from the revolute joint III, the swing arm away from
One end of the revolute joint II is rotatablely connected with the column by revolute joint I, and the revolute joint I and revolution are closed
The pull bar being arranged in parallel with swing arm is additionally provided between section II, and the two ends of the pull bar are closed with the revolute joint I and revolution
Section II is hinged respectively；The revolute joint III is fixedly mounted on the telescopic cantilever, makes connecting rod remain vertically rotation；
The revolute joint II is fixedly mounted in the swing arm, is remained telescopic cantilever and is horizontally rotated；The revolute joint I with
The swing arm and cylinder I are hinged respectively, and the cylinder rod of the cylinder I is hinged and is connected to swing arm, swing arm is led in the presence of cylinder I
Cross which to swing up and down with the articulated section between revolute joint I, and cylinder I passes through which under the retroaction that swing arm swings up and down and returns
Turning the articulated section between joint I follows swing arm to swing；The Pneumatic controlled box is fixedly mounted on the revolute joint I, and with
The cylinder I is connected；The telescopic cantilever includes inner arm, is set in the outer arm that inner arm is outer and can slide along inner arm axial reciprocating
And several Universal casters located between inner arm and outer arm, the inner arm is rotatably connected with the revolute joint II, institute
State outer arm to be fixedly connected with the revolute joint III.
Further, a row or multi-row described Universal caster is provided with the least one set opposite face of the inner arm.
Further, connecting spring is provided between the Universal caster adjacent two-by-two in the Universal caster described in often arranging.
Further, spacing collar is additionally provided with the revolute joint I, and the spacing collar is made up of two necklaces, two institutes
State, for prevent two necklaces to be rotated by 360 ° centered on column when mutually rotating with
On.
Further, handle is additionally provided with the connecting rod, the handle is scissor-type handle, fill for manipulating described clamping
Put.
Further, the clamping device includes bracket and drives the cylinder II of bracket folding, the supply of the cylinder II
Pipeline is passed sequentially through the inside of pull bar, telescopic cantilever and swing arm and is connected with Pneumatic controlled box.
Further, slipmat is provided with the inner edge of the bracket.
Further, pneumatic filtration actuator is provided with the Pneumatic controlled box, and the pneumatic filtration actuator is used for filtering steady
Constant-pressure source of the gas.
Compared with prior art, Advantageous Effects of the present utility model are：
1st, structure design of this utility model by telescopic cantilever, while original mechanical hand spinfunction is remained with,
Possess realization rapidly radially straight-line feed motion, not only increase working place, also improve work efficiency.
2nd, structure design of this utility model by scissor-type handle, is conducive to operator to a certain extent away from folder
Tight device so that the security protection reliability of this mechanical hand, has been effectively ensured personal safety and the health of staff.
3rd, this utility model mechanical hand has simple for structure, easy to operate, quick, reliability, safety, efficiency high, section
The advantages of human-saving, and be conducive to rationally using place resource, so as to reduce production cost.
4th, the development of this utility model mechanical hand, effectively reduces business equipment investment and maintenance cost, and each zero
In part design work, production domesticization is realized, reduce production cost.
Other advantages of the present utility model, target and feature will be explained to a certain extent in the following description
State, and to a certain extent, based on being will be apparent to investigating hereafter to those skilled in the art, or
Person can be instructed from practice of the present utility model.Target of the present utility model and other advantages can be said by following
Bright book is realizing and obtain.
Description of the drawings
In order that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with accompanying drawing to this practicality
It is new to be described in further detail, wherein：
Schematic perspective views of the Fig. 1 for the scalable agravic robot manipulator structure of this utility model；
Fig. 2 is schematic diagram of the telescopic cantilever when shortening in the scalable agravic mechanical hand of this utility model；
Fig. 3 is schematic diagram of the telescopic cantilever in elongation in the scalable agravic mechanical hand of this utility model；
Fig. 4 is the enlarged schematic partial view of revolute joint I in the scalable agravic mechanical hand of this utility model；
Fig. 5 is the structural representation of clamping device in the scalable agravic mechanical hand of this utility model；
Kinestate schematic diagrams of the Fig. 6 for the scalable agravic mechanical hand of this utility model；
Reference, 1- clamping devices, 2- connecting rods, 3- revolute joints III, 4- telescopic cantilevers, 5- revolute joints II, 6- pendulum
Arm, 7- revolute joints I, 8- columns, 9- pull bars, 10- cylinders I, 11- Pneumatic controlled boxes, 12- cylinders II；Wherein, 101- brackets, 102-
Slipmat, 201- handles, 401- inner arms, 402- outer arms, 403- Universal casters, 404- connecting springs, 701- spacing collars.
Specific embodiment
Below with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail；It should be appreciated that it is preferred that real
Example is applied only for illustrating this utility model, rather than in order to limit protection domain of the present utility model.
As shown in figure 1, a kind of scalable agravic mechanical hand that this utility model is provided, is used as power source using cylinder
Crane gear, it is landing high column structure, its agent structure point three revolute joints, can rotating around own axes make 320 ° with
And 360 ° freely turn round.The clamp ring (not shown) for adjusting back level of torque is wherein respectively arranged with each revolute joint, can be met
Angle of revolution is determined by two clamping plate (not shown) positions for adjusting angle to be required to the difference of flywheel moment size.It passes through
Cylinder and frame for movement make operator carry out corresponding push-and-pull to weight, so that it may which in space, inner equilibrium moves to desired position,
Minimize the labour force of operator.Meanwhile, it can reduce unnecessary action, make operation because need not separately be equipped with upper and lower button
Person can move heavy burden thing in the difficult space of button actions easily, and can directly move heavy burden thing, improve work efficiency.
It is agravic refer to no upper and lower button in the case of can transfer heavy burden thing up and down, small strength with operator (3～5Kgf with
Under) can be with down operation.The big I of operating physical force is realized by the air relief valve (not shown) of the corresponding cylinder of regulation.
In the present embodiment, the clamping device 1 is used for clamping heavy burden thing, its can 360 ° freely turn round be connected to and vertically put
On the connecting rod 2 put, connecting rod 2 is rotatably coupled to horizontal positioned in the one end away from clamping device 1 by revolute joint III 3
On telescopic cantilever 4, telescopic cantilever 4 is rotatably coupled to do by revolute joint II 5 in the one end away from revolute joint III 3
Swing up and down in the swing arm 6 of motion, swing arm 6 connects by revolute joint I 7 is rotatable in the one end away from revolute joint II 5
Being vertically fixed on the column 8 on ground, it is additionally provided between revolute joint I 7 and revolute joint II 5 and is arranged in parallel with swing arm 6
Pull bar 9, two ends and the revolute joint I 7 and revolute joint II 5 of the pull bar 9 are hinged respectively；Revolute joint III 3 is fixedly mounted on
On telescopic cantilever 4, connecting rod 2 can be made to remain vertical rotational motion；Revolute joint II 5 is fixedly mounted in swing arm 6, can make to stretch
Contracting cantilever 4 is remained and horizontally rotates motion；Revolute joint I 7 is hinged respectively with swing arm 6 and cylinder I 10, the cylinder of cylinder I 10
Bar is hinged and is connected to swing arm 6, and swing arm 6 can be made to do by the articulated section between swing arm 6 and revolute joint I 7 in the presence of cylinder I 10
Lower swing is moved, and cylinder I 10 passes through being hinged between cylinder I 10 and revolute joint I 7 under the retroaction that swing arm 6 swings up and down
Portion follows swing arm 6 to do roll motion；Pneumatic controlled box 11 is fixedly mounted on revolute joint I 7, and connect with cylinder I 10；It is flexible
Cantilever 4 includes inner arm 401, the outer arm 402 that be set in inner arm 401 outward and can slide along 401 axial reciprocating of inner arm and is located at
Several Universal casters 403 between inner arm 401 and outer arm 402, inner arm 401 are rotatably connected with revolute joint II 5, outer arm
402 are fixedly connected with revolute joint III 3.Certainly in various embodiments, phase interworking is set between the arm and outer arm
The linear ramp of conjunction, it is also possible to reach the purpose that outer arm slides relative to inner arm.Structure of this utility model by telescopic cantilever
Design, can possess realization rapidly radially straight-line feed motion while mechanical hand rotates, not only increase working place, also
Improve work efficiency.
Preferably, the arm ratio of the telescopic cantilever is 1：The both sides of the articulated section of 5, i.e. telescopic cantilever on revolute joint I
Brachium ratio.So, its maximum height：1663.5mm, highest working depth：1843.5mm, minimum working depth：180mm, removes
Fortune weight：Within 60kg, telescopic cantilever can swing up and down 80 °.
In the present embodiment, a row or multi-row described Universal caster is provided with the least one set opposite face of inner arm 401
403, often to arrange connecting spring 404 is provided between the adjacent two-by-two Universal caster 403 in described Universal caster.So, stretch
During elongation, connecting spring 404 is mutually drawn close and compressed to Universal caster 403 to contracting cantilever 4 between any two, when telescopic cantilever 4 is received
During contracting, Universal caster 403 separates under the elastic-restoring force effect of connecting spring 404 and ensures Universal caster 403 between any two
Spacing so that interior outer arm uniform force.Certainly in various embodiments, the Universal caster may be alternatively provided as fixing
Formula structure, can equally reach the effect of above-mentioned purpose.
In the present embodiment, spacing collar 701 on revolute joint I 7, is additionally provided with, spacing collar 701 is by two necklaces (unmarked)
Constitute, on two necklaces, be each provided with a boss (unmarked), with vertical during for preventing two necklaces from mutually rotating
The above is rotated by 360 ° centered on post, so as to the connection trachea ensured between Pneumatic controlled box 11 and cylinder I 10 will not be because of revolute joint
I 7 excessive rotation and pull fracture, and then affect mechanical hand normal work.
In the present embodiment, handle 201 on connecting rod 2, is additionally provided with, the handle 201 is scissor-type handle, described for manipulating
Clamping device 1.So, structure design of this utility model by scissor-type handle, is conducive to operator to a certain extent
Away from clamping device so that the security protection reliability of this mechanical hand, personal safety and the health of staff is effectively ensured.Need
It is noted that the scissor-type handle can be fixed on connecting rod with folding in the case of not use, if when which needs to use
When, need to only pull out, and positioning is realized by its self-locking device (not shown) afterwards in place in its pull-out, so that operator can
It is convenient that a series of operations such as pulling, promotion, upper lift, whereabouts are implemented to the handle；Meanwhile, operation folder is provided with handle
The button (unmarked) of tight device folding.
In the present embodiment, clamping device 1 includes bracket 101 and drives the cylinder II 12 of 101 folding of bracket, the cylinder II
12 supply air line (not shown) is passed sequentially through the inside of pull bar 2, telescopic cantilever 4 and swing arm 6 and is connected with Pneumatic controlled box 11.Enter one
Step, is provided with slipmat 102 on the inner edge of bracket 101.As such, it is possible to heavy burden thing is firmly clamped, to guarantee robot work
Safety.
In the present embodiment, pneumatic filtration actuator (not shown), the pneumatic filtration actuator on Pneumatic controlled box 11, is provided with
For filtering steady pressure source of the gas.It is to filter out unstable compressed air, and stable provides appropriate steady to cylinder I and II
Fixed pressure gas source, it is ensured that its work direct motion.Air pressure capacity used in this example：0.6Mpa(6kgf/cm2) more than.
Generally speaking, this utility model mechanical hand has simple for structure, easy to operate, quick, reliability, safety, effect
The advantages of rate height, saving manpower, and be conducive to rationally using place resource, so as to reduce production cost.Meanwhile, by machinery
The development of handss, effectively reduces business equipment investment and maintenance cost, and in the work of each parts design, realizes domestic
Change, reduce production cost.
Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng
The present invention is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this practicality
New technical scheme is modified or equivalent, and without deviating from the objective and scope of the technical program, which all should be covered
In the middle of right of the present utility model.
