CN206703050U - It is a kind of to capture firm manipulator - Google Patents
It is a kind of to capture firm manipulator Download PDFInfo
- Publication number
- CN206703050U CN206703050U CN201720285821.3U CN201720285821U CN206703050U CN 206703050 U CN206703050 U CN 206703050U CN 201720285821 U CN201720285821 U CN 201720285821U CN 206703050 U CN206703050 U CN 206703050U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- push rod
- gripper jaw
- drive device
- manipulator
- 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
Firm manipulator is captured the utility model discloses a kind of, including cylindrical mechanical arm, one end of mechanical arm have multiple gripper jaws being circumferentially uniformly arranged；The other end is additionally provided with drive device, and push rod is connected with drive device, and push rod is co-axially located in mechanical arm, and can move back and forth vertically in the presence of drive device；The one end of push rod away from drive device is provided with round table-like swollen head part；Multiple post rod mechanisms corresponding with gripper jaw are additionally provided with mechanical arm, post rod mechanism includes guide holder, has the mounting hole for penetrating and setting along the radial direction of mechanical arm on guide holder, and the mounting hole is equipped with axially slidable push rod；One end of push rod is connected to corresponding gripper jaw towards the side in the middle part of mechanical arm, and the other end is connected on the periphery of swollen head part.The utility model has the advantages that smart structural design, clamping stability is good, and service life is longer, and cost of implementation is relatively low, and reliability is preferable.
Description
Technical field
Automatic producing technology field is the utility model is related to, firm manipulator is captured more particularly to a kind of.
Background technology
Manipulator is some holding functions that can imitate human hand and arm, object or behaviour are captured, carried by fixed routine
Make the automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it
The heavy labor of people can be replaced to be operated to realize the mechanization of production and automation under hostile environment to protect personal peace
Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
At present, the catching robot of in the market is when capturing object, it may appear that by not firm enough the phenomenon of object clamping, makes
Object easily drops, and causes object to be broken.
Utility model content
For above-mentioned the deficiencies in the prior art, technical problem to be solved in the utility model is：How a kind of knot is provided
Structure is ingenious in design, the firm manipulator of the good crawl of clamping stability.
In order to solve the above-mentioned technical problem, the utility model employs following technical scheme：
It is a kind of to capture firm manipulator, it is characterised in that including cylindrical mechanical arm, the mechanical arm
One end has multiple gripper jaws being circumferentially uniformly arranged, and is hinged in the middle part of the gripper jaw on the mechanical arm；It is described
Elastic component is additionally provided between gripper jaw and the mechanical arm, the bare terminal end for making the gripper jaw be located at outside the mechanical arm
It can be laterally rotated around radial direction of the hinge along the mechanical arm；The other end of the mechanical arm is additionally provided with driving
Device, push rod is connected with the drive device, the push rod is co-axially located in the mechanical arm, and can be in the drive
Move back and forth vertically in the presence of dynamic device；The one end of the push rod away from the drive device is provided with round table-like swollen top
Part；Multiple post rod mechanisms corresponding with the gripper jaw are additionally provided with the mechanical arm, the post rod mechanism includes leading
There is the mounting hole for penetrating and setting along the radial direction of the mechanical arm to seat, on the guide holder, the mounting hole is equipped with
Axially slidable push rod；One end of the push rod is connected to the corresponding gripper jaw towards one in the middle part of the mechanical arm
Side, the other end are connected on the periphery of the swollen head part.
Using said structure, it is axially moveable by drive device driving push rod, because swollen head part is round table-like, swollen head part
After squeezing between multiple push rods, to promoting push rod to move axially outward, promote gripper jaw be located at one end in mechanical arm to
Outer rotation, when gripper jaw rotates around the axis, bare terminal end can be to contract grabbing workpiece.And after swollen head part exits, gripper jaw exists
Rotated in the presence of spring part, bare terminal end is outwardly opened discharge workpiece.Said apparatus is made by the change of round platform diameter
Obtaining push rod promotes gripper jaw to carry out crawl and discharge operation, simple in construction, reasonable in design, circumferential uniform point using multiple gripper jaws
Cloth, clamped workpiece uniform stressed can make it that, improve the stability and reliability of clamping.
Further, be further fixedly arranged on guide pad in the mechanical arm, the middle part of the guide pad have with it is described
Mechanical arm coaxially penetrates the pilot hole of setting, and the push rod axially slidably coordinates in the pilot hole, and the two edge
Axial direction is projected as polygon；The push rod has screwed hole towards one end of the drive device；The drive device
For servomotor, screw rod is coaxially connected with its output shaft, the screw rod is screwed on the screwed hole of the push rod.
