CN206690133U - A kind of manipulator with multi-stage expansion function - Google Patents
A kind of manipulator with multi-stage expansion function Download PDFInfo
- Publication number
- CN206690133U CN206690133U CN201720282069.7U CN201720282069U CN206690133U CN 206690133 U CN206690133 U CN 206690133U CN 201720282069 U CN201720282069 U CN 201720282069U CN 206690133 U CN206690133 U CN 206690133U
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- CN
- China
- Prior art keywords
- rotating shaft
- mechanical
- clamp arm
- hydraulically extensible
- socketed
- Prior art date
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Abstract
The utility model provides a kind of manipulator with multi-stage expansion function, is related to mechanical clamp field.This has the manipulator of multi-stage expansion function, including mechanical pedestal, the top of mechanical pedestal is installed with the first hydraulically extensible bar, the second hydraulically extensible bar and support bar respectively, and the first hydraulically extensible bar is located at the left side of support bar, and the second hydraulically extensible bar is located at the right side of support bar.This has the manipulator of multi-stage expansion function, by setting the first hydraulically extensible bar and the second hydraulically extensible bar, swinging up and down for first mechanical arm can freely be controlled, by setting the 3rd hydraulically extensible bar, being sent to for clamp arm direction block can freely be controlled, so as to control the clamping direction of clamp arm, by setting the first expansion bracket and small-sized expansion link, freely second mechanical arm can be controlled to swing up and down, by setting the second expansion bracket, the clamping dynamics of clamp arm can be freely controlled, freely controls clamp arm with mechanical arm and without control defect so as to reach.
Description
Technical field
Mechanical clamp technical field is the utility model is related to, specially a kind of manipulator with multi-stage expansion function.
Background technology
Manipulator (machine hand), refers to some holding functions that can imitate human hand and arm, to be grabbed by fixed routine
Take, carry the automatic pilot of object or operation instrument.Mainly by executing agency, drive mechanism and control system three parts
Composition.It can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect
Personal safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
In existing mechanical grip arm, all it is generally not possess multi-stage expansion, does not possess multi-stage expansion function, make machinery
The control existing defects of hand, so needing a kind of manipulator with multi-stage expansion function now.
Utility model content
(1) technical problem solved
In view of the shortcomings of the prior art, the utility model provides a kind of manipulator with multi-stage expansion function, solves
The problem of hydraulic means is costly.
(2) technical scheme
To realize object above, the utility model is achieved by the following technical programs：One kind has multi-stage expansion work(
The manipulator of energy, including mechanical pedestal, the top of the mechanical pedestal are installed with the first hydraulically extensible bar, the second liquid respectively
Expansion link and support bar are pressed, the first hydraulically extensible bar is located at the left side of support bar, and the second hydraulically extensible bar is positioned at branch
The right side of strut, first mechanical arm is provided with above the mechanical pedestal, the first hydraulically extensible bar and the second hydraulic pressure are stretched
The top of contracting bar respectively with first mechanical arm bottom set the 4th rotating shaft and the 5th rotating shaft be socketed, the top of the support bar with
First mechanical arm bottom set the 6th rotating shaft be fixedly connected, the 6th rotating shaft between the 4th rotating shaft and the 5th rotating shaft,
The middle-end of the first mechanical arm is installed with expansion link fixed block, and the surface of the expansion link fixed block is fixedly connected with
One expansion bracket, first expansion bracket are socketed by the crosspoint of small-sized expansion link and the first expansion bracket, the first mechanical arm
One end away from support bar is socketed by the 7th rotating shaft and second mechanical arm, and first expansion bracket is away from expansion link fixed block
One end is socketed with the first rotating shaft that second mechanical arm middle-end is set, and the lower end of the second mechanical arm is connected with clamp arm side
To block, the top of the second mechanical arm offers the second rotating shaft, and the surface of second rotating shaft is socketed with the 3rd hydraulically extensible
Bar, the described one end of 3rd hydraulically extensible bar away from second mechanical arm is socketed by eighth-turn axle and clamp arm direction block, described
The both ends of clamp arm direction block are socketed with movable block, two one end of movable block away from clamp arm direction block by the 9th rotating shaft
Clamp arm is socketed with, two clamp arms are connected close to one end of movable block by the 3rd rotating shaft interaction, the 3rd rotating shaft
It is flexibly connected by the second expansion bracket with clamp arm direction block, the surface of clamp arm direction block offers loose slot, described
One end of second expansion bracket is socketed in loose slot.
Preferably, the clamp arm is shaped as " L " shape.
Preferably, first expansion bracket and the second expansion bracket are socketed with small-sized expansion link close to one end of support bar.
Preferably, the weight size of the mechanical pedestal is more than two mechanical arms.
Preferably, the quantity of the movable block and clamp arm is two, and movable block is turned with clamp arm by clamp arm
Axle is socketed.
(3) beneficial effect
The utility model provides a kind of manipulator with multi-stage expansion function.Possesses following beneficial effect：
1st, there should be the manipulator of multi-stage expansion function, by setting the first hydraulically extensible bar and the second hydraulically extensible bar,
Swinging up and down for first mechanical arm can be freely controlled, by setting the 3rd hydraulically extensible bar, can freely control clamp arm side
To being sent to for block, so as to control the clamping direction of clamp arm.
2nd, there should be the manipulator of multi-stage expansion function, can be free by setting the first expansion bracket and small-sized expansion link
Control second mechanical arm swing up and down, by setting the second expansion bracket, can freely control the clamping dynamics of clamp arm, so as to
Reach and freely control clamp arm with mechanical arm and without control defect.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Wherein, 1 mechanical pedestal, 2 first hydraulically extensible bars, 3 support bars, 4 second hydraulically extensible bars, 5 first mechanical arms, 6
Expansion link fixed block, 7 first expansion brackets, 8 small-sized expansion links, 9 first rotating shafts, 10 second mechanical arms, 11 second rotating shafts, 12 the 3rd
Hydraulically extensible bar, 13 loose slots, 14 clamp arm direction blocks, 15 second expansion brackets, 16 the 3rd rotating shafts, 17 movable blocks, 18 clamp arms,
19 the 4th rotating shafts, 20 the 5th rotating shafts, 21 the 7th rotating shafts, 22 eighth-turn axles, 23 the 9th rotating shafts, 24 the 6th rotating shafts.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, 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, belong to the scope of the utility model protection.
The utility model embodiment provides a kind of manipulator with multi-stage expansion function, as shown in figure 1, including mechanical bottom
Seat 1, the weight size of mechanical pedestal 1 is more than two mechanical arms, and the top of mechanical pedestal 1 is installed with the first hydraulic pressure and stretched respectively
Contracting bar 2, the second hydraulically extensible bar 4 and support bar 3, the first hydraulically extensible bar 2 are located at the left side of support bar 3, the second hydraulically extensible
Bar 4 is located at the right side of support bar 3, and the top of mechanical pedestal 1 is provided with first mechanical arm 5, by setting the first hydraulically extensible bar 2
With the second hydraulically extensible bar 4, swinging up and down for first mechanical arm 5, the first hydraulically extensible bar 2 and the second hydraulic pressure can be freely controlled
The 4th rotating shaft 19 and the 5th rotating shaft 20 that the top of expansion link 4 is set with the bottom of first mechanical arm 5 respectively are socketed, support bar 3
The 6th rotating shaft 24 that top is set with the bottom of first mechanical arm 5 is fixedly connected, and the 6th rotating shaft 24 is located at the 4th rotating shaft 19 and the 5th
Between rotating shaft 20, the middle-end of first mechanical arm 5 is installed with expansion link fixed block 6, and the surface of expansion link fixed block 6, which is fixed, to be connected
The first expansion bracket 7 is connected to, the first expansion bracket 7 is socketed by the crosspoint of the small-sized expansion bracket 7 of expansion link 8 and first, passes through setting
First expansion bracket 7 and small-sized expansion link 8, can freely control second mechanical arm 10 to swing up and down, and first mechanical arm 5 is away from branch
One end of strut 3 is socketed by the 7th rotating shaft 21 with second mechanical arm 10, the first expansion bracket 7 away from expansion link fixed block 6 one
The first rotating shaft 9 set with the middle-end of second mechanical arm 10 is held to be socketed, the lower end of second mechanical arm 10 is connected with clamp arm side
To block 14, the top of second mechanical arm 10 offers the second rotating shaft 11, and the surface of the second rotating shaft 11 is socketed with the 3rd hydraulically extensible
Bar 12, by setting the 3rd hydraulically extensible bar 12, being sent to for clamp arm direction block 14 can be freely controlled, so as to control clamp arm
18 clamping direction, the 3rd one end of hydraulically extensible bar 12 away from second mechanical arm 10 pass through eighth-turn axle 22 and clamp arm direction
Block 14 is socketed, and the both ends of clamp arm direction block 14 are socketed with movable block 17, movable block 17 and clamp arm by the 9th rotating shaft 23
18 quantity is two, and movable block 17 is socketed with clamp arm 18 by clamp arm rotating shaft, and two movable blocks 17 are away from clamping
One end of arm direction block 14 is socketed with clamp arm 18, and clamp arm 18 is shaped as " L " shape, and two clamp arms 18 are close to movable block
17 one end is connected by the interaction of the 3rd rotating shaft 16, and the 3rd rotating shaft 16 passes through the second expansion bracket 15 and clamp arm direction block 14
It is flexibly connected, by setting the second expansion bracket 15, can freely controls the clamping dynamics of clamp arm 18, the first expansion bracket 7 and the
Two expansion brackets 15 are socketed with small-sized expansion link 8 close to one end of support bar 3, and the surface of clamp arm direction block 14 offers activity
Groove 13, one end of the second expansion bracket 15 are socketed in loose slot 13.
Operation principle：Manipulator, which is moved to, to be needed in front of the article for grabbing folder, by the flexible manipulation to 2 and 4 by first
Mechanical arm 5 is moved up and down, then the clamp arm of the bottom of second mechanical arm 10 can be controlled by the flexible manipulation to the first expansion bracket 7
18 direction, the clamping dynamics of clamp arm 18 can be controlled by the flexible manipulation to the second expansion bracket 15, be clamped so as to reach
Effect.
In summary, there should be the manipulator of multi-stage expansion function, and pass through and the first hydraulically extensible bar 2 and the second hydraulic pressure are set
Expansion link 4, swinging up and down for first mechanical arm 5 can be freely controlled, by setting the 3rd hydraulically extensible bar 12, can freely controlled
Clamp arm direction processed block 14 is sent to, so as to control the clamping direction of clamp arm 18, by setting the first expansion bracket 7 to be stretched with small-sized
It contracting bar 8, can freely control second mechanical arm 10 to swing up and down, by setting the second expansion bracket 15, can freely control folder
The clamping dynamics of tight arm 18, freely control clamp arm 18 with mechanical arm and without control defect so as to reach.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of manipulator with multi-stage expansion function, including mechanical pedestal (1), it is characterised in that：The mechanical pedestal (1)
Top be installed with the first hydraulically extensible bar (2), the second hydraulically extensible bar (4) and support bar (3), first liquid respectively
Pressure expansion link (2) is located at the left side of support bar (3), and the second hydraulically extensible bar (4) is located at the right side of support bar (3), described
First mechanical arm (5), the first hydraulically extensible bar (2) and the second hydraulically extensible bar (4) are provided with above mechanical pedestal (1)
Top respectively with first mechanical arm (5) bottom set the 4th rotating shaft (19) and the 5th rotating shaft (20) socket, the support bar
(3) the 6th rotating shaft (24) that top is set with first mechanical arm (5) bottom is fixedly connected, and the 6th rotating shaft (24) is positioned at the
Between four rotating shafts (19) and the 5th rotating shaft (20), the middle-end of the first mechanical arm (5) is installed with expansion link fixed block
(6), the surface of the expansion link fixed block (6) is fixedly connected with the first expansion bracket (7), and first expansion bracket (7) is by small
The crosspoint of type expansion link (8) and the first expansion bracket (7) is socketed, and the one end of the first mechanical arm (5) away from support bar (3) leads to
Cross the 7th rotating shaft (21) to be socketed with second mechanical arm (10), the one end of first expansion bracket (7) away from expansion link fixed block (6)
It is socketed with the first rotating shaft (9) that second mechanical arm (10) middle-end is set, the lower end of the second mechanical arm (10) is connected with
Clamp arm direction block (14), the top of the second mechanical arm (10) offer the second rotating shaft (11), second rotating shaft (11)
Surface be socketed with the 3rd hydraulically extensible bar (12), the one end of the 3rd hydraulically extensible bar (12) away from second mechanical arm (10)
It is socketed by eighth-turn axle (22) and clamp arm direction block (14), the both ends of clamp arm direction block (14) pass through the 9th turn
Axle (23) is socketed with movable block (17), and the one end of two movable blocks (17) away from clamp arm direction block (14) is socketed with clamp arm
(18), two clamp arms (18) are connected close to one end of movable block (17) by the 3rd rotating shaft (16) interaction, and the described 3rd
Rotating shaft (16) is flexibly connected by the second expansion bracket (15) with clamp arm direction block (14), the table of clamp arm direction block (14)
Face offers loose slot (13), and one end of second expansion bracket (15) is socketed in loose slot (13).
A kind of 2. manipulator with multi-stage expansion function according to claim 1, it is characterised in that：The clamp arm
(18) be shaped as " L " shape.
A kind of 3. manipulator with multi-stage expansion function according to claim 1, it is characterised in that：Described first is flexible
Frame (7) is socketed with small-sized expansion link (8) with the second expansion bracket (15) close to one end of support bar (3).
A kind of 4. manipulator with multi-stage expansion function according to claim 1, it is characterised in that：The mechanical pedestal
(1) weight size is more than two mechanical arms.
A kind of 5. manipulator with multi-stage expansion function according to claim 1, it is characterised in that：The movable block
(17) quantity with clamp arm (18) is two, and movable block (17) is socketed with clamp arm (18) by clamp arm rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720282069.7U CN206690133U (en) | 2017-03-22 | 2017-03-22 | A kind of manipulator with multi-stage expansion function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720282069.7U CN206690133U (en) | 2017-03-22 | 2017-03-22 | A kind of manipulator with multi-stage expansion function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206690133U true CN206690133U (en) | 2017-12-01 |
Family
ID=60443855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720282069.7U Expired - Fee Related CN206690133U (en) | 2017-03-22 | 2017-03-22 | A kind of manipulator with multi-stage expansion function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206690133U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107960952A (en) * | 2017-12-08 | 2018-04-27 | 合肥工业大学 | Rotary cleaning device |
| CN108092180A (en) * | 2017-12-26 | 2018-05-29 | 江苏集萃智能制造技术研究所有限公司 | A kind of high voltage power transmission tower Bird's Nest cleaning plant |
| CN109046843A (en) * | 2018-06-25 | 2018-12-21 | 丰汉电子(上海)有限公司 | A kind of spraying robot hand |
-
2017
- 2017-03-22 CN CN201720282069.7U patent/CN206690133U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107960952A (en) * | 2017-12-08 | 2018-04-27 | 合肥工业大学 | Rotary cleaning device |
| CN107960952B (en) * | 2017-12-08 | 2020-04-21 | 合肥工业大学 | Rotary cleaning device |
| CN108092180A (en) * | 2017-12-26 | 2018-05-29 | 江苏集萃智能制造技术研究所有限公司 | A kind of high voltage power transmission tower Bird's Nest cleaning plant |
| CN109046843A (en) * | 2018-06-25 | 2018-12-21 | 丰汉电子(上海)有限公司 | A kind of spraying 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 |
Granted publication date: 20171201 Termination date: 20190322 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |