CN207983395U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN207983395U CN207983395U CN201820325805.7U CN201820325805U CN207983395U CN 207983395 U CN207983395 U CN 207983395U CN 201820325805 U CN201820325805 U CN 201820325805U CN 207983395 U CN207983395 U CN 207983395U
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- CN
- China
- Prior art keywords
- cylinder
- paw
- piston
- link mechanism
- steel wire
- 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.)
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Abstract
The utility model discloses a kind of manipulators, belong to technical field of automation in industry, it includes the cylinder being installed on mechanical arm, it is equipped on cylinder several to flexible paw, the grasping end that flexible paw has the fixing end being fixedly installed on cylinder and extends cylinder, flexible paw includes the matrix, electrode layer and insulating layer pressed together successively, and two electrode layers in each pair of flexibility paw are connected respectively the anode and cathode of controller；Piston is slidably fitted in cylinder, piston connects straight line driving mechanism, piston is equipped with several groups link mechanism, link mechanism is corresponded with flexible paw, it is equipped with steel wire between corresponding link mechanism and flexible paw, steel wire one end is installed on link mechanism, and the other end is fixed on grasping end, the utility model realizes the crawl for object soft or in irregular shape, is widely used in industrial automation production.
Description
Technical field
The utility model is related to technical field of automation in industry, and in particular to a kind of manipulator.
Background technology
In industrial automation, at present in terms of capturing non-standard shapes workpiece, mainly with multi-finger manipulator or firmly
Matter claw grabber realizes crawl, because it realizes the principle of crawl by frictional force and normal pressure, when capturing frangible object
It is easy to grab on object broken, and can not captured because of soft object is yielding then when capture soft object, these manipulators
It cannot well adapt to the requirement of flexible manufacturing.
Therefore, for manipulator there are still research and improved demand, this is also in current technical field of automation in industry
A research hotspot and emphasis, the starting point that even more the utility model is accomplished.
Utility model content
The purpose of this utility model is to provide a kind of manipulator, grabbing for object soft or in irregular shape is realized
It takes.
In order to solve the above technical problems, the technical solution of the utility model is to provide a kind of manipulator, including it is installed on machine
Cylinder on tool arm, is equipped on the cylinder several to flexible paw, and the flexibility paw, which has, is fixedly installed in the cylinder
Fixing end on body and the grasping end for extending the cylinder, the flexibility paw includes the matrix pressed together successively, electricity
Pole layer and insulating layer, two electrode layers in each pair of flexible paw are connected respectively the anode and cathode of controller；Institute
It states and is slidably fitted with piston in cylinder, the piston connects straight line driving mechanism, and the piston is equipped with several groups link mechanism,
The link mechanism is corresponded with the flexible paw, is equipped between the corresponding link mechanism and the flexible paw
Steel wire, described steel wire one end are installed on the link mechanism, and the other end is fixed on the grasping end.
As a kind of optimal technical scheme, the link mechanism include the first connecting rod that is hingedly installed on the piston and
There is installation end and free end, the free end to stretch out for the second connecting rod being hingedly installed on the cylinder, the second connecting rod
The end of the cylinder, the installation end and the first connecting rod is hinged, and the fixation with steel wire is installed on the freedom
End.
It is fixedly mounted as a kind of optimal technical scheme, in the cylinder and is useful for limiting the upper of the piston extreme position
Limit switch and lower position switch.
As a kind of optimal technical scheme, the straight line driving mechanism includes linear motor, the power of the linear motor
Export piston described in axis connection.
As a kind of optimal technical scheme, voltage between the positive electrode and negative electrode of the controller is the direct current of 8-12KV
Pressure.
The utility model has the following advantages that：
Due to being provided with flexible paw, flexible paw includes the matrix, electrode layer and insulating layer pressed together successively, soft
Property paw integral thickness it is smaller, and quality is softer, therefore convenient for fitting flexible material and the material of irregular surface, but due to
The piston of sliding is set in cylinder, and piston drive link mechanism is equipped with steel between corresponding link mechanism and flexible paw
Silk, under the drive of piston, steel wire realizes pulling action, gathers or disperse to move to drive the grasping end of flexible paw to realize
Make, be connected to electrode layer when gathering, generate electrostatic adsorption force, capture object, when dispersion, disconnects electrode layer, object is put down, to
Realize the crawl for object soft or in irregular shape.
Description of the drawings
Fig. 1 is the usage state diagram of the utility model embodiment.
Fig. 2 is the layout drawing of electrode layer in the utility model embodiment.
Fig. 3 is the cutting structural schematic diagram of the utility model embodiment middle cylinder body.
In figure：1, cylinder；2, flexible paw；201, matrix；202, electrode layer；203, insulating layer；204, grasping end；205、
Fixing end；3, piston；4, first connecting rod；5, second connecting rod；501, free end；502, installation end；6, steel wire.
Specific implementation mode
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
As depicted in figs. 1 and 2, the utility model provides a kind of manipulator, including the cylinder 1 being installed on mechanical arm,
It is equipped with several to flexible paw 2 on cylinder 1, each pair of flexibility paw 2 is arranged symmetrically on cylinder 1, and flexible paw 2 has solid
The fixing end 205 that Dingan County is loaded on cylinder 1 and the grasping end 204 for extending cylinder 1, flexible paw 2 include being pressed together on one successively
Matrix 201, electrode layer 202 and the insulating layer 203 risen, 2 integral thickness of flexible paw is smaller, about 0.3~0.8 millimeter altogether, and matter
Ground is softer, and matrix 201 and insulating layer 203 are that insulating materials is made, and 202 material of electrode layer is preferably high by the conduction of dielectric constant
Molecular material is constituted, therefore is drawn by gage system convenient for fitting flexible material and the material of irregular surface, electrode layer 202
Go out tie point, two electrode layers 202 in each pair of flexibility paw 2 are connected respectively the anode and cathode of controller, controller
Positive electrode and negative electrode between voltage be 8-12KV DC voltage, electrostatic adsorption force can be generated, in flexible article or do not advised
Then body surface generates normal pressure, is captured；Piston 3 is slidably fitted in cylinder 1, piston 3 connects straight line driving
Structure, straight line driving mechanism include linear motor (not shown), the power output axis connection piston 3 of linear motor, on piston 3
Equipped with several groups link mechanism, link mechanism is corresponded with flexible paw 2, corresponding link mechanism and flexible paw 2 it
Between be equipped with steel wire 6,6 one end of steel wire is installed on link mechanism, and the other end is fixed on grasping end 204, under the drive of piston 3,
Steel wire 6 realizes pulling action, to drive the realization of grasping end 204 of flexible paw 2 to gather or discrete motions, is connected to when gathering
Electrode layer 202 generates electrostatic adsorption force, captures object, when dispersion, disconnects electrode layer 202, object is put down, to realize
Crawl for object soft or in irregular shape.
Embodiment 2
The utility model provides a kind of manipulator, and structure is substantially the same manner as Example 1, and difference lies in implementing
On the basis of example 1, following improvement has been done, has further improved its performance：
As shown in figures 1 and 3, link mechanism includes the first connecting rod 4 being hingedly installed on piston 3 and is hingedly installed on cylinder
There is installation end 502 and free end 501, free end 501 to stretch out cylinder 1, installation end for second connecting rod 5 on body 1, second connecting rod 5
502 is hinged with the end of first connecting rod 4, and steel wire 6 is fixedly installed in free end 501, and specifically, steel wire 6 is bent to
Arc, one end of steel wire 6 are fixed on the free end 501 of second connecting rod 5 by mounting hole, and the other end of steel wire 6 then passes through bonding
Mode insulate and be connected to the grasping end 204 of flexible paw 2.When piston 3 moves upwards, connecting rod mechanism movement is driven, drives steel
Silk 6 moves downward, and to realize that flexible paw 2 is gathered, when gathering, steel wire 6 guides the fitting of flexible paw 2 to be crawled object table
Face, but excessive normal pressure is not provided, two electrode layers 202 in flexible paw each pair of at this time 2 are respectively communicated with anode and cathode,
Electrostatic adsorption force is generated, flexible article or irregularly shaped object crawl are got up, in dispersion, steel wire 6 guides flexible paw 2 to leave
It is crawled object, realizes release function.
Embodiment 3
The utility model provides a kind of manipulator, and structure is substantially the same manner as Example 1, and difference lies in implementing
On the basis of example 1, following improvement has been done, has further improved its performance：
The upper limit position switch for being useful for limiting 3 extreme position of piston and lower position switch are fixedly mounted in cylinder 1 (in figure not
Show), the extreme sport position for limiting piston 3, to ensure that the safety of mechanism kinematic, upper limit position switch and lower limit are opened
The installation and use of pass are well known to those skilled in the art, and details are not described herein.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (5)
1. a kind of manipulator, including the cylinder that is installed on mechanical arm, which is characterized in that it is equipped on the cylinder several to soft
Property paw, the grasping end that the flexibility paw has the fixing end that is fixedly installed on the cylinder and extends the cylinder,
The flexibility paw includes the matrix, electrode layer and insulating layer pressed together successively, two in each pair of flexible paw
Electrode layer is connected respectively the anode and cathode of controller；Piston is slidably fitted in the cylinder, the piston connection is straight
Line driving mechanism, the piston are equipped with several groups link mechanism, and the link mechanism is corresponded with the flexible paw, phase
It is equipped with steel wire between the corresponding link mechanism and the flexible paw, described steel wire one end is installed on the link mechanism
On, the other end is fixed on the grasping end.
2. manipulator according to claim 1, which is characterized in that the link mechanism includes hingedly being installed on the piston
On first connecting rod and the second connecting rod that is hingedly installed on the cylinder, the second connecting rod there is installation end and free end,
The cylinder is stretched out in the free end, and the end of the installation end and the first connecting rod is hinged, the fixation with steel wire
It is installed on the free end.
3. manipulator according to claim 1, which is characterized in that be fixedly mounted in the cylinder and be useful for limiting the work
Fill in the upper limit position switch and lower position switch of extreme position.
4. manipulator according to claim 1, which is characterized in that the straight line driving mechanism includes linear motor, described
Piston described in the power output axis connection of linear motor.
5. manipulator according to claim 1, which is characterized in that the voltage between the positive electrode and negative electrode of the controller is
The DC voltage of 8-12KV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820325805.7U CN207983395U (en) | 2018-03-09 | 2018-03-09 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820325805.7U CN207983395U (en) | 2018-03-09 | 2018-03-09 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983395U true CN207983395U (en) | 2018-10-19 |
Family
ID=63826650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820325805.7U Expired - Fee Related CN207983395U (en) | 2018-03-09 | 2018-03-09 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983395U (en) |
-
2018
- 2018-03-09 CN CN201820325805.7U patent/CN207983395U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20181019 Termination date: 20210309 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |