CN207757623U - A kind of articulate manipulator of band - Google Patents
A kind of articulate manipulator of band Download PDFInfo
- Publication number
- CN207757623U CN207757623U CN201721792022.1U CN201721792022U CN207757623U CN 207757623 U CN207757623 U CN 207757623U CN 201721792022 U CN201721792022 U CN 201721792022U CN 207757623 U CN207757623 U CN 207757623U
- Authority
- CN
- China
- Prior art keywords
- support ring
- joint ball
- cylinder
- manipulator
- wheel disc
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to mechanical equipment technical fields, and in particular to a kind of articulate manipulator of band.Including joint ball, support ring, telescopic rod and clamping jaw；Support ring is semi-annular shape, and inner surface is arc-shaped, and base diameter is less than top diameter；The joint ball is spherical shape, and joint ball is set in support ring；Telescopic rod one end is connected across support ring with the bottom of joint ball, and the other end is connected with clamping jaw；There are pillar, post top portion to have top plate at the top of support ring, there is cylinder, cylinder to be fixed on top plate between top plate and joint ball；There is wheel disc at the top of support ring；Driving gear is connected to the motor, and motor is on holder；Pillar is on wheel disc.The utility model can arbitrarily adjust the angle of joint ball by the cooperation of multiple cylinders, allow the random adjustment direction of the telescopic rod below joint ball, and then the range that clamping jaw can be clamped increases, and keeps manipulator more flexible.Meanwhile the utility model is simple in structure, substantially increases the service life of manipulator.
Description
Technical field
The utility model is related to mechanical equipment technical fields, and in particular to a kind of articulate manipulator of band.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people
Heavy work can be operated under hostile environment to protect personal safety with realizing the mechanization and automation of production, thus be answered extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the arm maximum area for having the mankind
It is not that flexibility ratio and resistance to dynamics.The sharpest edges of namely manipulator are recursive to do same action in the positive reason of machinery
Will not always it feel under condition tired！The application of mechanical arm also will be more and more extensive, and manipulator is that recent decades grow up
A kind of high-tech automatic producing device, the ability to fulfil assignment in the accuracy and environment of operation.With the utilization of manipulator
It is more and more extensive, it is also desirable to more flexible, more durable manipulator.
Utility model content
The purpose of this utility model is that for problems of the prior art, a kind of articulate machinery of band is proposed
Hand, can be more flexible, and the service life is longer.
To achieve the goals above, the technical solution adopted in the utility model is：
A kind of articulate manipulator of band, including joint ball, support ring, telescopic rod and clamping jaw；The support ring is semicircle
Ring-type, inner surface is arc-shaped, and base diameter is less than top diameter；The joint ball is spherical shape, and joint ball is set to support
In ring；Described telescopic rod one end is connected across support ring with the bottom of joint ball, and the other end is connected with clamping jaw；The support ring top
Portion is evenly arranged with four pillars, and post top portion is provided with top plate, and more than two cylinders are provided between top plate and joint ball,
Cylinder is fixed on top plate, and the push rod of cylinder and the top of joint ball are hinged；It is fixedly installed at the top of the support ring cricoid
Wheel disc；Wheel disc is engaged with driving gear, and driving gear is connected to the motor by drive shaft, and motor is fixed on holder；Institute
Pillar is stated to be arranged on wheel disc.
It is provided with ball between the joint ball and support ring.
Link block is provided between the top and cylinder of the joint ball, link block lower end is fixedly connected with joint ball, on
End is hinged with cylinder by hinge joint.
The cross section of the link block is quadrangle, and the cylinder is four, the push rod of cylinder respectively with link block four
A angle is hinged.
The bottom of the holder is connected with the outer wall of support ring.
Cricoid pedestal is additionally provided between the top and wheel disc of the support ring, the longitudinal section width of pedestal is less than wheel disc
Width.
By adopting the above-described technical solution, the utility model has the beneficial effects that：
The utility model can arbitrarily be adjusted the angle of joint ball, be made below joint ball by the cooperation of four cylinders
Telescopic rod can random adjustment direction, and then the range that clamping jaw can be clamped is allowed to increase, keeps manipulator more flexible.Meanwhile this
Utility model is simple in structure, substantially increases the service life of manipulator.
Motor driving shaft drives the rotation of sliding tooth wheel, driving gear band runner disc rotation pillar rotation to be driven, to drive
Top plate rotates, and top plate drives cylinder rotation, cylinder to drive joint ball rotation again, joint ball is made to be adapted to that appearance more is clamped
Gesture, it is more flexible.
Description of the drawings
The following drawings is only intended in doing schematic illustration and explanation to the utility model, does not limit the model of the utility model
It encloses.Wherein：
Fig. 1 is the utility model structure top view；
Fig. 2 is enlarged drawing at A in Fig. 1.
It is marked in figure：1, joint ball；2, support ring；3, ball；4, telescopic rod；5, clamping jaw；6, push rod；7, cylinder；8, even
Connect block；9, top plate；10, hinge joint；11, pillar；12, pedestal；13, wheel disc；14, motor；15, drive shaft；16, holder；17, it drives
Moving gear.
Specific implementation mode
Below in conjunction with the accompanying drawings, the utility model is described in detail.
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, all
Belong to the range of the utility model protection.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that the side of the instructions such as term "upper", "vertical", "inner", "outside"
Position or position relationship be based on the orientation or positional relationship shown in the drawings or the utility model product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
State the utility model and simplify and describe, do not indicate or imply the indicated device or element must have a particular orientation, with
Specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second "
It is described etc. being only used for distinguishing, is not understood to indicate or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or one
Ground connects；It can be mechanical connection, can also be electrical connection；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
Embodiment 1
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment include：
A kind of articulate manipulator of band, including joint ball 1, support ring 2, telescopic rod 4 and clamping jaw 5；The support ring 2 is
Semi-annular shape, inner surface is arc-shaped, and base diameter is less than top diameter；The joint ball 1 is spherical shape, and joint ball 1 is arranged
In in support ring 2；4 one end of the telescopic rod is connected across support ring 2 with the bottom of joint ball 1, and the other end is connected with clamping jaw；Institute
It states 2 top of support ring and is evenly arranged with four pillars 11,11 top of pillar is provided with top plate 9, is set between top plate 9 and joint ball 1
More than two cylinders 7 are equipped with, cylinder 7 is fixed on top plate 9, and the push rod 6 of cylinder 7 is hinged with the top of joint ball 1；The branch
2 top of pushing out ring is fixedly installed cricoid wheel disc 13；Wheel disc 13 is engaged with driving gear 17, and driving gear 17 passes through drive shaft 15
It is connected with motor 14, motor 14 is fixed on holder 16；The pillar 11 is arranged on wheel disc 13.
Ball 3 is provided between the joint ball 1 and support ring 2.
Link block 8 is provided between the top and cylinder 7 of the joint ball 1,8 lower end of link block is fixed with joint ball 1 to be connected
It connects, upper end is hinged by hinge joint 10 and cylinder 7.
The cross section of the link block 8 is quadrangle, and the cylinder 7 is four, the push rod 6 of cylinder 7 respectively with link block 8
Four angles it is hinged.
The bottom of the holder 16 is connected with the outer wall of support ring 2.
Cricoid pedestal 12, the longitudinal section width of pedestal 12 are additionally provided between the top and wheel disc 13 of the support ring 2
Less than the width of wheel disc 13.
Embodiment 2
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment include：
A kind of articulate manipulator of band, including joint ball 1, support ring 2, telescopic rod 4 and clamping jaw 5；The support ring 2 is
Semi-annular shape, inner surface is arc-shaped, and base diameter is less than top diameter；The joint ball 1 is spherical shape, and joint ball 1 is arranged
In in support ring 2；4 one end of the telescopic rod is connected across support ring 2 with the bottom of joint ball 1, and the other end is connected with clamping jaw；Institute
It states 2 top of support ring and is evenly arranged with four pillars 11,11 top of pillar is provided with top plate 9, is set between top plate 9 and joint ball 1
More than two cylinders 7 are equipped with, cylinder 7 is fixed on top plate 9, and the push rod 6 of cylinder 7 is hinged with the top of joint ball 1；The branch
2 top of pushing out ring is fixedly installed cricoid wheel disc 13；Wheel disc 13 is engaged with driving gear 17, and driving gear 17 passes through drive shaft 15
It is connected with motor 14, motor 14 is fixed on holder 16；The pillar 11 is arranged on wheel disc 13.
Embodiment 3
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment is substantially the same manner as Example 2, difference lies in：
Ball 3 is provided between the joint ball 1 and support ring 2.
Embodiment 4
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment is substantially the same manner as Example 2, difference lies in：
Link block 8 is provided between the top and cylinder 7 of the joint ball 1,8 lower end of link block is fixed with joint ball 1 to be connected
It connects, upper end is hinged by hinge joint 10 and cylinder 7.
Embodiment 5
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment is substantially the same manner as Example 4, difference lies in：
The cross section of the link block 8 is quadrangle, and the cylinder 7 is four, the push rod 6 of cylinder 7 respectively with link block 8
Four angles it is hinged.
Embodiment 6
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment is substantially the same manner as Example 2, difference lies in：
The bottom of the holder 16 is connected with the outer wall of support ring 2.
Embodiment 7
As a kind of preferred embodiment of the utility model, with reference to Figure of description 1 to attached drawing 2, present embodiment discloses
A kind of articulate manipulator of band, the present embodiment is substantially the same manner as Example 2, difference lies in：
Cricoid pedestal 12, the longitudinal section width of pedestal 12 are additionally provided between the top and wheel disc 13 of the support ring 2
Less than the width of wheel disc 13.
The specific implementation mode of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the application protection domain therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, under the premise of not departing from technical scheme design, various modifications and improvements can be made, these belong to this
The protection domain of application.
Claims (6)
1. a kind of articulate manipulator of band, it is characterised in that：Including joint ball（1）, support ring（2）, telescopic rod（4）And clamping jaw
（5）；The support ring（2）For semi-annular shape, inner surface is arc-shaped, and base diameter is less than top diameter；The joint ball
（1）For spherical shape, joint ball（1）It is set to support ring（2）It is interior；The telescopic rod（4）One end passes through support ring（2）With joint ball
（1）Bottom be connected, the other end is connected with clamping jaw；The support ring（2）Top is evenly arranged with four pillars（11）, pillar
（11）Top is provided with top plate（9）, top plate（9）With joint ball（1）Between be provided with more than two cylinders（7）, cylinder（7）Gu
It is scheduled on top plate（9）On, cylinder（7）Push rod（6）With joint ball（1）Top it is hinged；The support ring（2）Top is fixedly installed
There is cricoid wheel disc（13）；Wheel disc（13）With driving gear（17）Engagement drives gear（17）Pass through drive shaft（15）With motor
（14）It is connected, motor（14）It is fixed at holder（16）On；The pillar（11）It is arranged in wheel disc（13）On.
2. the articulate manipulator of band according to claim 1, it is characterised in that：The joint ball（1）With support ring（2）
Between be provided with ball（3）.
3. the articulate manipulator of band according to claim 2, it is characterised in that：The joint ball（1）Top and gas
Cylinder（7）Between be provided with link block（8）, link block（8）Lower end and joint ball（1）It is fixedly connected, upper end passes through hinge joint（10）
With cylinder（7）It is hinged.
4. the articulate manipulator of band according to claim 3, it is characterised in that：The link block（8）Cross section be
Quadrangle, the cylinder（7）It is four, cylinder（7）Push rod（6）Respectively with link block（8）Four angles it is hinged.
5. the articulate manipulator of band according to claim 1, it is characterised in that：The holder（16）Bottom and support
Ring（2）Outer wall be connected.
6. the articulate manipulator of band according to claim 1, it is characterised in that：The support ring（2）Top and wheel
Disk（13）Between be additionally provided with cricoid pedestal（12）, pedestal（12）Longitudinal section width be less than wheel disc（13）Width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721792022.1U CN207757623U (en) | 2017-12-20 | 2017-12-20 | A kind of articulate manipulator of band |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721792022.1U CN207757623U (en) | 2017-12-20 | 2017-12-20 | A kind of articulate manipulator of band |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207757623U true CN207757623U (en) | 2018-08-24 |
Family
ID=63187841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721792022.1U Expired - Fee Related CN207757623U (en) | 2017-12-20 | 2017-12-20 | A kind of articulate manipulator of band |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207757623U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303490A (en) * | 2019-07-27 | 2019-10-08 | 南京昱晟机器人科技有限公司 | A kind of industrial robot grabbing device and method |
| CN112976051A (en) * | 2021-04-20 | 2021-06-18 | 佛山智昂科技有限公司 | Joint connection structure of robot and robot |
-
2017
- 2017-12-20 CN CN201721792022.1U patent/CN207757623U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303490A (en) * | 2019-07-27 | 2019-10-08 | 南京昱晟机器人科技有限公司 | A kind of industrial robot grabbing device and method |
| CN110303490B (en) * | 2019-07-27 | 2021-01-15 | 南京昱晟机器人科技有限公司 | Grabbing device and method for industrial robot |
| CN112976051A (en) * | 2021-04-20 | 2021-06-18 | 佛山智昂科技有限公司 | Joint connection structure of robot and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207387637U (en) | A kind of FCL handling machinery arm | |
| CN204278012U (en) | A kind of six axle joint industrial robots | |
| CN207757623U (en) | A kind of articulate manipulator of band | |
| CN101844358A (en) | Finger rotating and moving device of configuration-changeable robotic gripper and working method thereof | |
| CN106346456A (en) | Humanoid mechanical arm and robot | |
| CN204748622U (en) | Five full servo manipulator devices | |
| CN203901298U (en) | Mechanical arm structure of robot | |
| CN205009250U (en) | Indicate dexterous hand more based on link mechanism | |
| CN206605514U (en) | A kind of novel steering engine drive-type mechanical grip device | |
| CN104626107A (en) | Four-degree-of-freedom seven-connecting-rod controllable moving operation mechanical arm with sliding plug pin | |
| CN207643129U (en) | Stamping mechanical arm | |
| CN109079845A (en) | A kind of truss manipulator | |
| CN205552556U (en) | High efficiency electric manipulator | |
| CN108161893A (en) | It is a kind of to flexibly turn to manipulator with locking system | |
| CN105500342A (en) | Industrial mechanical arm | |
| CN206480306U (en) | A kind of four-degree-of-freedom teaching robot | |
| CN104071569A (en) | Gripping device | |
| CN108098743A (en) | Manipulator is flexibly turned to locking system | |
| CN207874263U (en) | Six-shaft industrial mechanical arm | |
| CN210589275U (en) | Manipulator waste material taking device | |
| CN108177157A (en) | The manipulator flexibly turned to | |
| CN108748081A (en) | A kind of marker recognition trackless material rotaring machine tool arm and its working method | |
| CN107685322A (en) | A kind of manipulator of multiple degrees of freedom industrial robot | |
| CN204487574U (en) | With the machine driving arm of sucker | |
| CN208914165U (en) | Horizontal articulated robot |
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: 20180824 Termination date: 20191220 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |