CN206383133U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN206383133U CN206383133U CN201720077816.3U CN201720077816U CN206383133U CN 206383133 U CN206383133 U CN 206383133U CN 201720077816 U CN201720077816 U CN 201720077816U CN 206383133 U CN206383133 U CN 206383133U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- gripper
- flange
- cylinder
- hinge bar
- 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 embodiment discloses a kind of manipulator, belongs to mechanical field.The device includes supporting mechanism, grasping mechanism and steering mechanism, supporting mechanism provides support force, grasping mechanism has cylinder and gripper, grasp force is provided, steering mechanism provides commutation function, the utility model is acted using the folding and unfolding driving mechanical pawl of cylinder, to provide grasp force, it is simple in construction, cost is relatively low, the volume that material can be captured is big, gripper works asynchronously simultaneously, grasping stability, motor can drive whole mechanism to rotate, so that manipulator possesses turning function, during forging, people's hand-turning material can be simulated to be forged, to obtain preferable institutional framework.
Description
Technical field
The utility model is related to machinery equipment field, more particularly to a kind of manipulator.
Background technology
Robot is a kind of high-tech automated production equipment that recent decades grow up, and manipulator is the one of robot
Individual important branch.But manipulator of the prior art, structure is generally complex, and cost is higher, two gripper crawls are inadequate
It is stable, the small volume of material can be captured, in addition in forging industry, it is necessary to after being captured to material, during dies forge
The angle of constantly adjustment material is needed, big multi-robot is without the function of turning at present.
In summary, manipulator of the prior art, has that complicated, cost is higher, can capture the volume of material compared with
Small, crawl is not sufficiently stable, without turning function, it is difficult to the problem of forging industry is applied.
Utility model content
The utility model provides a kind of manipulator, can solve in the prior art, complicated, cost is higher, can capture
The small volume of material, crawl is not sufficiently stable, without turning function, it is difficult to the problem of forging industry is applied.
The utility model provides a kind of manipulator, including supporting mechanism, grasping mechanism and steering mechanism；Supporting mechanism bag
Include the circular support frame being made up of some pieces of arc support rods, first flange and several hinge bars, the arc support rod
It is arranged at intervals one by one with the hinge bar, the end of the hinge bar is rotatably arranged on the institute adjacent with the hinge bar
State in the end of arc support rod, spacing hole is offered on the hinge bar, support frame as described above and the first flange pass through even
Extension bar is connected；Cylinder that grasping mechanism includes being connected on the first flange bottom surface, it is connected to the piston rod of the cylinder
On contiguous block and with the one-to-one gripper of the hinge bar, the gripper is by Part I and Part II institute group
Into V-structure, one end of the Part I is connected with one end of the Part II, and the Part I is away from described
One end of Part II is hinged with the contiguous block, and the Part I is through in the spacing hole, the Part I with
The rotary centerline of the hinge bar is perpendicular；Steering mechanism includes motor and be connected in the output end of the motor second
Flange, the second flange is connected with the first flange.
More preferably, the quantity of the gripper is three or more than three.
More preferably, the axial line of piston rod of the gripper along the cylinder is arranged circumferentially.
More preferably, the axial line of the axial line of the output shaft of the motor and the piston rod of the cylinder is straight positioned at same
On line.
More preferably, the groove of frictional force can be increased by being offered on the Part II.
The utility model is there is provided a kind of manipulator, and it is acted using the folding and unfolding driving mechanical pawl of cylinder, to provide crawl
Power, simple in construction, cost is relatively low, and the volume that can capture material is big, and gripper works asynchronously simultaneously, grasping stability, and motor can be with
Whole mechanism is driven to rotate so that manipulator possesses turning function, during forging, can simulate people's hand-turning material
Forged, to obtain preferable institutional framework.
Brief description of the drawings
The structural representation for the manipulator that Fig. 1 provides for the utility model；
Fig. 2 is the structural representation of hinge bar in Fig. 1.
Description of reference numerals：
10- support frames, 11- hinge bars, 12- spacing holes, 13- first flanges, 14- connecting rods, 20- cylinders, 21- connections
Block, 22- grippers, 30- motors, 31- second flanges.
Embodiment
Below in conjunction with the accompanying drawings, an embodiment of the present utility model is described in detail, it is to be understood that this
The protection domain of utility model is not limited by embodiment.
As depicted in figs. 1 and 2, the utility model provides a kind of manipulator, including supporting mechanism, grasping mechanism and steering
Mechanism；Supporting mechanism includes circular support frame 10, first flange 13 and several hinges being made up of some pieces of arc support rods
Extension bar 11, arc support rod is arranged at intervals one by one with hinge bar 11, and the end of hinge bar 11 is rotatably arranged on being somebody's turn to do
In the end of the adjacent arc support rod of hinge bar 11, spacing hole 12, support frame 10 and first flange are offered on hinge bar 11
13 are connected by connecting rod 14；Grasping mechanism include be connected on the bottom surface of first flange 13 cylinder 20, be connected to cylinder 20
Piston rod on contiguous block 21 and with the one-to-one gripper of hinge bar 11 22, gripper 22 be by Part I and second
The V-structure that part is constituted, one end of Part I is connected with one end of Part II, and Part I is away from Part II
One end be hinged with contiguous block 21, Part I is through in spacing hole 12, the rotary centerline of Part I and hinge bar 11
It is perpendicular；Steering mechanism includes motor 30 and the second flange 31 that is connected in the output end of motor 30, second flange 31 and the
One flange 13 is connected, and the quantity of gripper 22 is three, and the axial line of piston rod of the gripper 22 along cylinder 20 is circumferentially uniform
Arrangement, the axial line of the axial line and the piston rod of cylinder 20 of the output shaft of motor 30 is located on the same line, Part II
On offer and can increase the groove of frictional force.
In other embodiments, the gripper 22 in above-described embodiment can be more than three.
In use, whole robot device needs to be fixed in other equipment, material area to be captured, piston are moved to
Bar is stretched out, and drives hinge bar 11 to rotate while gripper 22 is slided in spacing hole 12, and gripper 22 is outwards overturn, three machines
Peripherally and outwardly expanded between machinery claw 22, in treating seized condition, during grasping movement, gripper 22 under the drive that piston rod shrinks,
It is circumferential inwardly to draw in, material is captured, can band during action because the Part I of gripper 22 has inclined angle
The axial line of the Part II of motivation machinery claw 22 to the piston rod of cylinder 20 draws close contraction, when gripper 22 is adjacent to material, material
When the grasp force that the opposite force and cylinder 20 for giving gripper 22 are provided balances each other, gripper stopping action reaching and most preferably grabbed
Effect is taken, then mobile material is to forging die relevant position, during forging, motor 30 can be in PLC or other controllers
Control under, with default angle and frequency driving mechanical hand so that drive material rotate, reach optimal forging effect.
The utility model is there is provided a kind of manipulator, and it is acted using the folding and unfolding driving mechanical pawl 22 of cylinder 20, is grabbed with providing
Power taking, simple in construction, cost is relatively low, and the volume that can capture material is big, and three grippers 22 work asynchronously simultaneously, grasping stability,
Motor 30 can drive whole mechanism to rotate so that manipulator possesses turning function, during forging, can simulate human hand
Work rotates material and forged, to obtain preferable institutional framework.
Disclosed above is only several specific embodiments of the present utility model, still, the utility model embodiment not office
It is limited to this, the changes that any person skilled in the art can think of should all fall into protection domain of the present utility model.
Claims (5)
1. a kind of manipulator, it is characterised in that including：
Supporting mechanism, its circular support frame for including being made up of some pieces of arc support rods, first flange and several be hinged
Bar, the arc support rod is arranged at intervals one by one with the hinge bar, and the end of the hinge bar is rotatably arranged on
In the end of the arc support rod adjacent with the hinge bar, offer spacing hole on the hinge bar, support frame as described above and
The first flange is connected by connecting rod；
Grasping mechanism, its cylinder for including being connected on the first flange bottom surface, is connected on the piston rod of the cylinder
Contiguous block and with the one-to-one gripper of the hinge bar, the gripper is is made up of Part I and Part II
V-structure, one end of the Part I is connected with one end of the Part II, and the Part I is away from described
One end of two parts is hinged with the contiguous block, and the Part I is through in the spacing hole, the Part I and institute
The rotary centerline for stating hinge bar is perpendicular；
Steering mechanism, it includes motor and the second flange being connected in the output end of the motor, the second flange and institute
First flange is stated to be connected.
2. a kind of manipulator as claimed in claim 1, it is characterised in that the quantity of the gripper be three or three with
On.
3. a kind of manipulator as claimed in claim 1 or 2, it is characterised in that piston rod of the gripper along the cylinder
Axial line be arranged circumferentially.
4. a kind of manipulator as claimed in claim 3, it is characterised in that the axial line of the output shaft of the motor and the gas
The axial line of the piston rod of cylinder is located on the same line.
5. a kind of manipulator as described in claim 1 or 4, it is characterised in that being offered on the Part II to increase
The groove of frictional force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720077816.3U CN206383133U (en) | 2017-01-20 | 2017-01-20 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720077816.3U CN206383133U (en) | 2017-01-20 | 2017-01-20 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206383133U true CN206383133U (en) | 2017-08-08 |
Family
ID=59494863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720077816.3U Expired - Fee Related CN206383133U (en) | 2017-01-20 | 2017-01-20 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206383133U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582121A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of bulb pick device of hydraulic oil cylinder driving |
| CN109850240A (en) * | 2018-11-20 | 2019-06-07 | 安徽省华民食品有限公司 | A kind of rotation of rotary packaging assembly line is exchanged goods mechanism |
| CN111872965A (en) * | 2020-07-30 | 2020-11-03 | 南通天缘自动车有限公司 | Detachable claw that colludes that facilitates use |
-
2017
- 2017-01-20 CN CN201720077816.3U patent/CN206383133U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582121A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of bulb pick device of hydraulic oil cylinder driving |
| CN109850240A (en) * | 2018-11-20 | 2019-06-07 | 安徽省华民食品有限公司 | A kind of rotation of rotary packaging assembly line is exchanged goods mechanism |
| CN111872965A (en) * | 2020-07-30 | 2020-11-03 | 南通天缘自动车有限公司 | Detachable claw that colludes that facilitates use |
| CN111872965B (en) * | 2020-07-30 | 2023-08-22 | 南通天缘自动车有限公司 | Detachable hook claw convenient to use |
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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 |
Granted publication date: 20170808 Termination date: 20180120 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |