CN206287159U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN206287159U CN206287159U CN201621425570.6U CN201621425570U CN206287159U CN 206287159 U CN206287159 U CN 206287159U CN 201621425570 U CN201621425570 U CN 201621425570U CN 206287159 U CN206287159 U CN 206287159U
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- CN
- China
- Prior art keywords
- gear
- rotate
- shaft
- conical gear
- mechanical
- 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 kind of manipulator, including grabbing device and drive device；The grabbing device refers to including what mobile foundation and the mobile foundation bottom were hinged for some mechanical fingers of crawl and the mechanical chain for being hinged on the mobile foundation bottom with mechanical finger interval；The mechanical finger includes the first conical gear that crawl plate is connected with the crawl plate upper transmission and the second conical gear engaged with first conical gear；The mechanical chain refers to including some cylindricality electromagnet；The cylindricality electromagnet is hinged successively by connecting rod；The some described cylindricality electromagnet that each described mechanical chain refers to is wound by conductive winding；The drive device includes some motors being connected with second Bevel Gear Drive and some dc sources connected with the cylindricality electromagnet；The utility model simple structure, reasonable in design, manipulator can realize crawl special construction object and crawl dynamics and speed is adjusted flexibly.
Description
Technical field
The utility model is related to a kind of manipulator.
Background technology
Manipulator be one kind can imitate staff carry out some action, be used to by fixed routine capture be automatically brought into operation dress
Put.Manipulator is usually applied in industrial carrying, and the mechanization and automation of production are realized instead of the heavy labor of people, can had
Operated under harmful environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy etc.
Aspect.
In the prior art, manipulator tends not to capture some specific or special construction parts or object, due to
Manipulator has larger rigidity, is easily damaged during crawl special construction object, it is impossible to the stiffness equivalent manipulator according to object
Dynamics during crawl.
Utility model content
Regarding to the issue above, the utility model provides one kind and can capture special construction object, crawl dynamics is adjusted flexibly
Manipulator.
To reach above-mentioned purpose, a kind of manipulator of the utility model, including grabbing device and being fixed with the grabbing device
The drive device of connection；
The grabbing device includes some manipulators for crawl that mobile foundation and the mobile foundation bottom are hinged
The mechanical chain for referring to and being hinged on the mobile foundation bottom with mechanical finger interval refers to；
The mechanical finger include the first conical gear of crawl plate and the crawl plate upper transmission connection and with institute
State the second conical gear of the first conical gear engagement；
The crawl plate is hinged with the mobile foundation by the first jointed shaft, and one end of first jointed shaft is provided with
First conical gear, first conical gear is engaged with the second conical gear, and second conical gear is passed with drive device
Dynamic connection；
The mechanical chain refers to including some cylindricality electromagnet；The cylindricality electromagnet is hinged successively by connecting rod；Some institutes
Cylindricality electromagnet is stated to be connected by conductive winding；
The drive device includes the motor that is connected with second Bevel Gear Drive of some output shafts and some
The dc source connected with the cylindricality electromagnet.
Preferably, the drive device is also included for the first control device of control machinery finger folding and for controlling
Mechanical chain refers to the second control device of magnetic force；
The first control device includes input gear axle, intermediate gear shaft and splined shaft；
The splined shaft includes rotating the first rotate gear, the second rotate gear and the setting being connected with the splined shaft
The sleeve being slidably connected with the splined shaft between first rotate gear and the second rotate gear；The sleeve respectively with
First rotate gear and the second rotate gear are adapted to；Poke rod is fixedly connected with the sleeve；First turning gear
Tooth number is more than second rotate gear；
The intermediate gear shaft include be fixedly connected on axle respectively with input gear axle, first rotate gear and institute
State three gears of the second rotate gear engagement；
The input gear axle is connected with the output shaft of the motor；The splined shaft and second circular cone
Gear drive is connected；
When the poke rod controls the sleeve to coordinate with first rotate gear, the input gear axle drives institute
Intermediate gear shaft rotation is stated, the one of gear on the intermediate gear shaft is with the first rotate gear engagement rotation so as to drive
Second conical gear is rotated；
When the poke rod controls the sleeve to coordinate with second rotate gear, the input gear axle drives institute
Intermediate gear shaft rotation is stated, the other in which gear and the second rotate gear engagement rotation on the intermediate gear shaft are so as to band
Dynamic second conical gear is rotated.
Preferably, the second controller includes controlling switch and slide rheostat；The dc source, the mechanical chain
Refer to, the controlling switch and the slide rheostat are connected in series；The controlling switch is used to control the break-make of whole circuit；
When the slide rheostat increase resistance is adjusted, electric current reduces in circuit, and the magnetic force of the cylindricality electromagnet subtracts
It is small；
When the slide rheostat reduction resistance is adjusted, electric current increase in circuit, the magnetic force of the cylindricality electromagnet increases
Greatly.
Preferably, the mobile foundation bottom centre is provided with annular LED lamp；The annular LED lamp is provided centrally with taking the photograph
As head；The crawl plate surface is provided with rubber blanket.
The utility model simple structure, reasonable in design, the cooperation referred to by mechanical finger and mechanical chain is captured can be easily
Crawl special construction object, it is ensured that production and carrying to the part of special construction；Power during crawl can also flexibly be changed simultaneously
Degree, more firmly simultaneously will not also part of damage during crawl.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment 1；
Fig. 2 is the diagrammatic top view that the mobile foundation of the utility model embodiment 1 and mechanical finger are hinged；
Fig. 3 is that the general robot arm of the utility model embodiment 1 refers to the structure diagram being connected with mobile foundation；
Fig. 4 is the schematic diagram of the first control device of the utility model embodiment 2.
Specific embodiment
The utility model is further described with reference to Figure of description.
Embodiment 1
As shown in figure 1, a kind of manipulator of the present embodiment, including grabbing device 1 and it is fixedly connected with the grabbing device 1
Drive device 2；
The grabbing device 1 includes some machines for crawl that mobile foundation 3 and the bottom of the mobile foundation 3 are hinged
Tool finger 4 and the mechanical chain for being hinged on the bottom of the mobile foundation 3 with the interval of the mechanical finger 4 refer to 5；
It is preferable selection scheme to be hinged on mobile foundation with minimum of three mechanical finger 4 in the present embodiment；But this implementation
The protection domain of example is not only three also includes three and above mechanical finger 4；
The mechanical finger include the first conical gear 7 that crawl plate 6 is fixedly connected with crawl plate 6 top and
The second conical gear 8 engaged with first conical gear 7；
The crawl plate 6 is hinged with the mobile foundation 3 by the first jointed shaft, one end transmission of first jointed shaft
Be provided with the first conical gear 7, first conical gear 7 is engaged with the second conical gear 8, second conical gear 8 with
Drive device 2 is connected；
As Figure 2-3, the bottom of the mobile foundation 3 be provided with some gear shaft blocks and it is some with it is described crawl plate 6 fit
The portal trestle matched somebody with somebody；First jointed shaft is rotatably connected and the crawl plate 6 through the crawl plate with the portal trestle
Top is arranged in the portal trestle；The crawl plate 6 is cut with scissors by portal trestle and the first jointed shaft with the mobile foundation 3
Connect；First conical gear 7 is with second conical gear 8 in the gear shaft block Inside gear drive；
The mechanical chain refers to that 5 include some cylindricality electromagnet；The cylindricality electromagnet is hinged successively by connecting rod；Some institutes
Cylindricality electromagnet is stated to be connected by conductive winding；
If the drive device 2 include the motor 9 that is connected with second conical gear 8 of some output shafts and
The dry dc source connected with the cylindricality electromagnet.
When robot work, the mobile foundation 3 is moved at the part for needing crawl, by the drive device 2
In the motor 9 open, the motor 9 is rotated backward, and drives second conical gear 8 and the described first circle
Rotating disk axle 7 is rotated, and first conical gear 7 is rotated so as to drive the crawl plate 6 to be rotated around the portal trestle, described
Mechanical finger 4 opens；After contact part, the motor 9 is rotated forward, and the mechanical finger 4 shrinks Clamp blocks；
If part is special construction part, the mobile foundation 3 is moved at the part for needing crawl, by the drive
The motor 9 in dynamic device 2 is opened, and the motor 9 is rotated backward, and the mechanical finger 4 opens, and contacts part
Afterwards, the motor 9 is rotated forward and simultaneously opens the dc source in the drive device 2, and the mechanical finger 4 is received
Contracting, the mechanical chain refers to 5 absorption on piece surface, and the mechanical finger 4 refers to that 5 simultaneously clamp on part with the mechanical chain；
The folding speed of the mechanical finger 4 can be adjusted using gear drive simultaneously.
The present embodiment simple structure, easy to operate, not only the mechanical finger 4 can accurately firmly grasp zero by gear drive
Part, moreover it is possible to by the mechanical finger 4 with tell mechanical chain refer to 5 simultaneously work crawl special constructions parts improve work effect
Rate.
Embodiment 2
Based on above-described embodiment, drive device 2 described in the present embodiment also includes first for the folding of control machinery finger 4
Control device and refer to the second control device of 5 magnetic force for control machinery chain；
As shown in figure 4, the first control device includes input gear axle 10, intermediate gear shaft 11 and splined shaft 13；
The splined shaft 13 includes rotating the first rotate gear 15, the second rotate gear 16 being connected with the splined shaft 13
And it is arranged on the sleeve being slidably connected with the splined shaft 13 between the rotate gear 16 of first rotate gear 15 and second
12；The sleeve 12 is adapted to the rotate gear 16 of first rotate gear 15 and second respectively；First rotate gear 15
The number of teeth is more than the number of teeth of the second rotate gear 16；Poke rod 14 is fixedly connected with the sleeve 12；
The intermediate gear shaft 11 include be fixedly connected on axle respectively with input gear axle 10, first rotate gear
15 and second rotate gear 15 engagement three gears；
The input gear axle 10 is connected with the output shaft of the motor 9；The splined shaft 13 and described
Two conical gears 8 are connected；
When the poke rod 14 controls the sleeve 12 to coordinate with first rotate gear 15, the input gear axle
10 drive the intermediate gear shaft 11 to rotate, and the one of gear on the intermediate gear shaft 11 is nibbled with the first rotate gear 15
Close and rotate so as to drive second conical gear 8 to rotate；Second conical gear 8 drives 7 turns of first conical gear
Move from the control crawl plate 6 with First Speed folding；
When the poke rod 14 controls the sleeve 12 to coordinate with second rotate gear 16, the input gear axle
10 drive the intermediate gear shaft 11 to rotate, other in which gear and the second rotate gear 16 on the intermediate gear shaft 11
Engagement rotation is rotated so as to drive second conical gear 8；Second conical gear 8 drives first conical gear 7
Rotate from the control crawl plate 6 with second speed folding；
When the number of turns that the motor 9 is rotated is identical, first rotate gear 15 and second rotate gear
More than 16 numbers of teeth, great efforts when the crawl plate 6 is captured, while the rotation of the different numbers of teeth can be changed according to different crawl things
Gear come change it is described crawl plate 6 crawl dynamics.
The present embodiment simple structure, it is easy to operate, control the motor 9 to carry out crawl work with the same rotation number of turns
Make, first circle is changed by changing the gearratio between gear and turns the rotation number of turns of bevel gear 7 come to the crawl plate 6
Promptly dynamics be adjusted, or adjusted by changing the gearratio between gear it is described crawl plate 6 promptly speed.
Embodiment 3
Based on above-described embodiment, second controller described in the present embodiment includes controlling switch and slide rheostat；It is described straight
Stream power supply, the mechanical chain refer to that the conductive winding on 5, the controlling switch and the slide rheostat are connected in series；
The controlling switch is used to control the conducting of whole circuit；
When the slide rheostat increase resistance is adjusted, electric current reduces in circuit, and electric current also subtracts in the conductive winding
It is small；The magnetic force of the cylindricality electromagnet reduces；
When the slide rheostat reduction resistance is adjusted, electric current increase in circuit, electric current also increases in the conductive winding
Greatly；The magnetic force increase of the cylindricality electromagnet.
The bottom centre of the mobile foundation 3 is provided with annular LED lamp；The annular LED lamp is provided centrally with camera；Institute
State crawl plate 6 surface and be provided with rubber blanket.
When lighter special construction object is captured, the resistance for adjusting the slide rheostat increases, and reduces the mechanical chain
Refer to that 5 absorption affinity prevents from damaging crawl object；When heavier special construction object is captured, the resistance of the slide rheostat is adjusted
Reduce, increase the mechanical chain and refer to that 5 absorption affinity prevents crawl object from dropping；The LED of the bottom centre of the mobile foundation 3 and
Camera is used in combination, and manipulator can be made normally to be captured in the case where night or light are excessively dark.
The present embodiment changes the magnetic force of the cylindricality electromagnet by adjusting the electric current of the wire winding, to corresponding
The crawl that object carries out different dynamics preferably protects object not damage and prevents object from coming off, and improves production efficiency.
More than, preferred embodiment only of the present utility model, but protection domain of the present utility model is not limited thereto, and appoints
What those familiar with the art the change that can readily occur in or replaces in the technical scope that the utility model is disclosed
Change, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with claim
The protection domain for being defined is defined.
Claims (4)
1. a kind of manipulator, it is characterised in that：The drive device being fixedly connected including grabbing device and with the grabbing device；
The grabbing device include that mobile foundation and the mobile foundation bottom be hinged for some mechanical fingers for capturing with
And be hinged on the mechanical chain of the mobile foundation bottom with mechanical finger interval and refer to；
The mechanical finger includes the first conical gear of crawl plate and the crawl plate upper transmission connection and with described the
Second conical gear of one conical gear engagement；
The crawl plate is hinged with the mobile foundation by the first jointed shaft, and one end of first jointed shaft is connected with
First conical gear, first conical gear is engaged with the second conical gear, and second conical gear is passed with drive device
Dynamic connection；
The mechanical chain refers to including some cylindricality electromagnet；The cylindricality electromagnet is hinged successively by connecting rod；Some posts
Shape electromagnet is connected by conductive winding；
Motor and some and institute that the drive device is connected including some output shafts with second Bevel Gear Drive
State the dc source of cylindricality electromagnet series connection.
2. as claimed in claim 1 a kind of manipulator, it is characterised in that：The drive device also includes being used for control machinery finger
The first control device of folding and refer to the second control device of magnetic force for control machinery chain；
The first control device includes input gear axle, intermediate gear shaft and splined shaft；
The splined shaft includes the first rotate gear being connected with splined shaft rotation, the second rotate gear and is arranged on institute
State the sleeve being slidably connected with the splined shaft between the first rotate gear and the second rotate gear；The sleeve respectively with it is described
First rotate gear and the second rotate gear are adapted to；Poke rod is fixedly connected with the sleeve；The first turning gear gear teeth
Number is more than second rotate gear；
The intermediate gear shaft include being fixedly connected on axle respectively with input gear axle, first rotate gear and described the
Three gears of two rotate gears engagement；
The input gear axle is connected with the output shaft of the motor；The splined shaft and second conical gear
Drive connection；
When the poke rod controls the sleeve to coordinate with first rotate gear, during the input gear axle driving is described
Between gear shaft rotate, one of gear and the first rotate gear engagement rotation on the intermediate gear shaft are so as to described in driving
Second conical gear is rotated；
When the poke rod controls the sleeve to coordinate with second rotate gear, during the input gear axle driving is described
Between gear shaft rotate, the other in which gear and the second rotate gear engagement rotation on the intermediate gear shaft are so as to drive
State the rotation of the second conical gear.
3. as claimed in claim 2 a kind of manipulator, it is characterised in that：The second controller includes controlling switch and slides to become
Resistance device；The dc source, the mechanical chain refer to, the controlling switch and the slide rheostat are connected in series；The control
System switch is used to control the break-make of whole circuit；
When the slide rheostat increase resistance is adjusted, electric current reduces in circuit, and the magnetic force of the cylindricality electromagnet reduces；
When the slide rheostat reduction resistance is adjusted, electric current increase in circuit, the magnetic force increase of the cylindricality electromagnet.
4. as claimed in claim 1 a kind of manipulator, it is characterised in that：The mobile foundation bottom centre is provided with annular LED
Lamp；The annular LED lamp is provided centrally with camera；The crawl plate surface is provided with rubber blanket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621425570.6U CN206287159U (en) | 2016-12-23 | 2016-12-23 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621425570.6U CN206287159U (en) | 2016-12-23 | 2016-12-23 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206287159U true CN206287159U (en) | 2017-06-30 |
Family
ID=59154320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621425570.6U Expired - Fee Related CN206287159U (en) | 2016-12-23 | 2016-12-23 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206287159U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471232A (en) * | 2017-08-31 | 2017-12-15 | 黑龙江建筑职业技术学院 | A kind of manipulator |
| CN108065688A (en) * | 2017-11-18 | 2018-05-25 | 林泽辉 | A kind of article-holding frame for being convenient for taking eminence commodity |
| CN108214537A (en) * | 2018-02-02 | 2018-06-29 | 昆明理工大学 | A kind of multi-functional flexible grasping mechanism |
| CN108499623A (en) * | 2018-04-13 | 2018-09-07 | 上海东富龙医疗装备有限公司 | Pipe clamp is chosen with the rotatable automation sample tube for choosing pipe axis |
| CN108673553A (en) * | 2018-08-02 | 2018-10-19 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| CN109483593A (en) * | 2018-10-27 | 2019-03-19 | 徐州巨业机械制造有限公司 | A kind of maintenance unit of mechanical arm |
| CN109742674A (en) * | 2019-02-26 | 2019-05-10 | 徐秀焕 | A kind of novel distribution cabinet of mountain area automatic switch power |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
-
2016
- 2016-12-23 CN CN201621425570.6U patent/CN206287159U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471232A (en) * | 2017-08-31 | 2017-12-15 | 黑龙江建筑职业技术学院 | A kind of manipulator |
| CN107471232B (en) * | 2017-08-31 | 2019-07-16 | 黑龙江建筑职业技术学院 | A kind of manipulator |
| CN108065688A (en) * | 2017-11-18 | 2018-05-25 | 林泽辉 | A kind of article-holding frame for being convenient for taking eminence commodity |
| CN108065688B (en) * | 2017-11-18 | 2020-07-28 | 泉州市菲式生物科技有限公司 | Article shelf device convenient for taking high-place goods |
| CN108214537B (en) * | 2018-02-02 | 2023-07-18 | 昆明理工大学 | Multifunctional flexible grabbing mechanism |
| CN108214537A (en) * | 2018-02-02 | 2018-06-29 | 昆明理工大学 | A kind of multi-functional flexible grasping mechanism |
| CN108499623A (en) * | 2018-04-13 | 2018-09-07 | 上海东富龙医疗装备有限公司 | Pipe clamp is chosen with the rotatable automation sample tube for choosing pipe axis |
| CN108499623B (en) * | 2018-04-13 | 2024-02-02 | 东富龙生命科技有限公司 | Automatic sample tube picking clamp with rotatable picking tube shaft |
| CN108673553A (en) * | 2018-08-02 | 2018-10-19 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| CN109483593A (en) * | 2018-10-27 | 2019-03-19 | 徐州巨业机械制造有限公司 | A kind of maintenance unit of mechanical arm |
| CN109742674A (en) * | 2019-02-26 | 2019-05-10 | 徐秀焕 | A kind of novel distribution cabinet of mountain area automatic switch power |
| CN109742674B (en) * | 2019-02-26 | 2020-08-07 | 中电装备山东电子有限公司 | Novel power distribution cabinet of automatic switch power supply for mountain area |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170630 Termination date: 20181223 |