Claims (7)
1. a kind of scalable agravic mechanical hand, it is characterised in that：Include column, swing arm, pull bar, telescopic cantilever, connecting rod, folder
Tight device, cylinder I and Pneumatic controlled box, wherein,
The clamping device is rotatablely connected with the connecting rod, and the connecting rod passes through back in the one end away from the clamping device
Turn joint III and be rotatablely connected with the telescopic cantilever, the telescopic cantilever passes through in the one end away from the revolute joint III
Revolute joint II is rotatablely connected with the swing arm, and the swing arm is closed by turning round in the one end away from the revolute joint II
Section I is rotatablely connected with the column, is additionally provided with and is arranged in parallel with swing arm between the revolute joint I and revolute joint II
The pull bar, the two ends of the pull bar are hinged respectively with the revolute joint I and revolute joint II；
The revolute joint III is fixedly mounted on the telescopic cantilever, makes connecting rod remain vertically rotation；The revolution is closed
Section II is fixedly mounted in the swing arm, is remained telescopic cantilever and is horizontally rotated；The revolute joint I and the swing arm and
Cylinder I is hinged respectively, and the cylinder rod of the cylinder I is hinged and is connected to swing arm, makes swing arm in the presence of cylinder I by itself and revolution
Articulated section between joint I swings up and down, and cylinder I under the retroaction that swing arm swings up and down by its between revolute joint I
Articulated section follow swing arm to swing；
The Pneumatic controlled box is fixedly mounted on the revolute joint I, and connect with the cylinder I；
The telescopic cantilever includes inner arm, the outer arm that be set in inner arm outward and can slide along inner arm axial reciprocating and located at interior
Several Universal casters between arm and outer arm, the inner arm are rotatably connected with the revolute joint II, the outer arm and institute
State revolute joint III to be fixedly connected；The connecting rod is provided with handle, and the handle is scissor-type handle, for manipulating the clamping
Device.
2. scalable agravic mechanical hand according to claim 1, it is characterised in that：In the least one set phase of the inner arm
A row or multi-row described Universal caster is provided with opposite.
3. scalable agravic mechanical hand according to claim 2, it is characterised in that：Often arrange two in described Universal caster
Connecting spring is provided between the two adjacent Universal casters.
4. scalable agravic mechanical hand according to claim 1, it is characterised in that：Also set up on the revolute joint I
Limited location circle, the spacing collar are made up of two necklaces, are each provided with a boss on two necklaces, for prevent this two
The above is rotated by 360 ° when individual necklace is mutually rotated centered on column.
5. scalable agravic mechanical hand according to claim 1, it is characterised in that：The clamping device include bracket with
And the cylinder II of bracket folding is driven, the supply air line of the cylinder II passes sequentially through the inside of pull bar, telescopic cantilever and swing arm
Connect with Pneumatic controlled box.
6. scalable agravic mechanical hand according to claim 5, it is characterised in that：It is provided with the inner edge of the bracket
Slipmat.
7. scalable agravic mechanical hand according to claim 5, it is characterised in that：It is provided with the Pneumatic controlled box pneumatic
Actuator is filtered, the pneumatic filtration actuator is used for filtering steady pressure source of the gas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620559062.0U CN206029897U (en) | 2016-06-12 | 2016-06-12 | Scalable agravic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620559062.0U CN206029897U (en) | 2016-06-12 | 2016-06-12 | Scalable agravic manipulator |
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| Publication Number | Publication Date |
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| CN206029897U true CN206029897U (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620559062.0U Active CN206029897U (en) | 2016-06-12 | 2016-06-12 | Scalable agravic manipulator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322636A (en) * | 2017-09-01 | 2017-11-07 | 深圳龙海特机器人科技有限公司 | Flexible joint and revolution folding arm |
| CN107378969A (en) * | 2017-09-05 | 2017-11-24 | 刘哲 | A kind of intelligent robot |
| CN107498533A (en) * | 2017-09-05 | 2017-12-22 | 刘哲 | A kind of intelligent mobile robot |
| CN107685321A (en) * | 2017-09-05 | 2018-02-13 | 刘哲 | A kind of autobalance machine people |
| CN109252489A (en) * | 2018-11-23 | 2019-01-22 | 国家电网有限公司 | A kind of slope protection draining fast reinforcing of storage station |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
-
2016
- 2016-06-12 CN CN201620559062.0U patent/CN206029897U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322636A (en) * | 2017-09-01 | 2017-11-07 | 深圳龙海特机器人科技有限公司 | Flexible joint and revolution folding arm |
| CN107378969A (en) * | 2017-09-05 | 2017-11-24 | 刘哲 | A kind of intelligent robot |
| CN107498533A (en) * | 2017-09-05 | 2017-12-22 | 刘哲 | A kind of intelligent mobile robot |
| CN107685321A (en) * | 2017-09-05 | 2018-02-13 | 刘哲 | A kind of autobalance machine people |
| CN109252489A (en) * | 2018-11-23 | 2019-01-22 | 国家电网有限公司 | A kind of slope protection draining fast reinforcing of storage station |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
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