Using said structure, when servomotor rotates, screw rod is driven to rotate together with, because pilot hole and push rod are square vertically
To be projected as polygon so that push rod can not rotate with screw rod, and so, screw rod rotates relative to push rod, so as to driving push rod
Moved back and forth along pilot hole, realize the crawl and discharge action of gripper jaw.
Further, the both ends of the push rod are provided with ball.
So so that push rod both ends are respectively rolling friction between swollen head part and gripper jaw, avoid push rod, swollen head part
With the abrasion of gripper jaw, be advantageous to improve manipulator service life.
Further, the gripper jaw has the groove set along its length, the groove towards the side of the push rod
It is circular arc along the cross sectional shape on length direction, and the diameter of the circular arc is consistent with the diameter of the ball, it is described
Ball engagement is connected in the groove.
Using said structure, the contact area between ball and gripper jaw can be increased, be advantageous to improve the use of the two
Life-span.Ball can also be oriented to by the groove, avoid push rod top inclined, cause gripper jaw gripping strength uneven, favorably
In the reliability for improving manipulator.
Further, the elastic component is the torsionspring for being arranged on the gripper jaw and the mechanical arm hinged place,
The both ends of the torsionspring abut against respectively at the gripper jaw and the mechanical arm.
Torsionspring is set in above-mentioned position, can be positioned using the hinge of hinged place, convenient installation.
Further, one end that the gripper jaw is located at outside the mechanical arm is bare terminal end, and the bare terminal end is described in
The side that the radial direction of mechanical arm is inside is provided with slipmat.
So, the frictional force between gripper jaw and workpiece can be improved, prevents workpiece from being dropped in clamping process, is advantageous to
Improve the stability of clamping.
In summary, the utility model has smart structural design, and clamping stability is good, and service life is longer, is implemented as
The advantages that this is relatively low, and reliability is preferable.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of the utility model embodiment
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
When it is implemented, as shown in figure 1, a kind of capture firm manipulator, including cylindrical mechanical arm 1, institute
Stating one end of mechanical arm 1 has multiple gripper jaws 2 being circumferentially uniformly arranged, and the middle part of the gripper jaw 2 is hinged on described
On mechanical arm 1；Elastic component (not shown) is additionally provided between the gripper jaw 2 and the mechanical arm 1, makes the folder
Holding the bare terminal end that pawl 2 is located at outside the mechanical arm 1 can turn laterally around radial direction of the hinge along the mechanical arm 1
It is dynamic；The other end of the mechanical arm 1 is additionally provided with drive device 3, and push rod 4, the push rod are connected with the drive device 3
4 are co-axially located in the mechanical arm 1, and can move back and forth vertically in the presence of the drive device 3；It is described to push away
The one end of bar 4 away from the drive device 3 is provided with round table-like swollen head part；Be additionally provided with the mechanical arm 1 it is multiple with
The corresponding post rod mechanism 5 of the gripper jaw 2, the post rod mechanism 5 include guide holder 51, had on the guide holder 51 along institute
The mounting hole that the radial direction insertion of mechanical arm 1 is set is stated, the mounting hole is equipped with axially slidable push rod 52；The top
One end of bar 52 is connected to the corresponding gripper jaw 2 towards the side at the middle part of mechanical arm 1, and the other end is connected to described
On the periphery of swollen head part.
Using said structure, it is axially moveable by drive device driving push rod, because swollen head part is round table-like, swollen head part
After squeezing between multiple push rods, to promoting push rod to move axially outward, promote gripper jaw be located at one end in mechanical arm to
Outer rotation, when gripper jaw rotates around the axis, bare terminal end can be to contract grabbing workpiece.And after swollen head part exits, gripper jaw exists
Rotated in the presence of spring part, bare terminal end is outwardly opened discharge workpiece.Said apparatus is made by the change of round platform diameter
Obtaining push rod promotes gripper jaw to carry out crawl and discharge operation, simple in construction, reasonable in design, circumferential uniform point using multiple gripper jaws
Cloth, clamped workpiece uniform stressed can make it that, improve the stability and reliability of clamping.
During implementation, be further fixedly arranged on guide pad 6 in the mechanical arm 1, the middle part of the guide pad 6 have with it is described
The pilot hole that coaxially insertion is set of mechanical arm 1, the push rod 4 axially slidably coordinate in the pilot hole, and the two
In axial direction be projected as polygon；The push rod 4 has screwed hole towards one end of the drive device 3；The driving
Device 3 is servomotor, and screw rod is coaxially connected with its output shaft, and the screw rod is screwed on the screwed hole of the push rod 4.
Using said structure, when servomotor rotates, screw rod is driven to rotate together with, because pilot hole and push rod are square vertically
To be projected as polygon so that push rod can not rotate with screw rod, and so, screw rod rotates relative to push rod, so as to driving push rod
Moved back and forth along pilot hole, realize the crawl and discharge action of gripper jaw.
During implementation, the both ends of the push rod 52 are provided with ball.
So so that push rod both ends are respectively rolling friction between swollen head part and gripper jaw, avoid push rod, swollen head part
With the abrasion of gripper jaw, be advantageous to improve manipulator service life.
During implementation, the gripper jaw 2 has the groove set along its length, the groove towards the side of the push rod 52
It is circular arc along the cross sectional shape on length direction, and the diameter of the circular arc is consistent with the diameter of the ball, it is described
Ball engagement is connected in the groove.
Using said structure, the contact area between ball and gripper jaw can be increased, be advantageous to improve the use of the two
Life-span.Ball can also be oriented to by the groove, avoid push rod top inclined, cause gripper jaw gripping strength uneven, favorably
In the reliability for improving manipulator.
During implementation, the elastic component is the torsionspring for being arranged on the gripper jaw 2 and the hinged place of mechanical arm 1,
The both ends of the torsionspring abut against respectively at the gripper jaw 2 and the mechanical arm 1.
Torsionspring is set in above-mentioned position, can be positioned using the hinge of hinged place, convenient installation.
During implementation, one end that the gripper jaw 2 is located at outside the mechanical arm 1 is bare terminal end, and the bare terminal end is described in
The side that the radial direction of mechanical arm 1 is inside is provided with slipmat.
So, the frictional force between gripper jaw and workpiece can be improved, prevents workpiece from being dropped in clamping process, is advantageous to
Improve the stability of clamping.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not using the utility model as limitation
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (6)
1. a kind of capture firm manipulator, it is characterised in that including cylindrical mechanical arm (1), the mechanical arm
(1) one end has multiple gripper jaws (2) being circumferentially uniformly arranged, and the machinery is hinged in the middle part of the gripper jaw (2)
On arm (1)；Elastic component is additionally provided between the gripper jaw (2) and the mechanical arm (1), makes the gripper jaw (2) position
It can be laterally rotated in the bare terminal end of the mechanical arm (1) outside around radial direction of the hinge along the mechanical arm (1)；Institute
The other end for stating mechanical arm (1) is additionally provided with drive device (3), and push rod (4) is connected with the drive device (3), described
Push rod (4) is co-axially located in the mechanical arm (1), and can be in the presence of the drive device (3) vertically back and forth
It is mobile；The one end of the push rod (4) away from the drive device (3) is provided with round table-like swollen head part；The mechanical arm (1)
Multiple post rod mechanisms (5) corresponding with the gripper jaw (2) are inside additionally provided with, the post rod mechanism (5) includes guide holder
(51), there is the mounting hole for penetrating and setting along the radial direction of the mechanical arm (1), the mounting hole coordinates on the guide holder (51)
It is provided with axially slidable push rod (52)；One end of the push rod (52) is connected to the corresponding gripper jaw (2) towards institute
The side in the middle part of mechanical arm (1) is stated, the other end is connected on the periphery of the swollen head part.
2. the firm manipulator of crawl as claimed in claim 1, it is characterised in that also fixation is set in the mechanical arm (1)
Guide pad (6) is equipped with, the middle part of the guide pad (6) has the pilot hole set with the coaxial insertion of the mechanical arm (1), institute
Push rod (4) is stated axially slidably to coordinate in the pilot hole, and the two in axial direction be projected as polygon；It is described to push away
Bar (4) has screwed hole towards one end of the drive device (3)；The drive device (3) is servomotor, on its output shaft
Screw rod is coaxially connected with, the screw rod is screwed on the screwed hole of the push rod (4).
3. the firm manipulator of crawl as claimed in claim 1, it is characterised in that the both ends of the push rod (52) are provided with
Ball.
4. the firm manipulator of crawl as claimed in claim 3, it is characterised in that the gripper jaw (2) is towards the push rod
(52) side has the groove set along its length, and the groove is circular arc along the cross sectional shape on length direction
Shape, and the diameter of the circular arc is consistent with the diameter of the ball, the ball engagement is connected in the groove.
5. the firm manipulator of crawl as claimed in claim 1, it is characterised in that the elastic component is to be arranged on the clamping
Pawl (2) and the torsionspring of the mechanical arm (1) hinged place, the both ends of the torsionspring are respectively at the gripper jaw (2)
Abutted against with the mechanical arm (1).
6. the firm manipulator of crawl as claimed in claim 1, it is characterised in that the gripper jaw (2) is located at the machinery
The one end of arm (1) outside is bare terminal end, and the inside side of radial direction of the bare terminal end along the mechanical arm (1) is provided with
Slipmat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720285821.3U CN206703050U (en) | 2017-03-22 | 2017-03-22 | It is a kind of to capture firm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720285821.3U CN206703050U (en) | 2017-03-22 | 2017-03-22 | It is a kind of to capture firm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206703050U true CN206703050U (en) | 2017-12-05 |
Family
ID=60471006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720285821.3U Expired - Fee Related CN206703050U (en) | 2017-03-22 | 2017-03-22 | It is a kind of to capture firm manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206703050U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313365A (en) * | 2018-04-11 | 2018-07-24 | 烟台梦现自动化设备有限公司 | A kind of folder for fruit mesh bag takes off transport system |
| CN108454967A (en) * | 2018-04-11 | 2018-08-28 | 烟台梦现自动化设备有限公司 | A kind of bagging device for fruit case mesh bag |
| CN108482730A (en) * | 2018-04-28 | 2018-09-04 | 烟台梦现自动化设备有限公司 | A kind of full-automatic fruit mesh bag set bag system |
| 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 |
| CN108582137A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of Dual-motors Driving |
| CN109037141A (en) * | 2018-08-17 | 2018-12-18 | 浙江雅市晶科技有限公司 | Grabbing device is used in a kind of transport of semiconductor substrate |
| CN111730628A (en) * | 2020-07-03 | 2020-10-02 | 江门市印星机器人有限公司 | Clamping jaw mechanism of mechanical arm |
| CN111969392A (en) * | 2020-08-17 | 2020-11-20 | 沈阳飞机工业（集团）有限公司 | Power-assisted plug pliers |
| CN112692855A (en) * | 2020-12-14 | 2021-04-23 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN113455350A (en) * | 2021-07-19 | 2021-10-01 | 王孟德 | Grape is planted and is used irrigation equipment |
| CN113699953A (en) * | 2021-08-31 | 2021-11-26 | 生态环境部华南环境科学研究所 | Automatic oil collecting system and method on water surface |
| CN115005254A (en) * | 2022-07-11 | 2022-09-06 | 武汉轻工大学 | Automatic clamping and cutting system for fish head |
-
2017
- 2017-03-22 CN CN201720285821.3U patent/CN206703050U/en not_active Expired - Fee Related
Cited By (14)
| 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 |
| CN108582137A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of Dual-motors Driving |
| CN108454967B (en) * | 2018-04-11 | 2024-01-23 | 烟台梦现自动化设备有限公司 | Bagging device for fruit bagging net bag |
| CN108454967A (en) * | 2018-04-11 | 2018-08-28 | 烟台梦现自动化设备有限公司 | A kind of bagging device for fruit case mesh bag |
| CN108313365A (en) * | 2018-04-11 | 2018-07-24 | 烟台梦现自动化设备有限公司 | A kind of folder for fruit mesh bag takes off transport system |
| CN108482730A (en) * | 2018-04-28 | 2018-09-04 | 烟台梦现自动化设备有限公司 | A kind of full-automatic fruit mesh bag set bag system |
| CN108482730B (en) * | 2018-04-28 | 2024-01-23 | 烟台梦现自动化设备有限公司 | Full-automatic fruit mesh bag bagging system |
| CN109037141A (en) * | 2018-08-17 | 2018-12-18 | 浙江雅市晶科技有限公司 | Grabbing device is used in a kind of transport of semiconductor substrate |
| CN111730628A (en) * | 2020-07-03 | 2020-10-02 | 江门市印星机器人有限公司 | Clamping jaw mechanism of mechanical arm |
| CN111969392A (en) * | 2020-08-17 | 2020-11-20 | 沈阳飞机工业（集团）有限公司 | Power-assisted plug pliers |
| CN112692855A (en) * | 2020-12-14 | 2021-04-23 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN113455350A (en) * | 2021-07-19 | 2021-10-01 | 王孟德 | Grape is planted and is used irrigation equipment |
| CN113699953A (en) * | 2021-08-31 | 2021-11-26 | 生态环境部华南环境科学研究所 | Automatic oil collecting system and method on water surface |
| CN115005254A (en) * | 2022-07-11 | 2022-09-06 | 武汉轻工大学 | Automatic clamping and cutting system for fish head |
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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: 20171205 |