CN206913139U - A kind of soft absorption type manipulator - Google Patents
A kind of soft absorption type manipulator Download PDFInfo
- Publication number
- CN206913139U CN206913139U CN201720292271.8U CN201720292271U CN206913139U CN 206913139 U CN206913139 U CN 206913139U CN 201720292271 U CN201720292271 U CN 201720292271U CN 206913139 U CN206913139 U CN 206913139U
- Authority
- CN
- China
- Prior art keywords
- arm
- adsorption plate
- aligning
- absorption type
- position limitation
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of soft absorption type manipulator, including the adsorption plate being connected with robot arm, the both sides of adsorption plate are provided with the centering body and spacing protecting mechanism being distributed in pairs, and the adsorption plate plate face between centering body is provided with adsorbent equipment；Described centering body includes being arranged symmetrically in the aligning arm groups of adsorption plate both sides, and the aligning arm in aligning arm group is connected with adsorption plate using rotary type, and aligning arm is connected with the first drivig cylinder for driving the aligning arm of adsorption plate both sides to interlock with the rotation；Described spacing protecting mechanism includes the position limitation protection arm for the L-shaped being arranged on each aligning arm, and position limitation protection arm one end is connected with aligning arm using rotary type, and position limitation protection arm is also associated with the second drivig cylinder for driving position limitation protection arm to rotate.Soft absorption type manipulator of the present utility model, flexibility gripping, improves handling efficiency.
Description
Technical field
The utility model belongs to manipulator technical field, and in particular to a kind of soft absorption type manipulator.
Background technology
In many manufacturing and processing enterprises, the production of product, the substantial amounts of exemplar of assembling process needs send and take work, add from a certain
Station, which is put, is moved to another Working position, and conventional method is still by manually carrying, can be by artificial direct when closer to the distance
Remove to specified location；When distant, then had enough to meet the need by tote cart etc..This manually to send the mode taken, not only operating efficiency is low,
Labor cost is high, and inequality of exerting oneself when manually placing easily causes sample surface to be damaged.
Utility model content
The purpose of this utility model is：For problems of the prior art, there is provided a kind of soft absorption type machinery
Hand, realize the quick flexible gripping of exemplar, carry, improve production efficiency, save labor cost.
To achieve these goals, the technical solution adopted in the utility model is：
A kind of soft absorption type manipulator, including the adsorption plate being connected with robot arm, the both sides of adsorption plate are provided with
The centering body and spacing protecting mechanism being distributed in pairs, the adsorption plate plate face between centering body are provided with adsorbent equipment；
Described centering body includes being arranged symmetrically in the aligning arm groups of adsorption plate both sides, the aligning arm in aligning arm group
Be connected with adsorption plate using rotary type, aligning arm be connected with for drive that the aligning arm of adsorption plate both sides interlocks with the rotation first
Drivig cylinder；
Described spacing protecting mechanism includes the position limitation protection arm for the L-shaped being arranged on each aligning arm, position limitation protection arm
One end is connected with aligning arm using rotary type, and position limitation protection arm is also associated with the second driving cylinder for driving position limitation protection arm to rotate
Body.
Preferably, control panel is additionally provided between adsorption plate and robot arm, control panel rigidly connects with robot arm
Connect, several pull bars are connected between control panel and adsorption plate, are formed between each two pull bar and control panel, adsorption plate movable
The parallelogram sturcutre of connection, and elastic buffer unit is provided between control panel and adsorption plate.
Preferably, described pull bar 6 is connected between the control panel 2 and the adsorption plate 4 by spherical hinge respectively.
Preferably, described elastic buffer unit is preferably ball, and elastic buffer unit is provided with two.
Preferably, the first described drivig cylinder is provided with two, drives the aligning arm group of adsorption plate side respectively, two the
One drivig cylinder is using identical gas circuit and the same magnetic valve of connection.
Preferably, described adsorbent equipment uses sucker, and sucker is provided with several and is distributed in adsorption plate plate face.
Preferably, it is provided with the inside of described aligning arm using contact block made of flexible material.
Preferably, aligning arm of first drivig cylinder described in by first connecting rod and second connecting rod drive connection, first drives
Move the shaft end of cylinder body while be articulated and connected first connecting rod and second connecting rod, the other end of first connecting rod are hingedly connected to adsorb
On plate, other end and the aligning arm of second connecting rod are articulated and connected；During aligning arm centering, first connecting rod and second connecting rod are in closely
Like on straight line.Preferably, the second drivig cylinder that all driving position limitation protection arms rotate uses identical gas circuit and connection
Same magnetic valve.
Preferably, position limitation protection of the second described drivig cylinder described in by third connecting rod and fourth link drive connection
Arm, the shaft end of the second drivig cylinder while be articulated and connected third connecting rod and fourth link, the other end of third connecting rod is be hinged to be connected
It is connected on position limitation protection arm, other end and the position limitation protection arm of fourth link are articulated and connected；The spacing guarantor of position limitation protection arm
During shield, third connecting rod is on approximate straight line with fourth link.
By adopting the above-described technical solution, the beneficial effects of the utility model are：
Soft absorption type manipulator of the present utility model, comprising aligning arm, adsorption plate, shield arm, realize the position to exemplar
Put centering, draw fixed, position limitation protection；Exemplar is fixed using absorption type structure, can prevent that sample surface is scratched or ground
Damage；Provided with aligning arm, position correction can be carried out to exemplar before adsorbent equipment absorption exemplar；By being provided with position limitation protection arm, make
Position limitation protection can be carried out after adsorbent equipment adsorbs exemplar to exemplar by obtaining；
Further by installing elastic buffer unit between adsorption plate and control panel, such as damping rubber ball, serve and subtract
Shake acts on, and exemplar stress is steady during whole Robot actions, and protective effect is served to exemplar.
Brief description of the drawings
Fig. 1 is soft absorption type robot manipulator structure schematic diagram of the present utility model.
Fig. 2 is soft absorption type manipulator side view of the present utility model.
Reference：1- robot arms, 2- control panels, 3- elastic buffer units, 4- adsorption plates, 5- adsorbent equipments, 6-
Pull bar, 7- centering bodies, 71- aligning arms, the drivig cylinders of 72- first, 73- contact blocks, 74- first connecting rods, 75- second connecting rods,
8- spacing protecting mechanisms, 81- position limitation protection arms, the drivig cylinders of 82- second, 84- third connecting rods, 85- fourth links.
Embodiment
Reference picture 1, Fig. 2, a kind of soft absorption type manipulator of the present utility model, including be connected with robot arm 1
Adsorption plate 4, the both sides of adsorption plate 4 are provided with the centering body 7 and spacing protecting mechanism 8 being distributed in pairs, between centering body 7
The plate face of adsorption plate 4 is provided with adsorbent equipment 5.Adsorbent equipment 5 preferably uses sucker, other can also be used to have adsorption function
Mechanism, sucker are provided with several and are distributed in the plate face of adsorption plate 4.Exemplar is adsorbed by sucker and fixed.
Centering body 7 includes being arranged symmetrically in the aligning arm groups of the both sides of adsorption plate 4, the aligning arm 71 in aligning arm group with
Adsorption plate 4 is connected using rotary type, aligning arm 71 be connected with for drive that the aligning arm 71 of the both sides of adsorption plate 4 interlocks with the rotation the
One drivig cylinder 72.The present embodiment preferred structure is that the both sides of adsorption plate 4 are respectively arranged with two aligning arms 71, and aligning arm 71 is with inhaling
Attached plate 4 is using the rotational structure of rotating shaft connection, and for the one end of aligning arm 71 by the drive connection of the first drivig cylinder 72, the other end is to connect
The movable end of exemplar is touched, by the first drivig cylinder 72 aligning arm 71 can be driven to surround and be rotated with the connection rotating shaft of adsorption plate 4.The
One drivig cylinder 72 is provided with two, drives the aligning arm group of the side of adsorption plate 4 respectively, two the first drivig cylinders 72 are using identical
Gas circuit and the same magnetic valve of connection.Because two the first drivig cylinders 72 use identical gas circuit and for same solenoid valve control,
The aligning arm 71 of the both sides of adsorption plate 4, which can so be ensured, can form linkage.When simultaneously the aligning arm 71 of the both sides of adsorption plate 4 is put
When dynamic, then it can realize that the exemplar being pointed between aligning arm 71 realizes centering.The inner side of aligning arm 71 is provided with using flexible
Contact block 73 made of material, it can effectively prevent from destroying sample surface quality during centering.First drivig cylinder 72 passes through first
Aligning arm 71 described in connecting rod 74 and the drive connection of second connecting rod 75, the shaft end of the first drivig cylinder 72 are articulated and connected first simultaneously
Connecting rod 74 and second connecting rod 75, the other end of first connecting rod 74 are hingedly connected on adsorption plate 4, and other the one of second connecting rod 75
End is articulated and connected with aligning arm 71, and during 71 centering of aligning arm, first connecting rod 74 and second connecting rod 75 are on approximate straight line.
Spacing protecting mechanism 8 includes the position limitation protection arm 81 for the L-shaped being arranged on each aligning arm 71, position limitation protection arm 81
One end is connected with aligning arm 71 using rotary type, and position limitation protection arm 81 is also associated with the second drive for driving position limitation protection arm 81 to rotate
Dynamic cylinder body 82.After adsorbent equipment 5 is fixed by exemplar absorption, the position limitation protection arm 81 of L-shaped is driven by the second drivig cylinder 82
Axle around rotation connection is rotated, and then turns to the lower section of exemplar, implements position limitation protection to exemplar.Specifically, L-shaped
Position limitation protection arm 81, by its long-armed one end rotary type connection aligning arm 71, and the second drivig cylinder 82 is connected on long-armed, this
Sample then can drive position limitation protection arm 81 to rotate by the second drivig cylinder 82, and one end of galianconism is then moved to the lower section of exemplar,
Position limitation protection is implemented to exemplar by one end of galianconism.The second drivig cylinder 82 that driving position limitation protection arm 81 rotates uses phase
With gas circuit and the same magnetic valve of connection.Second drivig cylinder 82 passes through described in third connecting rod 84 and the drive connection of fourth link 85
Position limitation protection arm 81, the shaft end of the second drivig cylinder 82 while be articulated and connected third connecting rod 84 and fourth link 85, third connecting rod
84 other end is hingedly connected on position limitation protection arm 81, other end and the be hinged company of position limitation protection arm 81 of fourth link 85
Connect, during position limitation protection 81 spacing position limitation protection of arm, third connecting rod 84 is on approximate straight line with fourth link 85.
Control panel 2 is additionally provided between adsorption plate 4 and robot arm 1, control panel 2 is rigidly connected with robot arm 1,
Several pull bars 6 are connected between control panel 2 and adsorption plate 4, is formed and lived between each two pull bar 6 and control panel 2, adsorption plate 4
The parallelogram sturcutre of dynamic formula connection, and elastic buffer unit 3 is provided between control panel 2 and adsorption plate 4.Control panel 2
It is connected between adsorption plate 4 by pull bar 6, and after forming multiple parallelogram sturcutres, because parallelogram sturcutre is not
Rock-steady structure, between such control panel 2 and adsorption plate 4 then can by between elastic buffer unit 3 realize buffering, subtract
Shake, exemplar stress is steady during whole Robot actions, and protective effect is served to exemplar.Pull bar 6 is set in the present embodiment
There are four, respectively between control panel 2 and adsorption plate 4.Elastic buffer unit 3 is preferably ball, and elastic buffer unit 3 is set
There are two.
The utility model is preferred, and the first drivig cylinder 72 and the second drivig cylinder 82 use cylinder.
Manipulator of the present utility model, its movement is controlled by robot arm 1, exemplar is moved to and is located at centering body 7
Between, by control the first drivig cylinder 72, driving aligning arm 71 to centre swing, because swing angle is identical, then can will
Exemplar between both sides aligning arm 71 realizes centering, after the completion of centering, then by the adsorbent equipment 5 on adsorption plate 4 by sample
Part adsorbs, manipulator of the present utility model generally directed to be the workpiece with smooth surface, so pass through the ability of adsorbent equipment 5
Exemplar is adsorbed and fixed.After absorption is fixed, swings, pass through finally by control the second drivig cylinder 82 driving position limitation protection arm 81
81 inside side oscillation of position limitation protection arm, you can swing to below exemplar, position limitation protection is realized to exemplar, makes exemplar entirely transport
During be brought into close contact with adsorbent equipment 5.
Claims (10)
1. a kind of soft absorption type manipulator, it is characterised in that including the adsorption plate (4) being connected with robot arm (1), absorption
The both sides of plate (4) are provided with the centering body (7) and spacing protecting mechanism (8) being distributed in pairs, the absorption between centering body (7)
Plate (4) plate face is provided with adsorbent equipment (5)；
Described centering body (7) includes being arranged symmetrically in the aligning arm groups of adsorption plate (4) both sides, the aligning arm in symmetric arms group
(71) it is connected with adsorption plate (4) using rotary type, aligning arm (71) is connected with the aligning arm for driving adsorption plate (4) both sides
(71) the first drivig cylinder (72) to interlock with the rotation；
Described spacing protecting mechanism (8) includes the position limitation protection arm (81) for the L-shaped being arranged on each aligning arm (71), spacing
Shield arm (81) one end is connected with aligning arm (71) using rotary type, and position limitation protection arm (81) is also associated with driving position limitation protection arm
(81) the second drivig cylinder (82) rotated.
2. soft absorption type manipulator according to claim 1, it is characterised in that adsorption plate (4) and robot arm (1)
Between be additionally provided with control panel (2), control panel (2) is rigidly connected with robot arm (1), control panel (2) and adsorption plate (4) it
Between be connected with several pull bars (6), each two pull bar (6) and control panel (2), adsorption plate form movable connection between (4)
Parallelogram sturcutre, and elastic buffer unit (3) is provided between control panel (2) and adsorption plate (4).
3. soft absorption type manipulator according to claim 2, it is characterised in that described pull bar (6) passes through ball respectively
It is hingedly connected between the control panel (2) and the adsorption plate (4).
4. soft absorption type manipulator according to claim 2, it is characterised in that described elastic buffer unit (3) is
Ball, elastic buffer unit (3) are provided with two.
5. soft absorption type manipulator according to claim 1, it is characterised in that described the first drivig cylinder (72) is set
Two are equipped with, drives the symmetric arms group of adsorption plate (4) side respectively, two the first drivig cylinders (72) use identical gas circuit and connection
Same magnetic valve.
6. soft absorption type manipulator according to claim 1, it is characterised in that described adsorbent equipment (5) is using suction
Disk, sucker are provided with several and are distributed in adsorption plate (4) plate face.
7. soft absorption type manipulator according to claim 1, it is characterised in that the inner side of described aligning arm (71)
It is provided with and uses contact block (73) made of flexible material.
8. soft absorption type manipulator according to claim 1, it is characterised in that the first drivig cylinder (72) passes through first
Connecting rod (74) and the aligning arm (71) described in second connecting rod (75) drive connection, the shaft end of the first drivig cylinder (72) are hinged simultaneously
Connection first connecting rod (74) and second connecting rod (75), the other end of first connecting rod (74) are hingedly connected on adsorption plate (4), the
The other end of two connecting rods (75) is articulated and connected with aligning arm (71).
9. soft absorption type manipulator according to claim 1, it is characterised in that all driving position limitation protection arms (81) turn
Dynamic the second drivig cylinder (82) is using identical gas circuit and the same magnetic valve of connection.
10. soft absorption type manipulator according to claim 1, it is characterised in that described the second drivig cylinder (82)
By third connecting rod (84) and the position limitation protection arm (81) described in fourth link (85) drive connection, the second drivig cylinder (82)
Shaft end is articulated and connected third connecting rod (84) and fourth link (85) simultaneously, and the other end of third connecting rod (84) is hingedly connected to limit
In position shield arm (81), other end and the position limitation protection arm (81) of fourth link (85) are articulated and connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292271.8U CN206913139U (en) | 2017-03-23 | 2017-03-23 | A kind of soft absorption type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292271.8U CN206913139U (en) | 2017-03-23 | 2017-03-23 | A kind of soft absorption type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206913139U true CN206913139U (en) | 2018-01-23 |
Family
ID=61311338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292271.8U Active CN206913139U (en) | 2017-03-23 | 2017-03-23 | A kind of soft absorption type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206913139U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671068A (en) * | 2017-03-23 | 2017-05-17 | 四川协诚智达科技有限公司 | Flexible adsorption type manipulator |
-
2017
- 2017-03-23 CN CN201720292271.8U patent/CN206913139U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671068A (en) * | 2017-03-23 | 2017-05-17 | 四川协诚智达科技有限公司 | Flexible adsorption type manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106671068A (en) | Flexible adsorption type manipulator | |
| CN106743559B (en) | A kind of removable ribbon conveyer with mechanical arm | |
| CN103693233B (en) | Boxing manipulator and boxing apparatus | |
| CN206913139U (en) | A kind of soft absorption type manipulator | |
| CN104999470A (en) | All-driving three-finger ingenious mechanical arm | |
| CN206998922U (en) | A kind of wu-zhi-shan pig | |
| CN208896084U (en) | A kind of Omni-mobile transfer robot with liftable pneumatic gripping device | |
| CN208277220U (en) | A kind of five axis transfer robots | |
| CN206357237U (en) | A kind of double hydraulic cylinder promotes transfer robot | |
| CN108381602A (en) | A kind of robot lifting platform | |
| CN105619385A (en) | Three-translation and one-rotation parallel robot mechanism with low-coupling-degree two-movement-pair movable platform | |
| CN104942795B (en) | One moves two rotation Three Degree Of Freedoms rotates mobile full decoupled parallel institution | |
| CN209554326U (en) | A kind of rice automation catching robot | |
| CN206855474U (en) | Connecting rod humanoid robot gripping apparatus | |
| CN108860355A (en) | A kind of Y humanoid robot control method | |
| CN105479441A (en) | Robot hand with three under-actuated fingers connected in parallel | |
| CN105619386A (en) | Three-translation and one-rotation parallel robot device with low-coupling-degree three-movement-pair movable platform | |
| CN204183035U (en) | The robot device of circular saw bit | |
| CN207595359U (en) | For the rotation boxing device of cylindric material | |
| CN105619383A (en) | Three-translation and one-rotation parallel robot platform with low-coupling degree and two-kinematic pair moving platform | |
| CN104308262A (en) | Manipulator device for disc saw blade | |
| CN101652228B (en) | Conveyor | |
| CN105234924B (en) | Four-degree-of-freedom parallel mechanism | |
| CN108674510A (en) | A kind of Y humanoid robots | |
| CN207861392U (en) | A kind of used in glass products transport device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |