CN206690103U - A kind of adjustable bar manipulator - Google Patents
A kind of adjustable bar manipulator Download PDFInfo
- Publication number
- CN206690103U CN206690103U CN201720222131.3U CN201720222131U CN206690103U CN 206690103 U CN206690103 U CN 206690103U CN 201720222131 U CN201720222131 U CN 201720222131U CN 206690103 U CN206690103 U CN 206690103U
- Authority
- CN
- China
- Prior art keywords
- frame
- fixed
- support
- fixedly connected
- cylinder
- 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 adjustable bar manipulator, the solid mechanical pawl unit that is fixedly connected including frame, with the frame, the guide rail being fixed in frame, it is fixedly connected with the adjustable mechanical pawl unit with the guide rail adjustable mechanical pawl unit being slidably connected and the cylinder being fixed in frame, the piston rod of the cylinder.The utility model can make the bar work for capturing different length that one group of manipulator is flexibly stablized, and improve the ability to work of manipulator.
Description
【Technical field】
It the utility model is related to the technical field of the technical field of robotic equipment, particularly manipulator.
【Background technology】
For different Workpiece structure features, the robot manipulator structure of grabbing workpiece has features, in column type bar
Crawl field, usual manipulator design are claw Grasp Modes, have the characteristics of simple in construction.
However, common claw manipulator, can only capture the less column type workpiece of draw ratio, and for the post of different length
Type workpiece, standard machinery hand can not ensure grasp stability and flexible adaptibility to response.
【Utility model content】
The purpose of this utility model is exactly to solve the bar work that existing claw manipulator can not flexibly capture different length
The problem of, a kind of adjustable bar manipulator is proposed, the bar for capturing different length that one group of manipulator can be made flexibly to stablize
Workpiece, improve the ability to work of manipulator.
To achieve the above object, the utility model proposes a kind of adjustable bar manipulator, including frame and the machine
Solid mechanical pawl unit that frame is fixedly connected, the guide rail being fixed in frame, the adjustable mechanical pawl being slidably connected with the guide rail
Unit and the cylinder being fixed in frame；The piston rod of the cylinder is fixedly connected with the adjustable mechanical pawl unit；It is described solid
Determining gripper unit includes the fixed support into a single integrated structure with the frame, and support bracket fastened bottom is provided with motor,
The motor is fixedly connected by electric machine support with fixed support, and the output shaft of the motor props up through the fixation
Frame, output shaft end are provided with driving gear, and the driven tooth that connection is engaged with driving gear is additionally provided with the fixed support
Wheel, the end of the driving gear and driven gear is respectively and fixedly provided with gripper；The adjustable mechanical pawl unit includes sliding support,
The motor being fixedly connected by electric machine support with sliding support bottom, positioned at sliding support top and defeated with motor
The driving gear that shaft is fixedly connected, and the driven gear connected is engaged on sliding support and with driving gear, actively
Gear and driven gear upper end are provided with gripper.
Preferably, the sliding support is slideably connected with the guide rail by linear bearing.
Preferably, the piston rod end of the cylinder is provided with screw thread, the sliding support passes through the tailpiece of the piston rod
Portion, then the sliding support is fixed on the piston rod by one group of nut for being distributed in both sides above and below sliding support.
Preferably, the cylinder body bottom of the cylinder is fixedly connected by flange with the bottom of the frame.
Preferably, the guide rail lower end is fixed on the fixed support, upper end is fixed on the top of the frame.
The beneficial effects of the utility model：The utility model by with promptly and release function two groups of grippers, pass through
Cylinder-driven mode is arranged to the adjustable distribution pattern up and down of spacing and coordinated, so as to be carried out to the bar of different length
Stable crawl；Gripper coordinates transmission using the gear of driving motor supplies power, and crawl process is more stablized.
Feature and advantage of the present utility model will be described in detail by embodiment combination accompanying drawing.
【Brief description of the drawings】
Fig. 1 is the overall structure diagram of the adjustable bar manipulator of the utility model.
In figure：1- frames, 2- fixed supports, 3- guide rails, 4- sliding supports, 5- cylinders, 6- driven gears, 7- driving tooths
Wheel, 8- grippers, 9- motors, 10- electric machine supports.
【Embodiment】
Refering to Fig. 1, a kind of adjustable bar manipulator of the utility model, including frame 1, be fixedly connected with the frame 1
Solid mechanical pawl unit, the guide rail 3 being fixed in frame 1, the adjustable mechanical pawl unit that is slidably connected with the guide rail 3 and solid
The cylinder 5 being scheduled in frame 1；The piston rod of the cylinder 5 is fixedly connected with the adjustable mechanical pawl unit；The solid mechanical
Pawl unit includes the fixed support 2 into a single integrated structure with the frame 1, and the bottom of fixed support 2 is provided with motor 9, institute
State motor 9 to be fixedly connected with fixed support 2 by electric machine support 10, the output shaft of the motor 9 is through described solid
Fixed rack 2, output shaft end are provided with driving gear 7, are additionally provided with the fixed support 2 and engage connection with driving gear 7
Driven gear 6, the end of the driving gear 7 and driven gear 6 is respectively and fixedly provided with gripper 8；The adjustable mechanical pawl unit
Including sliding support 4, the motor 9 being fixedly connected by electric machine support 10 with the bottom of sliding support 4, positioned at sliding support 4
Top and the driving gear 7 being fixedly connected with the output shaft of motor 9, and on sliding support 4 and with driving gear 7
The driven gear 6 of connection is engaged, driving gear 7 and the upper end of driven gear 6 are provided with gripper 8.
The sliding support 4 is slideably connected with the guide rail 3 by linear bearing.
The piston rod end of the cylinder 5 is provided with screw thread, and the sliding support 4 passes through the piston rod end, then
The sliding support 4 is fixed on the piston rod by one group of nut for being distributed in sliding support both sides about 4.
The cylinder body bottom of the cylinder 5 is fixedly connected by flange with the bottom of frame 1.
The lower end of guide rail 3 is fixed on the fixed support 2, and upper end is fixed on the top of the frame 1.
Utility model works process：
In the course of the work, motor 9 drives 7 turns of driving gear to a kind of adjustable bar manipulator of the utility model
It is dynamic, the synchronous axial system of driven gear 6 of connection is engaged with driving gear 7, when upper and lower two motors 9 receive identical control letter
Number when, upper and lower two grippers 8 promptly or unclamp synchronous；Capture different length bar when, upper and lower two grippers 8 it
Between distance be adjusted by the way that the piston rod of cylinder 5 is flexible, suitable spacing will make the crawl of bar more stable.
The utility model, by with promptly and release function two groups of grippers, between being arranged to by cylinder-driven mode
Coordinated away from adjustable distribution pattern up and down, so as to carry out stablizing crawl to the bar of different length；Gripper uses
The gear of driving motor supplies power coordinates transmission, and crawl process is more stablized.
Above-described embodiment be to explanation of the present utility model, be not to restriction of the present utility model, it is any new to this practicality
Scheme after type simple transformation belongs to the scope of protection of the utility model.
Claims (5)
- A kind of 1. adjustable bar manipulator, it is characterised in that：Including frame (1), the fixation being fixedly connected with the frame (1) The adjustable mechanical pawl unit and consolidate that gripper unit, the guide rail (3) being fixed in frame (1) and the guide rail (3) are slidably connected The cylinder (5) being scheduled in frame (1)；The piston rod of the cylinder (5) is fixedly connected with the adjustable mechanical pawl unit；It is described solid Determining gripper unit includes the fixed support (2) into a single integrated structure with the frame (1), and the bottom of fixed support (2) is provided with Motor (9), the motor (9) are fixedly connected by electric machine support (10) with fixed support (2), the motor (9) output shaft passes through the fixed support (2), and output shaft end is provided with driving gear (7), on the fixed support (2) It is additionally provided with the end of the driven gear (6) that connection is engaged with driving gear (7), the driving gear (7) and driven gear (6) It is respectively and fixedly provided with gripper (8)；The adjustable mechanical pawl unit includes sliding support (4), by electric machine support (10) with sliding branch The motor (9) that frame (4) bottom is fixedly connected, fixed positioned at sliding support (4) top and with the output shaft of motor (9) The driving gear (7) of connection, and the driven gear (6) connected is engaged on sliding support (4) and with driving gear (7), Driving gear (7) and driven gear (6) upper end are provided with gripper (8).
- 2. adjustable bar manipulator as claimed in claim 1, it is characterised in that：The sliding support (4) and the guide rail (3) slideably it is connected by linear bearing.
- 3. adjustable bar manipulator as claimed in claim 1, it is characterised in that：The piston rod end of the cylinder (5) is set Screw thread is equipped with, the sliding support (4) passes through the piston rod end, is then distributed in sliding support (4) up and down by one group The sliding support (4) is fixed on the piston rod by the nut of both sides.
- 4. adjustable bar manipulator as claimed in claim 3, it is characterised in that：The cylinder body bottom of the cylinder (5) passes through Flange is fixedly connected with the frame (1) bottom.
- 5. adjustable bar manipulator as claimed in claim 2, it is characterised in that：Guide rail (3) lower end is fixed on described On fixed support (2), upper end is fixed on the top of the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720222131.3U CN206690103U (en) | 2017-03-08 | 2017-03-08 | A kind of adjustable bar manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720222131.3U CN206690103U (en) | 2017-03-08 | 2017-03-08 | A kind of adjustable bar manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206690103U true CN206690103U (en) | 2017-12-01 |
Family
ID=60443335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720222131.3U Expired - Fee Related CN206690103U (en) | 2017-03-08 | 2017-03-08 | A kind of adjustable bar manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206690103U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974940A (en) * | 2018-06-12 | 2018-12-11 | 山东大海新能源发展有限公司 | A kind of silicon single crystal rod movement system |
| CN109573187A (en) * | 2019-01-18 | 2019-04-05 | 广东三丰环保科技有限公司 | A kind of waterless closestool of packaging facilities, dirt packaging method and application packages equipment |
| CN110815265A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | Robot gripper |
| CN113442156A (en) * | 2021-05-26 | 2021-09-28 | 武汉理工大学 | Flexible clamp holder based on novel two-finger robot hand |
-
2017
- 2017-03-08 CN CN201720222131.3U patent/CN206690103U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974940A (en) * | 2018-06-12 | 2018-12-11 | 山东大海新能源发展有限公司 | A kind of silicon single crystal rod movement system |
| CN109573187A (en) * | 2019-01-18 | 2019-04-05 | 广东三丰环保科技有限公司 | A kind of waterless closestool of packaging facilities, dirt packaging method and application packages equipment |
| CN110815265A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | Robot gripper |
| CN113442156A (en) * | 2021-05-26 | 2021-09-28 | 武汉理工大学 | Flexible clamp holder based on novel two-finger robot hand |
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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: 20171201 Termination date: 20180308 |