CN207682389U - A kind of transportation manipulator - Google Patents
A kind of transportation manipulator Download PDFInfo
- Publication number
- CN207682389U CN207682389U CN201721548883.5U CN201721548883U CN207682389U CN 207682389 U CN207682389 U CN 207682389U CN 201721548883 U CN201721548883 U CN 201721548883U CN 207682389 U CN207682389 U CN 207682389U
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- China
- Prior art keywords
- cylinder
- rotary cylinder
- gripper
- manipulator
- sliding block
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Abstract
The utility model is related to a kind of transportation manipulators, including fixed frame, mechanical large arm, mechanical forearm and manipulator, mechanical large arm to rotate horizontally, and mechanical forearm being capable of horizontal extension and vertical lift；Manipulator includes the sliding rail being horizontally set on elevating lever, is slidably connected on sliding rail there are two sliding block, the both ends of sliding rail are installed with telescopic cylinder respectively, and the piston rod of telescopic cylinder is fixedly connected with a slide block；The lower part of sliding block is equipped with gripper, and gripper is connect by rotary cylinder with sliding block；The pawl end of gripper is equipped with pressure sensor.The utility model is completed to rotate horizontally, move horizontally and be vertically moved up or down, simple in structure, at low cost, simple operation by stepper motor and cylinder cooperation, it is simple and practicable can to control program by remote control.The utility model captures article by cylinder driving manipulator, captures firm, stable structure.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of transportation manipulator.
Background technology
Manipulator can imitate certain holding functions of human hand and arm, to press fixed routine crawl, carry object or operation
The automatic pilot of tool.It can replace the heavy labor of people to realize the mechanization and automation of production, can be in harmful ring
Operation is to protect personal safety under border, thus is widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.Mesh
Before, the wider manipulator of application is four axis robots and five axis robots.Driving machinery in wherein five axis robot structures
Arm action five motions be routinely：Vertical movement mechanism, swing arm motion mechanism, flip-flop movement mechanism, horizontal motion machine
Structure and actuating station rotational motion mechanism.
Using manipulator, the manual labor of people can be not only reduced, reduces the waste of human resources, and work can be effectively improved
Make efficiency；And the operation of machine manipulator in the prior art is not sufficiently stable, structure and its complexity, cost is higher.
Utility model content
In order to solve the body height problem that computer display height existing in the prior art does not adapt to variation, this
Utility model provides a kind of intelligent elevated display.The technical problems to be solved in the utility model is real by the following technical programs
It is existing：A kind of transportation manipulator, including fixed frame, mechanical large arm, mechanical forearm and manipulator, the machinery large arm includes being installed in
The output shaft of stepper motor on fixed frame, stepper motor is fixedly connected with the rotating shaft by shaft coupling, and rotation axis is vertically arranged,
To realize that rotation axis rotates in the horizontal plane；
Mechanical forearm includes holder, and Level Promoting cylinder, the piston rod and push rod of Level Promoting cylinder are installed on holder
It is fixedly connected；The piston rod of the Level Promoting cylinder pushes push rod horizontal extension；The holder is fixed on the rotating shaft；
The machinery forearm includes link, and link is equipped with lifting cylinder, the piston rod and elevating lever of lifting cylinder
It is fixedly connected, the piston rod of the lifting cylinder pushes elevating lever vertical lift；The link is installed on push rod；
The manipulator includes the sliding rail being horizontally set on the elevating lever, is slidably connected on sliding rail there are two sliding block,
The both ends of sliding rail are installed with telescopic cylinder respectively, and the piston rod of telescopic cylinder is fixedly connected with a slide block；The lower part of sliding block is equipped with machine
Machinery claw, gripper are connect by rotary cylinder with sliding block；The pawl end of gripper is equipped with pressure sensor.
The beneficial effects of the utility model：The utility model completes horizontal rotation, water by stepper motor and cylinder cooperation
Translation is dynamic and vertical lift, simple in structure, at low cost, simple operation it is simple and practicable can to control program by remote control.
The utility model captures article by cylinder driving manipulator, captures firm, stable structure.
The utility model is described in further details below with reference to accompanying drawings and embodiments.
Description of the drawings
Fig. 1 is the utility model structure diagram.
Specific implementation mode
If in the description of the present invention, it should be understood that there is the instructions such as term "upper", "lower", "left", "right"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification
Description, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and behaviour
Make, therefore the terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent, for
For those skilled in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
Reach the technological means and effect that predetermined purpose is taken for the utility model is expanded on further, below in conjunction with attached drawing
And embodiment, to specific embodiment of the present utility model, structure feature and its effect, detailed description are as follows.
A kind of transportation manipulator as shown in Figure 1, including 1 rotary cylinder of fixed frame rotary cylinder, mechanical large arm, machinery are small
Arm and manipulator, mechanical large arm can rotate in the horizontal plane, mechanical forearm can horizontal direction it is flexible, manipulator can be vertically moved up or down,
It is simple in structure, it is at low cost.Mechanical large arm includes the stepper motor rotary cylinder being installed on 1 rotary cylinder of fixed frame rotary cylinder
The output shaft of 2 rotary cylinders, 2 rotary cylinder of stepper motor rotary cylinder passes through 3 rotary cylinder of shaft coupling rotary cylinder and rotation
4 rotary cylinder of axis rotary cylinder is fixedly connected, and 4 rotary cylinder of rotation axis rotary cylinder is vertically arranged, to realize that rotation axis is turned round
4 rotary cylinder of cylinder rotates in the horizontal plane.Rotation axis 4 can be threaded through on fixed frame 1 by bearing, more be stablized.
Mechanical forearm includes 5 rotary cylinder of holder rotary cylinder, and being installed with level on 5 rotary cylinder of holder rotary cylinder pushes away
It takes offence 6 rotary cylinder of cylinder rotary cylinder, piston rod and the push rod rotary cylinder 7 of 6 rotary cylinder of Level Promoting cylinder rotary cylinder
Rotary cylinder is fixedly connected；The piston rod of 6 rotary cylinder of Level Promoting cylinder rotary cylinder pushes push rod rotary cylinder 7 to turn round gas
Cylinder horizontal extension；5 rotary cylinder of holder rotary cylinder is installed on 4 rotary cylinder of rotation axis rotary cylinder；Holder 5 and level
Pusher cylinder 6 is rotated with rotation axis 4.
Mechanical forearm includes 8 rotary cylinder of link rotary cylinder, and 8 rotary cylinder of link rotary cylinder is equipped with lifting
9 rotary cylinder of cylinder rotary cylinder, piston rod and the elevating lever rotary cylinder 10 of 9 rotary cylinder of lifting cylinder rotary cylinder turn round
Cylinder is fixedly connected, and the piston rod of 9 rotary cylinder of lifting cylinder rotary cylinder pushes 10 rotary cylinder of elevating lever rotary cylinder to hang down
Go straight up to drop；8 rotary cylinder of link rotary cylinder is installed on 7 rotary cylinder of push rod rotary cylinder；Link 8 and lifting air
Cylinder 9 being capable of horizontal stretching motion with push rod 7.
Manipulator includes that the sliding rail rotary cylinder 11 being horizontally set on 7 rotary cylinder of elevating lever rotary cylinder turns round gas
Cylinder, being slidably connected on 11 rotary cylinder of sliding rail rotary cylinder, there are two 12 rotary cylinder of sliding block rotary cylinder, sliding rail rotary cylinders
The both ends of 11 rotary cylinders are installed with 13 rotary cylinder of telescopic cylinder rotary cylinder respectively, and telescopic cylinder rotary cylinder 13 turns round gas
The piston rod of cylinder is fixedly connected with 12 rotary cylinder of sliding block rotary cylinder；The lower part of 12 rotary cylinder of sliding block rotary cylinder is equipped with machine
14 rotary cylinder of machinery claw rotary cylinder, 14 rotary cylinder of gripper rotary cylinder pass through 15 rotary cylinder of rotary cylinder rotary cylinder
It is connect with 12 rotary cylinder of sliding block rotary cylinder；The pawl end of 14 rotary cylinder of gripper rotary cylinder is turned round equipped with pressure sensor
16 rotary cylinder of cylinder.When two telescopic cylinders 13 stretch out, sliding block 12 slides on sliding rail 11, and gripper 14 is close to each other,
Rotary cylinder 15 drives gripper 14 to turn an angle, and enables gripper 14 that article to be clamped and captures, to realize nothing
It need to manually carry, improve handling efficiency.
Since the circuit of the utility model is simple, the prior art is very common, therefore few statement here.
The operation principle of the utility model is as follows：When needing article transfer, 2 rotary cylinder band of stepper motor rotary cylinder
Turn moving axis 4 rotates, to make mechanical forearm and manipulator be rotated from a position to another position, then Level Promoting
6 rotary cylinder driving push rod of cylinder rotary cylinder, 7 horizontal direction is flexible, drives 10 liters of elevating lever by lifting cylinder 9 afterwards in place
Drop, such as after being down to certain altitude, telescopic cylinder 13 stretches out two sliding blocks 12 of driving and is slided on sliding rail 11, and gripper 14 is mutual
Close, then rotary cylinder 15 drives gripper 14 to turn an angle, and enables gripper 14 that article to be clamped and captures, works as machine
The induction of pressure sensor 16 in machinery claw 14 is when reaching preset pressure, then lifting cylinder 9, Level Promoting cylinder rotary cylinder 6
Rotary cylinder, stepper motor 2 invert, and article is transported to designated position, and last rotary cylinder 15 and telescopic cylinder 13 invert,
Article is put down.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the scope of protection of the utility model.
Claims (1)
1. a kind of transportation manipulator, including fixed frame（1）, mechanical large arm, mechanical forearm and manipulator, it is characterised in that：It is described
Mechanical large arm includes being installed in fixed frame（1）On stepper motor（2）, stepper motor（2）Output shaft pass through shaft coupling（3）With
Rotation axis（4）It is fixedly connected, rotation axis（4）It is vertically arranged, to realize rotation axis（4）It rotates in the horizontal plane；
Mechanical forearm includes holder（5）, holder（5）On be installed with Level Promoting cylinder（6）, Level Promoting cylinder（6）Piston
Bar and push rod（7）It is fixedly connected；The Level Promoting cylinder（6）Piston rod push push rod（7）Horizontal extension；The holder
（5）It is installed in rotation axis（4）On；
The machinery forearm further includes link（8）, link（8）It is equipped with lifting cylinder（9）, lifting cylinder（9）Piston
Bar and elevating lever（10）It is fixedly connected, the lifting cylinder（9）Piston rod push elevating lever（10）Vertical lift；The connection
Frame（8）It is installed in push rod（7）On；
The manipulator includes being horizontally set on the elevating lever（10）On sliding rail（11）, sliding rail（11）On slidably connect two
A sliding block（12）, sliding rail（11）Both ends be installed with telescopic cylinder respectively（13）, telescopic cylinder（13）Piston rod and sliding block
（12）It is fixedly connected；Sliding block（12）Lower part be equipped with gripper（14）, gripper（14）Pass through rotary cylinder（15）With sliding block
（12）Connection；Gripper（14）Pawl end be equipped with pressure sensor（16）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721548883.5U CN207682389U (en) | 2017-11-20 | 2017-11-20 | A kind of transportation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721548883.5U CN207682389U (en) | 2017-11-20 | 2017-11-20 | A kind of transportation manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207682389U true CN207682389U (en) | 2018-08-03 |
Family
ID=62988784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721548883.5U Expired - Fee Related CN207682389U (en) | 2017-11-20 | 2017-11-20 | A kind of transportation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207682389U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048964A (en) * | 2018-09-30 | 2018-12-21 | 江苏昱博自动化设备有限公司 | A kind of manipulator for the transport of edible mushroom case |
| CN109396362A (en) * | 2018-12-06 | 2019-03-01 | 攀枝花伦奇机器人科技有限公司 | It is a kind of for taking the mechanism of husky mould loose piece |
| CN109557441A (en) * | 2019-01-25 | 2019-04-02 | 山东大学 | It can pinpoint local discharge detection device |
| CN110065048A (en) * | 2019-05-14 | 2019-07-30 | 徐州工业职业技术学院 | A kind of robot parts machining fixture with multi-angle fixed function |
| CN110281219A (en) * | 2019-07-17 | 2019-09-27 | 兰州理工大学 | A kind of conveying robot of orientable transhipment object |
| CN111070939A (en) * | 2019-12-18 | 2020-04-28 | 谢娜 | Financial enterprise tax data extraction element |
| CN111360799A (en) * | 2020-03-18 | 2020-07-03 | 厦门奇达电子有限公司 | A telescopic multiaxis robot for 3C trade |
-
2017
- 2017-11-20 CN CN201721548883.5U patent/CN207682389U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048964A (en) * | 2018-09-30 | 2018-12-21 | 江苏昱博自动化设备有限公司 | A kind of manipulator for the transport of edible mushroom case |
| CN109396362A (en) * | 2018-12-06 | 2019-03-01 | 攀枝花伦奇机器人科技有限公司 | It is a kind of for taking the mechanism of husky mould loose piece |
| CN109557441A (en) * | 2019-01-25 | 2019-04-02 | 山东大学 | It can pinpoint local discharge detection device |
| CN110065048A (en) * | 2019-05-14 | 2019-07-30 | 徐州工业职业技术学院 | A kind of robot parts machining fixture with multi-angle fixed function |
| CN110281219A (en) * | 2019-07-17 | 2019-09-27 | 兰州理工大学 | A kind of conveying robot of orientable transhipment object |
| CN111070939A (en) * | 2019-12-18 | 2020-04-28 | 谢娜 | Financial enterprise tax data extraction element |
| CN111070939B (en) * | 2019-12-18 | 2020-12-08 | 谢娜 | Financial enterprise tax data extraction element |
| CN111360799A (en) * | 2020-03-18 | 2020-07-03 | 厦门奇达电子有限公司 | A telescopic multiaxis robot for 3C trade |
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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: 20180803 Termination date: 20181120 |