CN206455686U - A kind of multijaw manipulator - Google Patents

A kind of multijaw manipulator Download PDF

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Publication number
CN206455686U
CN206455686U CN201621478921.XU CN201621478921U CN206455686U CN 206455686 U CN206455686 U CN 206455686U CN 201621478921 U CN201621478921 U CN 201621478921U CN 206455686 U CN206455686 U CN 206455686U
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CN
China
Prior art keywords
rack
housing
driving
paw
driven
Prior art date
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Active
Application number
CN201621478921.XU
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Chinese (zh)
Inventor
罗高杰
夏育平
王新有
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ultraman Automation Equipment Co Ltd Of Ningbo City
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Ultraman Automation Equipment Co Ltd Of Ningbo City
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Priority to CN201621478921.XU priority Critical patent/CN206455686U/en
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Abstract

A kind of multijaw manipulator, multiple paws including housing, on housing, also include a reciprocator, the output end of reciprocator is provided with some driving racks, each paw is provided with a driven rack, one driving rack is corresponding with a driven rack so as to which the driving rack and driven rack that constitute in one group of rack group, each rack group are perpendicular;Drive gear is provided between driving rack and driven rack in each rack group, drive gear is engaged with driving rack, driven rack respectively;Drive rack, drive gear to be located in housing, multiple paws form a circle, paw is located on housing in which can radially slide, driving rack is moved back and forth by the driven rack of driving gear drives, be flared out or inside purse up so that paw is slided.The utility model structure is simpler, therefore can effectively reduce manufacturing cost, and mechanism is difficult failure.

Description

A kind of multijaw manipulator
Technical field
The utility model is related to a kind of multijaw manipulator.
Background technology
Multijaw manipulator has multiple paws, so as to more be consolidated in grabbing workpiece.In the prior art, multijaw machinery The structure of hand is all extremely complex.
The content of the invention
In order to overcome the above-mentioned deficiency of existing multijaw manipulator, the utility model provides a kind of simpler multijaw machine of structure Tool hand.
The technical scheme in the invention for solving the technical problem is:A kind of multijaw manipulator, including housing, installed in institute Multiple paws on housing, in addition to a reciprocator are stated, the output end of the reciprocator is provided with some driving racks, each Paw is provided with a driven rack, and a driving rack is corresponding with a driven rack so as to constitute one group of rack group, each Driving rack and driven rack in rack group is perpendicular;
Be provided with drive gear between driving rack and driven rack in each rack group, described drive gear respectively with Drive rack, the engagement of driven rack;
Described drives rack, drive gear in described housing, and multiple paws form a circle, and described paw can It is located on described housing with radially sliding, the driving rack is back and forth transported by the driven rack described in driving gear drives It is dynamic, it is flared out or inside purse up so that described paw is slided.
Further, described reciprocator includes motor, screw mandrel, the output shaft of the motor and the screw mandrel Screw rod connection, on the nut of the screw mandrel described in described driving rack-shaped Cheng Yu;Described motor is located at described shell In vitro, described screw mandrel is located in described housing.
Further, screw mandrel bearing is provided with described housing, the Screw rod bearingses of the screw mandrel are on described screw mandrel bearing.
Further, it is provided with described housing in support shaft, described support shaft and is cased with bearing, described sliding tooth wheel case In on described bearing.
Further, described paw is included on corpus unguis, connector, the connector described in described driven rack-shaped Cheng Yu, Described corpus unguis is located at outside described housing, and described connector is radially inserted in described housing.
Further, slide rail is provided with described housing, described connector is on described slide rail.
When in use, the output end of reciprocator is moved back and forth the utility model, so that driving rack is moved back and forth, The reciprocating motion of rack is driven to drive drive gear to rotate, so as to drive driven rack radially back and forth to transport by drive gear It is dynamic, so that paw is flared out or inwardly drawn in during reciprocatingly sliding.
The beneficial effects of the utility model are:The utility model structure is simpler, therefore can effectively reduce manufacturing cost, And mechanism is difficult failure.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is cut-away view of the present utility model.
Fig. 3 is the driving schematic diagram for driving rack.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Reference picture 1, Fig. 2, Fig. 3, a kind of multijaw manipulator, including housing 1, multiple paws on the housing 1 2, in addition to a reciprocator, the output end of the reciprocator is provided with some driving racks 3, and each paw 2 is provided with one Driven rack 4, a driving rack 3 is corresponding with a driven rack 4 so as to constitute the drive in one group of rack group, each rack group Carry-over bar 3 and driven rack 4 are perpendicular.In the present embodiment, there are 4 paws, therefore have four driving racks, 4 driven racks.
Drive gear 5,5 points of described drive gear are provided between driving rack 3 and driven rack 4 in each rack group Do not engaged with driving rack 3, driven rack 4.In the present embodiment, support shaft 6, described support shaft 6 are provided with described housing 1 On be cased with bearing 7, described drive gear 5 is placed on described bearing 7, and the operation of drive gear 5 is sufficiently stable.
Described drives rack 3, drive gear 5 in described housing 1, and 4 paws 2 form a circle, and uniform point Cloth.Described paw 2 is located on described housing 1 in which can radially slide(So-called radial direction, refers to the circle surrounded with paw For reference, the radial direction of the circle is the radial direction that paw is slided), the driving rack 3 is driven described by drive gear 5 Driven rack 4 move back and forth be flared out or inside purse up so that described paw 2 is slided.
When in use, the output end of reciprocator is moved back and forth, so that driving rack 3 is moved back and forth, drives rack 3 Reciprocating motion drive drive gear 5 rotate, so as to drive driven rack 4 to radially reciprocate by drive gear 5(It is so-called Radial direction, refer to the circle that is surrounded using paw as reference, the radial direction of the circle is the radial direction that paw is slided), so that So that paw 2 is flared out or inwardly drawn in during reciprocatingly sliding.When paw 2 is radially outward slided, paw 2 opens, Crawl space between paw and paw becomes big;When paw 2 is radially-inwardly slided, paw 2 is drawn in, between paw and paw Crawl space diminishes.
In the present embodiment, described reciprocator includes motor 8, screw mandrel, the output shaft of the motor 8 and institute The screw rod 9 for stating screw mandrel is connected, and described driving rack 3 is formed on the nut 10 of described screw mandrel;Described motor 8 In outside described housing 1, described screw mandrel is located in described housing 1.Motor 8 is rotated, and drives the screw rod 9 of screw mandrel to rotate forward Or reversion, you can the nut 10 of drive screw is moved back and forth.
In this implementation, screw mandrel bearing 11 is provided with described housing, the screw rod 9 of the screw mandrel is supported on described screw axis Hold on 11.
In the present embodiment, described paw includes corpus unguis 12, connector 13, and described corpus unguis 12 is located at described housing 1 Outside, described connector 13 is radially inserted in described housing 1, and described driven rack 4 is formed at described connector 13 On, corpus unguis 12 is used for grabbing workpiece, and connector 13 is used to install and connect.Slide rail is provided with housing 1 described in the present embodiment, Described connector 13 is on described slide rail.

Claims (6)

1. a kind of multijaw manipulator, including housing, the multiple paws of installation on the housing, it is characterised in that:Also include one Reciprocator, the output end of the reciprocator is provided with some driving racks, and each paw is provided with a driven rack, one Driving rack is corresponding with a driven rack so as to constitute the driving rack and driven rack in one group of rack group, each rack group It is perpendicular;
Be provided with drive gear between driving rack and driven rack in each rack group, described drive gear respectively with driving Rack, the engagement of driven rack;
Described drives rack, drive gear in described housing, and multiple paws form a circle, and described paw can be radially Slidably on described housing, the driving rack is moved back and forth by the driven rack described in driving gear drives, from And slide described paw and be flared out or inside purse up.
2. multijaw manipulator as claimed in claim 1, it is characterised in that:Described reciprocator includes motor, screw mandrel, The output shaft of the motor is connected with the screw rod of the screw mandrel, the nut of the screw mandrel described in described driving rack-shaped Cheng Yu On;
Described motor is located at outside described housing, and described screw mandrel is located in described housing.
3. multijaw manipulator as claimed in claim 2, it is characterised in that:Screw mandrel bearing, the silk are provided with described housing The Screw rod bearingses of bar are on described screw mandrel bearing.
4. the multijaw manipulator as described in one of claim 1 ~ 3, it is characterised in that:Support shaft, institute are provided with described housing Bearing is cased with the support shaft stated, described drive gear is placed on described bearing.
5. the multijaw manipulator as described in one of claim 1 ~ 3, it is characterised in that:Described paw includes corpus unguis, connector, Described corpus unguis is located at outside described housing, and described connector is radially inserted in described housing, described driven rack It is formed on described connector.
6. multijaw manipulator as claimed in claim 5, it is characterised in that:Slide rail, described connection are provided with described housing Body is on described slide rail.
CN201621478921.XU 2016-12-30 2016-12-30 A kind of multijaw manipulator Active CN206455686U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621478921.XU CN206455686U (en) 2016-12-30 2016-12-30 A kind of multijaw manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621478921.XU CN206455686U (en) 2016-12-30 2016-12-30 A kind of multijaw manipulator

Publications (1)

Publication Number Publication Date
CN206455686U true CN206455686U (en) 2017-09-01

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CN201621478921.XU Active CN206455686U (en) 2016-12-30 2016-12-30 A kind of multijaw manipulator

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106625745A (en) * 2016-12-30 2017-05-10 宁波市奥特曼自动化设备有限公司 Multi-claw manipulator
CN107901073A (en) * 2017-12-24 2018-04-13 无锡市创恒机械有限公司 Clamp system with spinfunction

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106625745A (en) * 2016-12-30 2017-05-10 宁波市奥特曼自动化设备有限公司 Multi-claw manipulator
CN107901073A (en) * 2017-12-24 2018-04-13 无锡市创恒机械有限公司 Clamp system with spinfunction

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