CN206825457U - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN206825457U
CN206825457U CN201720506135.4U CN201720506135U CN206825457U CN 206825457 U CN206825457 U CN 206825457U CN 201720506135 U CN201720506135 U CN 201720506135U CN 206825457 U CN206825457 U CN 206825457U
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CN
China
Prior art keywords
arc
driven
sliding panel
arc support
chute
Prior art date
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Active
Application number
CN201720506135.4U
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Chinese (zh)
Inventor
黄乐直
钟鸣
姚玉峰
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.)
Weihai Furui Robot Co Ltd
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Weihai Furui Robot Co Ltd
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Filing date
Publication date
Application filed by Weihai Furui Robot Co Ltd filed Critical Weihai Furui Robot Co Ltd
Priority to CN201720506135.4U priority Critical patent/CN206825457U/en
Application granted granted Critical
Publication of CN206825457U publication Critical patent/CN206825457U/en
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Abstract

It the utility model is related to a kind of manipulator, which solve the existing manually collection technical problem that flexible pipe for medical purpose efficiency is low, cost is high, it includes the first arcuate movement plate, the second arcuate movement plate, the driven bar of the first arc, the driven bar of the second arc, the first sliding panel, the second sliding panel, the first arc support, the second arc support, fixed seat, motor and driven roller, motor is connected with fixed seat, driven roller and motor connection, the first arc support and the second arc support are oppositely arranged and are connected in fixed seat;The driven bar of first arc is connected by the first sliding panel with the first arcuate movement plate, and the driven bar of the second arc is connected by the second sliding panel with the second arcuate movement plate;One end of first sliding panel is slidably connected with the first arc support, and the other end is slidably connected with the second arc support;One end of second sliding panel is slidably connected with the first arc support, and the other end is slidably connected with the second arc support.The utility model is widely used in the automatic crawl to material.

Description

Manipulator
Technical field
Automated production equipment technical field is the utility model is related to, in particular to a kind of manipulator.
Background technology
In technical field of medical instruments, flexible pipe for medical purpose is a kind of consumptive material being commonly used.Given birth in the processing of flexible pipe for medical purpose During production, long flexible pipe is cut into the short flexible pipe of required size using automatic shearing equipment, then to substantial amounts of short soft Pipe is collected operation.For collecting process, taken at present mainly by operative employee with hand, carry completion, efficiency thus be present Technical problem low, cost is high.
The content of the invention
The utility model is exactly to be asked to solve the existing manually collection technology that flexible pipe for medical purpose efficiency is low, cost is high A kind of topic, there is provided the low manipulator of efficiency high, cost.
The technical solution of the utility model is to provide a kind of manipulator, including the first arcuate movement plate, the second arcuate movement Plate, the driven bar of the first arc, the driven bar of the second arc, the first sliding panel, the second sliding panel, the first arc support, the second arc Support, fixed seat, motor and driven roller, motor are connected with fixed seat, the output axis connection of driven roller and motor, the first arc branch Frame and the second arc support are oppositely arranged and are connected in fixed seat;
The driven bar of first arc is connected by the first sliding panel with the first arcuate movement plate, and driven article of the second arc passes through Two sliding panels are connected with the second arcuate movement plate;
One end of first sliding panel is slidably connected with the first arc support, and the other end is slidably connected with the second arc support; One end of second sliding panel is slidably connected with the first arc support, and the other end is slidably connected with the second arc support;First Sliding panel and the second sliding panel are oppositely arranged;
The circumference of driven roller is provided with force section, is respectively equipped with the inside of the driven bar of the first arc and the driven bar of the second arc Forced section, the forced section on the inside of the driven bar of the first arc and the force section on driven roller circumference are tangent, the driven bar of the second arc The forced section of inner side and the force section on driven roller circumference are tangent;The driven bar of first arc and the driven bar of the second arc are oppositely arranged And positioned at the both sides of driven roller.
The beneficial effects of the utility model are to realize automatically collecting operation, instead of manually operation, significantly carry High efficiency, while production cost is reduced, high-volume, prolonged production operation can be fully met.
The utility model further feature, by the description of detailed description below, it is clearly stated that.
Brief description of the drawings
Fig. 1 is the stereogram under manipulator open configuration;
Fig. 2 is the stereogram under manipulator open configuration;
Fig. 3 is the front view of manipulator;
Fig. 4 is the right view of manipulator;
Fig. 5 is the left view of manipulator;
Fig. 6 is the upward view of manipulator;
Fig. 7 is the top view of manipulator;
Fig. 8 is the rearview of manipulator;
Fig. 9 is the structural representation of the first arc support;
Figure 10 is that the driven bar of the first arc passes through the first sliding panel and the first arcuate movement plate connection diagram;
Figure 11 is the stereogram under manipulator closure state;
Figure 12 is the front view under manipulator closure state;
Figure 13 is that manipulator uses scheme of installation.
Symbol description in figure:
10. the first arcuate movement plate, 20. second arcuate movement plates, the 30. first driven bars of arc, 40. second arcs are driven Bar, 50. first sliding panels, 60. second sliding panels, 70. first arc supports, 80. second arc supports, 90. fixed seats, 100. Motor, 110. driven rollers, 120. head rods, 130. second connecting rods, 140. bases, 150. columns, 160. turning arms, 170. cylinder;61. bearing, 62. bearings, 51. bearings, 52. bearings;11. trapezoidal groove, 12. trapezoid boss, 21. trapezoidal grooves, 22. trapezoid boss;71. the first chute, 72. second chutes, 81. the 3rd chutes, 82. the 4th chutes.
Embodiment
Referring to the drawings, the utility model is described in further detail with specific embodiment.
As shown in figures 1-8, it is driven to include the first arcuate movement plate 10, the second arcuate movement plate 20, the first arc for manipulator The driven bar 40 of bar 30, the second arc, the first sliding panel 50, the second sliding panel 60, the first arc support 70, the second arc support 80th, fixed seat 90, motor 100, driven roller 110, motor 100 are arranged in fixed seat 90, and driven roller 110 is defeated with motor 100 Go out axis connection, the first arc support 70 and the second arc support 80 are oppositely arranged in fixed seat 90.Driven roller 110 is set Between the first arc support 70 and the second arc support 80.
As shown in figure 9, the first arc support 70 is provided with the first chute 71 and the second chute 72, the first chute 71 and second is slided Groove 72 is symmetrical arranged.
Second arc support 80 is identical with the structure of the first arc support 70, and the second arc support 80 is provided with the 3rd chute 81 With the 4th chute 82, the 3rd chute 81 and the 4th chute 82 are symmetrical arranged.
First arcuate movement plate 10 is fixedly connected with a side of the first sliding panel 50, the driven bar 30 and first of the first arc Another side of sliding panel 50 is fixedly connected.One end of first sliding panel 50 is connected with bearing 51, and the other end is connected with bearing 52. For bearing 51 in the first chute 71 of the first arc support 70, bearing 52 is located at the 4th chute 82 of the second arc support 80 In.It can be seen that the first sliding panel 50 by bearings between the first arc support 70 and the second arc support 80.
With reference to figure 10 and 2, the forced section of the driven inner side of bar 30 of the first arc and the force section phase on the circumference of driven roller 110 Cut.After driven roller 110 rotates, the force section on its circumference can give the forced section of the driven inner side of bar 30 of the first arc to provide torsion Square, so that the driven bar 30 of the first arc moves.
Second arcuate movement plate 20 is identical with the structure of the first arcuate movement plate 10, the second sliding panel 60 and the first sliding panel 50 structure is identical, and the structure of the driven bar 40 of the second arc bar 30 driven with the first arc is identical.Second arcuate movement plate 20 with One side of the second sliding panel 60 is fixedly connected, and another side of the driven sliding panel 60 of bar 40 and second of the second arc, which is fixed, to be connected Connect.One end of second sliding panel 60 is connected with bearing 61, and the other end is connected with bearing 62.Bearing 61 is located at the first arc support 70 The second chute 72 in, bearing 62 located at the second arc support 80 the 3rd chute 81 in.It can be seen that the second sliding panel 60 passes through axle Hold and be supported between the first arc support 70 and the second arc support 80.
The forced section of the inner side of the driven bar 40 of second arc and the force section on the circumference of driven roller 110 are tangent, driven roller 110 After rotation, the force section on its circumference can give the forced section of the driven inner side of bar 40 of the second arc to provide moment of torsion, so that second The driven bar 40 of arc moves.
With reference to figure 6, it can be clearly seen that, the driven driven bar 40 of the arc of bar 30 and second of the first arc is oppositely arranged on drive The both sides of dynamic roller 110.
One end of second connecting rod 130 is connected with the left distal end of the first arc support 70, the other end and the second arc branch The left distal end connection of frame 80.One end of head rod 120 is connected with the right end of the first arc support 70, the other end with The right end connection of second arc support 80.
The free terminal of first arcuate movement plate 10 is provided with trapezoidal groove 11 and trapezoid boss 12, the second arcuate movement plate 20 Free terminal be provided with trapezoidal groove 21 and trapezoid boss 22.Trapezoidal groove 11 can be engaged with trapezoid boss 22.Trapezoid boss 12 can be engaged with trapezoidal groove 21.
With reference to figure 10, driven roller 110 can be friction pulley, and the circumference of friction pulley is provided with knurled portions, and the knurled portions can be with It is straight knurling portion, hatching knurling portion or twill knurled portions.The forced section of the driven inner side of bar 30 of first arc can be using rolling The knurled portions that flower process is process, the knurled portions can be straight knurling portion, hatching knurling portion or twill knurled portions.Similarly, The forced section of the driven inner side of bar 40 of second arc can be the knurled portions being process using annular knurl technique, and the knurled portions can be Straight knurling portion, hatching knurling portion or twill knurled portions.
For driven roller 110 and the driving structure of two driven bars of arc, following structure can be used, driven roller 110 is adopted Use gear;The driven driven bar 40 of the arc of bar 30 and second of first arc uses rack structure, and the forced section on the inside of it is groove portion.
It should be noted that the bearing at the both ends of the first sliding panel 50 can set two, three or more.Second slides The bearing at the both ends of plate 60 can set two, three or more.Motor 100 can use stepper motor or servomotor etc..
With reference to figure 11 and 12, the course of work of manipulator is described below, manipulator stretches into to be collected several are medical Above short flexible pipe, motor 100 drives driven roller 110 to rotate, and the driven bar 30 of the first arc moves right, the driven bar 40 of the second arc It is moved to the left.The driven bar 30 of first arc drives the first sliding panel 50 in the first arc support 70 and the second arc support 80 Camber line slip is done in chute from top to bottom, the first sliding panel 50 drives the first arcuate movement plate 10 to do camber line movement.Second arc Driven bar 40 drives in chute of second sliding panel 60 in the first arc support 70 and the second arc support 80 and done from top to bottom Camber line slides, and the second sliding panel 60 drives the second arcuate movement plate 20 to do camber line movement.Finally, the first arcuate movement plate 10 and The free terminal of two arcuate movement plates 20 is contacted and is interlocked, and so, some medical short flexible pipes are just crawled to two arcs On shape portable plate.
As shown in figure 13, manipulator can be arranged in corresponding equipment, column 150 is connected with base 150, turning arm 160 are flexibly connected with column 150, and cylinder 170 is arranged on the end of turning arm 160, and manipulator is arranged on to the piston rod of cylinder 170 It is upper.
It is described above to be not limited to the utility model only to preferred embodiment of the present utility model, for this For the technical staff in field, the utility model can have various modifications and variations.

Claims (8)

  1. A kind of 1. manipulator, it is characterised in that including the first arcuate movement plate, the second arcuate movement plate, the driven bar of the first arc, The driven bar of second arc, the first sliding panel, the second sliding panel, the first arc support, the second arc support, fixed seat, motor and Driven roller, the motor are connected with fixed seat, the output axis connection of the driven roller and motor, first arc support and Two arc supports, which are oppositely arranged, to be connected in fixed seat;
    The driven bar of first arc is connected by the first sliding panel with the first arcuate movement plate, and driven article of the second arc passes through Two sliding panels are connected with the second arcuate movement plate;
    One end of first sliding panel is slidably connected with the first arc support, and the other end is slidably connected with the second arc support; One end of second sliding panel is slidably connected with the first arc support, and the other end is slidably connected with the second arc support;First Sliding panel and the second sliding panel are oppositely arranged;
    The circumference of the driven roller is provided with force section, the inner side difference of the driven bar of first arc and the driven bar of the second arc Provided with forced section, the forced section on the inside of the driven bar of the first arc and the force section on driven roller circumference are tangent, and described second The forced section of the inner side of the driven bar of arc and the force section on driven roller circumference are tangent;The driven bar of first arc and the second arc from Dynamic bar is oppositely arranged and is located at the both sides of driven roller.
  2. 2. manipulator according to claim 1, it is characterised in that the driven roller is friction pulley, on the circumference of friction pulley Provided with knurled portions;Forced section on the inside of the driven bar of first arc is knurled portions;On the inside of the driven bar of second arc by Power portion is knurled portions.
  3. 3. manipulator according to claim 1, it is characterised in that the driven roller is gear, and first arc is driven Forced section on the inside of bar is groove portion, and the forced section on the inside of the driven bar of the second arc is groove portion.
  4. 4. according to the manipulator described in claim 1,2 or 3, it is characterised in that first arc support is provided with the first chute With the second chute, the first chute and the second chute are symmetrical arranged, and second arc support is provided with the 3rd chute and the 4th chute, 3rd chute and the 4th chute are symmetrical arranged;One end of first sliding panel is connected with the first slide of the first arc support, The other end is connected with the 4th slide of the second arc support;Slided with the second of the first arc support one end of second sliding panel Groove is slidably connected, and the other end is connected with the 3rd slide of the second arc support.
  5. 5. manipulator according to claim 4, it is characterised in that one end of first sliding panel is existed by bearings In first chute of the first arc support, the other end is by bearings in the 4th chute of the second arc support;Second slides One end of dynamic plate is by bearings in the second chute of the first arc support, and the other end is by bearings in the second arc In 3rd chute of support.
  6. 6. manipulator according to claim 5, it is characterised in that pass through between the first arc support and the second arc support Connecting rod links together.
  7. 7. manipulator according to claim 6, it is characterised in that the first arcuate movement plate is provided with free terminal, the second arc Shape portable plate is provided with free terminal;The free terminal of the first arcuate movement plate is provided with trapezoidal groove and trapezoid boss, described The free terminal of second arcuate movement plate is provided with trapezoidal groove and trapezoid boss.
  8. 8. manipulator according to claim 7, it is characterised in that the motor is stepper motor.
CN201720506135.4U 2017-05-09 2017-05-09 Manipulator Active CN206825457U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720506135.4U CN206825457U (en) 2017-05-09 2017-05-09 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720506135.4U CN206825457U (en) 2017-05-09 2017-05-09 Manipulator

Publications (1)

Publication Number Publication Date
CN206825457U true CN206825457U (en) 2018-01-02

Family

ID=60770601

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720506135.4U Active CN206825457U (en) 2017-05-09 2017-05-09 Manipulator

Country Status (1)

Country Link
CN (1) CN206825457U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109879041A (en) * 2019-02-25 2019-06-14 安徽省宣城市永健机械有限公司 A kind of clamp device of automobile axle shaft

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109879041A (en) * 2019-02-25 2019-06-14 安徽省宣城市永健机械有限公司 A kind of clamp device of automobile axle shaft

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