CN206519948U - A kind of automatic manipulator - Google Patents
A kind of automatic manipulator Download PDFInfo
- Publication number
- CN206519948U CN206519948U CN201720170004.3U CN201720170004U CN206519948U CN 206519948 U CN206519948 U CN 206519948U CN 201720170004 U CN201720170004 U CN 201720170004U CN 206519948 U CN206519948 U CN 206519948U
- Authority
- CN
- China
- Prior art keywords
- paw
- mechanical
- large arm
- automatic manipulator
- guide groove
- 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
Links
Abstract
The utility model discloses a kind of automatic manipulator, including pedestal and sliding mechanical paw, rail mould is fixedly mounted in the upper surface of the pedestal, the upper surface of the rotary shaft is also installed with mechanical large arm, driver is additionally provided with mechanical large arm upper end, the front end of the driver is also installed with servomotor, the upper end of the mechanical large arm is also connected by rotating bolt with forearm, the bottom of the forearm is also installed with sliding mechanical paw, the outer surface of the sliding mechanical paw is additionally provided with slide rail guide groove, hydraulic cylinder is also installed with the inner surface of slide rail guide groove, the both sides of the hydraulic cylinder are installed with guide rail, the right-hand member of the guide rail is installed with holding paw, by the fine motion for adjusting each rotary joint of manipulator, its automatic correction during defeated bullet is set to transport the site error between axis and body axis, reduce the kinematic error of mechanical arm, improve sport efficiency.
Description
Technical field
The utility model is related to manipulator technical field, specially a kind of automatic manipulator.
Background technology
With the progressively maturation of electronic technology development, reliability of electronic components level has developed to higher level, and relative
Mechanical system carry out reliability consideration but will evening much, due to the failure mode of machine components compared with electronic component difference compared with
Greatly, mechanical system is not quite similar with electronic equipment in terms of composition, and.In robot field, in the side of being automatically brought into operation of robot
The control in face is also relatively difficult, go into the road substantially now on garbage-cleaning be all manually to complete, without comparative maturity
Robot can replace completing so that efficiency needs to take a substantial amount of time and human resources than relatively low.
Utility model content
To achieve the above object, the utility model provides following technical scheme：A kind of automatic manipulator, including pedestal and cunning
Rail mould is fixedly mounted in dynamic mechanical paw, the upper surface of the pedestal, and the inner surface of in-orbit mould is inlaid with rotary shaft, the rotation
The front end of axle is also installed with motor, and the upper surface of the rotary shaft is also installed with mechanical large arm, in mechanical large arm
End is additionally provided with driver, and the front end of the driver is also installed with servomotor, and the upper end of the mechanical large arm also leads to
Cross rotating bolt with forearm to be connected, the bottom of the forearm is also installed with sliding mechanical paw, the sliding mechanical hand
The outer surface of pawl is additionally provided with slide rail guide groove, and hydraulic cylinder is also installed with the inner surface of slide rail guide groove, the hydraulic cylinder
Both sides are installed with guide rail, and the right-hand member of the guide rail is installed with holding paw, the outer surface of the holding paw
It is installed with cluster spring.
As a kind of preferred technical scheme of the utility model, the upper surface of the slide rail guide groove is also installed with ball
Leading screw, the upper surface of the ball-screw is also installed with U-shaped extension tongs.
As a kind of preferred technical scheme of the utility model, the two ends of the holding paw and cluster spring, which are fixed, to be connected
Connect, and the telescopic extensions of holding paw are arranged between 10-85 degree.
As a kind of preferred technical scheme of the utility model, the surface of the mechanical large arm is also installed with transmission
Band.
As a kind of preferred technical scheme of the utility model, the front of the sliding mechanical paw is also installed with guarantor
Shield.
Compared with prior art, the beneficial effects of the utility model are：The automatic manipulator, by setting sliding mechanical hand
Pawl, the moving range of forearm is adjusted using chute, and cluster spring can be used to drive holding paw to realize the extension of palm, had
Beneficial to the cleaning of rubbish so that the use scope of mechanical arm expands, and power is provided using servomotor, and utilize driver
Driving mechanical large arm is run, and can also will be picked up and all be obtained on thing feeding pedestal using transmission belt, and be conducive to the classification of article, and
And, by adjusting the fine motion of each rotary joint of manipulator, make its automatic correction transport axis and body axis during defeated bullet
Between site error, reduce the kinematic error of mechanical arm, improve sport efficiency.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the utility model mechanical paw structure schematic diagram.
In figure：1- pedestals；2- rail moulds；3- rotary shafts；4- motors；5- machinery large arm；6- transmission belts；7- servomotors；8-
Driver；9- forearms；10- sliding mechanical paws；11- slide rail guide grooves；12- guide rails；13- hydraulic cylinders；14- holding paws；15-
Cluster spring；16-U type extension tongs；17- ball-screws；18- protective covers.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Embodiment：
Fig. 1 and Fig. 2 are referred to, the utility model provides a kind of technical scheme：A kind of automatic manipulator, including the He of pedestal 1
Sliding mechanical paw（10）, the pedestal（1）Upper surface be fixedly mounted rail mould（2）, in-orbit mould（2）Inner surface be inlaid with
Rotary shaft（3）, the rotary shaft（3）Front end be also installed with motor（4）, the rotary shaft（3）Upper surface also fix
Mechanical large arm is installed（5）, in mechanical large arm（5）Upper end is additionally provided with driver（8）, the driver（8）Front end it is also solid
Dingan County is equipped with servomotor（7）, the mechanical large arm（5）Upper end also pass through rotating bolt and forearm（9）It is connected, it is described small
Arm（9）Bottom be also installed with sliding mechanical paw（10）, the sliding mechanical paw（10）Outer surface be additionally provided with
Slide rail guide groove（11）, in slide rail guide groove（11）Inner surface be also installed with hydraulic cylinder（13）, the hydraulic cylinder（13）Two
Side is installed with guide rail（12）, the guide rail（12）Right-hand member be installed with holding paw（14）, the holding hand
Pawl（14）Outer surface be installed with cluster spring（15）.
Preferably, the upper surface of the slide rail guide groove 11 is also installed with ball-screw 17, the ball-screw 17
Upper surface be also installed with U-shaped extension tongs 16；The holding paw 14 is fixedly connected with the two ends of cluster spring 15, and
The telescopic extensions of holding paw 14 are arranged between 10-85 degree；The surface of the mechanical large arm 5 is also installed with transmission belt
6；The front of the sliding mechanical paw 10 is also installed with protective cover 18.
Specifically used mode and advantage：The automatic manipulator, by setting sliding mechanical paw, forearm is adjusted using chute
Moving range, cluster spring can be used to drive holding paw to realize the extension of palm, be conducive to the cleaning of rubbish so that
The use scope of mechanical arm expands, and provides power using servomotor, and is run using the mechanical large arm of driver drives, also
It can will be picked up and all be obtained on thing feeding pedestal using transmission belt, and be conducive to the classification of article, also, respectively revolve by adjusting manipulator
Turn the fine motion in joint, its automatic correction during defeated bullet is transported the site error between axis and body axis, reduce machine
The kinematic error of tool arm, improves sport efficiency.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Claims (5)
1. a kind of automatic manipulator, it is characterised in that：Including pedestal（1）With sliding mechanical paw（10）, the pedestal（1）It is upper
Rail mould is fixedly mounted in surface（2）, in-orbit mould（2）Inner surface be inlaid with rotary shaft（3）, the rotary shaft（3）Front end also
It is installed with motor（4）, the rotary shaft（3）Upper surface be also installed with mechanical large arm（5）, in mechanical large arm（5）
Upper end is additionally provided with driver（8）, the driver（8）Front end be also installed with servomotor（7）, the mechanical large arm
（5）Upper end also pass through rotating bolt and forearm（9）It is connected, the forearm（9）Bottom be also installed with sliding mechanical
Paw（10）, the sliding mechanical paw（10）Outer surface be additionally provided with slide rail guide groove（11）, in slide rail guide groove（11）It is interior
Surface is also installed with hydraulic cylinder（13）, the hydraulic cylinder（13）Both sides be installed with guide rail（12）, the guide rail
（12）Right-hand member be installed with holding paw（14）, the holding paw（14）Outer surface be installed with combination bullet
Spring（15）.
2. a kind of automatic manipulator according to claim 1, it is characterised in that：The slide rail guide groove（11）Upper surface also
It is installed with ball-screw（17）, the ball-screw（17）Upper surface be also installed with U-shaped extension tongs（16）.
3. a kind of automatic manipulator according to claim 1, it is characterised in that：The holding paw（14）With combining bullet
Spring（15）Two ends be fixedly connected, and holding paw（14）Telescopic extensions be arranged between 10-85 degree.
4. a kind of automatic manipulator according to claim 1, it is characterised in that：The mechanical large arm（5）Surface it is also solid
Dingan County is equipped with transmission belt（6）.
5. a kind of automatic manipulator according to claim 1, it is characterised in that：The sliding mechanical paw（10）Front
Also it is installed with protective cover（18）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720170004.3U CN206519948U (en) | 2017-02-24 | 2017-02-24 | A kind of automatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720170004.3U CN206519948U (en) | 2017-02-24 | 2017-02-24 | A kind of automatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206519948U true CN206519948U (en) | 2017-09-26 |
Family
ID=59892145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720170004.3U Expired - Fee Related CN206519948U (en) | 2017-02-24 | 2017-02-24 | A kind of automatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206519948U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213699A (en) * | 2018-01-09 | 2018-06-29 | 东莞市北扬工业设计有限公司 | A kind of miniature laser engraving machine |
-
2017
- 2017-02-24 CN CN201720170004.3U patent/CN206519948U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213699A (en) * | 2018-01-09 | 2018-06-29 | 东莞市北扬工业设计有限公司 | A kind of miniature laser engraving machine |
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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: 20170926 Termination date: 20190224 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |