CN208179546U - Move object manipulator and its moving drive mechanism - Google Patents
Move object manipulator and its moving drive mechanism Download PDFInfo
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- CN208179546U CN208179546U CN201820815692.9U CN201820815692U CN208179546U CN 208179546 U CN208179546 U CN 208179546U CN 201820815692 U CN201820815692 U CN 201820815692U CN 208179546 U CN208179546 U CN 208179546U
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Abstract
The utility model discloses a kind of shifting object manipulator and its moving drive mechanisms, including lever unit and cam member.Lever unit to form four connecting rods of a quadrilateral structure, including left side connecting rod, right side connecting rod, top connecting rod and bottom connecting rod including being hinged and connected from beginning to end；Its indsole connecting rod includes left bottom connecting rod and right bottom connecting rod；There is a gap between left bottom connecting rod and the movable end of right bottom connecting rod；Pushing up connecting rod includes left top connecting rod and right top connecting rod；The movable end of left top connecting rod and right top connecting rod is dislocatedly distributed；The movable end of left bottom connecting rod is equipped with a driven thimble；The movable end of right bottom connecting rod is equipped with a pivot pin.Cam member, including the cylindrical cam and disc cams being connected by a transmission shaft；Cylindrical cam and disc cams are located in gap；The side end face of disc cams is abutted with driven thimble；The lateral surface of cylindrical cam is equipped with a circle and inserts embedding curve caulking groove suitable for pivot pin；Pivot pin and driven thimble are located at the two sides of cylindrical cam.
Description
Technical field
The utility model relates to technical field of mechanical automation more particularly to a kind of shifting object manipulator and its mobile driving machines
Structure.
Background technique
In the prior art for manipulator involved in mechanical automation, the clamping and transport of material are completed, is mainly related to
And the research of two modules, one is another clamped about manipulator about the clamping of manipulator and the module of release material
The mobile driving structure of return after being transported in place after material or by material.
Utility model content
First purpose of the utility model be to provide it is a kind of for moving the moving drive mechanism of object manipulator, it is automatic to solve
Change the mobile technical problem of driving manipulator.
Second purpose of the utility model is to provide a kind of shifting object manipulator, to solve automatically to realize the clamping of material
The technical issues of with transfer.
The moving drive mechanism for moving object manipulator of the utility model is achieved in that
It is a kind of for moving the moving drive mechanism of object manipulator, comprising:
Lever unit to form four connecting rods of a quadrilateral structure, including left side connecting rod, right side including being hinged and connected from beginning to end
Connecting rod, top connecting rod and bottom connecting rod；Wherein the bottom connecting rod includes left bottom connecting rod and right bottom connecting rod；The left bottom connecting rod and right bottom connect
There is a gap between the movable end of bar；The top connecting rod includes left top connecting rod and right top connecting rod；The left top connecting rod and You Ding
The movable end of connecting rod is dislocatedly distributed；The movable end of the left bottom connecting rod is equipped with a driven thimble；The movable end of the right bottom connecting rod
Equipped with a pivot pin；And
Cam member, including the cylindrical cam and disc cams being connected by a transmission shaft；The cylindrical cam and disc type
Cam is located in the gap；The side end face of the disc cams is abutted with the driven thimble；The outside of the cylindrical cam
Face is equipped with a circle and inserts embedding curve caulking groove suitable for the pivot pin；The pivot pin and driven thimble are located at the two of cylindrical cam
Side.
In the utility model preferred embodiment, the top of plane and the cylindrical cam where the curve caulking groove
Face is in non-parallel distribution.
In the utility model preferred embodiment, the driven thimble is equipped with the roller for being suitable for abutting with cam.
In the utility model preferred embodiment, the first spring is arranged on the left bottom connecting rod；
The left bottom connecting rod is suitable for moving axially along the first spring intracavity.
In the utility model preferred embodiment, the part of nearly left bottom connecting rod is equipped with first on the left side connecting rod
Point；The left side connecting rod and described first it is point articulated；And
The part of the right paraxial pin of bottom connecting rod is equipped with the second fulcrum；The right bottom connecting rod and described second it is point articulated.
In the utility model preferred embodiment, the left side connecting rod and left bottom connecting rod phase contact away from the first fulcrum away from
From being 1:7~1:4 with left side connecting rod and left top ratio of distances constant of the connecting rod phase contact away from the first fulcrum；And
The phase contact of distance of the pivot pin away from the second fulcrum and right bottom connecting rod and right side connecting rod away from the second fulcrum at a distance from
The ratio between be 1:6~1:4.
In the utility model preferred embodiment, the cam member further includes that the rotation being connected in the transmission shaft is driven
Moving cell；
The rotary drive unit includes first bevel gear on the transmission shaft, with the first bevel gear engages biography
The driven gear of dynamic second bevel gear and the second bevel gear coaxial transmission, the master with the driven gear engaged transmission
Moving gear, and the driving assembly suitable for driving driving gear rotation.
In the utility model preferred embodiment, the driving component includes the quilt being coaxially connected with the driving gear
Turn wheel, the active runner being connected by synchronous belt with the passive runner, and be connected with the shaft of the active runner
Driving motor.
The shifting object manipulator of the utility model is achieved in that
A kind of shifting object manipulator, comprising: the moving drive mechanism and a gripper machine for being used to move object manipulator
Structure；
The paw mechanism includes the movable block and the movable block being slidably connected on the right top connecting rod by a sliding block
Connected double sided rack, and a pair of of the pincers hand engaged respectively with the double sided rack；A pair of pincers hand is hinged on a support
On plate；
The end face that a pair of pincers hand corresponds to the double sided rack is set as appropriate for the gear ring engaged with double sided rack；And
Movable end of the movable block also with left top connecting rod is connected.
In the utility model preferred embodiment, the paw mechanism further includes the fixation in the support plate
Ring；The double sided rack includes connected slide bar portion and toothed region；A boss is formed in slide bar portion and toothed region joint；
The slide bar portion passes through the fixed ring；The toothed region is engaged with a pair of pincers hand to be connected；And
Second spring is arranged in slide bar portion between the boss and fixed ring；
The fixed ring is supported in one end of the second spring, and the other end of the second spring supports the boss.
Using above-mentioned technical proposal, the utility model is with once the utility model has the advantages that the shifting object of the utility model is mechanical
Hand and its moving drive mechanism realize the driving force of the movement for moving object manipulator using lever principle combination driving motor,
Such structure can effectively amplify driving effect, that is, reduce the output power of driving motor, drive compared to traditional single pass
Dynamic motor realizes the driving for moving object manipulator, and the utility model can complete driving by the output of less electric energy and make
With not only having simplified structure, but also saved the loss of the energy, reduced the operating cost of integral device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the shifting object manipulator of the utility model；
Fig. 2 is the structural schematic diagram of the cam member of the shifting object manipulator of the utility model；
Fig. 3 is the structural schematic diagram of the paw mechanism of the shifting object manipulator of the utility model.
In figure: left side connecting rod 101, right side connecting rod 102, left top connecting rod 103, right top connecting rod 104, left bottom connecting rod 105, right bottom
Connecting rod 107, driven thimble 108, roller 109, pivot pin 110, the first fulcrum 112, the second fulcrum 113, cylindrical cam 201, disc type
Cam 202, curve caulking groove 203, the first spring 206, first bevel gear 207, second bevel gear 208, driven gear 209, active
Gear 210, passive runner 211, synchronous belt 212, active runner 213, driving motor 215, movable block 301, sliding block 302, bilateral
Rack gear 303, support plate 304, pincers hand 305, slide bar portion 306, toothed region 307, second spring 308, fixed ring 309, boss 310.
Specific embodiment
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model.
Embodiment 1:
Refering to Figure 1, present embodiments providing a kind of feeding clip mechanism for moving object manipulator for punching press, comprising: thick stick
Bar unit and cam member.
Lever unit, to form four connecting rods of a quadrilateral structure including being hinged and connected from beginning to end, including left side connecting rod 101,
Right side connecting rod 102, top connecting rod and bottom connecting rod；Its indsole connecting rod includes left bottom connecting rod 105 and right bottom connecting rod 107；Left bottom connecting rod 105
There is a gap between the movable end of right bottom connecting rod 107；Pushing up connecting rod includes left top connecting rod 103 and right top connecting rod 104；Zuo Dinglian
Bar 103 and the movable end of right top connecting rod 104 are dislocatedly distributed；The movable end of left bottom connecting rod 105 is equipped with a driven thimble 108；Right bottom
The movable end of connecting rod 107 is equipped with a pivot pin 110.
It please refers to shown in Fig. 2, cam member, including the cylindrical cam 201 and disc cams being connected by a transmission shaft
202；Cylindrical cam 201 and disc cams 202 are located in gap；The side end face of disc cams 202 is abutted with driven thimble 108；
The lateral surface of cylindrical cam 201 is equipped with a circle and inserts embedding curve caulking groove 203 suitable for pivot pin 110；Pivot pin 110 and driven thimble
108 are located at the two sides of cylindrical cam 201.
Specifically, the top end face of plane and cylindrical cam 201 where curve caulking groove 203 is in non-parallel distribution.That is, opposite
For the top end face of the cylindrical cam 201 in flat state, 203 place plane of curve caulking groove is low with a high-end position and one
Position is held, is formed with difference in height before high-end position and low side position, which is to constitute cylindrical cam 201 in the process of rotation
In, the distance for the longitudinal lifting for driving pivot pin 110 to generate.
In order to reduce the frictional resistance between 202 contact surface of driven thimble 108 and disc cams, set on driven thimble 108
There is the roller 109 for being suitable for abutting with cam, roller 109 abuts the outer surface of disc cams 202, rotated to improve cam
Smoothness in journey.
In order to realize reset effect of the left bottom connecting rod 105 under the effect of disc cams 202 after movement, in left bottom connecting rod 105
On be arranged with one first spring 206；Left bottom connecting rod 105 is suitable for moving axially along 206 inner cavity of the first spring.That is, when left bottom connects
Bar 105 under the counter-active effect of disc cams 202 along 206 inner cavity of the first spring, axially move by connecting rod 101 side to the left
In the process, the first spring 206 is compressed, and as disc cams 202 persistently rotate, disc cams 202 are for left bottom connecting rod 105
After the counter-active effect of driven thimble 108 is eliminated, under the reset response of spring, left bottom connecting rod 105 is suitable for along the first spring 206
Inner cavity is axially mobile to 202 side of disc cams.It, can be with specifically, one end of the first spring 206 and driven thimble 108 are connected
The other end of the synchronizing moving at the end for driving the first spring 206 with the movement of driven thimble 108, the first spring 206 is solid
It is connected in an external auxiliary structure, i.e., forms the sliding matching mode with left bottom connecting rod 105 in the other end.
Again specifically, the part of nearly left bottom connecting rod 105 is equipped with the first fulcrum 112 on left side connecting rod 101；Left side connecting rod 101
It is hinged with the first fulcrum 112；And the part of the paraxial pin 110 of right bottom connecting rod 107 is equipped with the second fulcrum 113；Right bottom connecting rod 107 with
Second fulcrum 113 is hinged.Wherein, the first fulcrum 112 and the second fulcrum 113 be respectively fixedly connected in external support construction.
Optionally, left side connecting rod 101 and left 105 phase contact of bottom connecting rod away from a distance from the first fulcrum 112 with left side connecting rod 101
It is 1:7~1:4 with left top ratio of distances constant of the 103 phase contact of connecting rod away from the first fulcrum 112；And pivot pin 110 is away from the second fulcrum 113
The phase contact of distance and right bottom connecting rod 107 and right side connecting rod 102 away from the ratio of distances constant of the second fulcrum 113 be 1:6~1:4.This
The design of sample, so that the displacement that left bottom connecting rod 105 generates under the action of disc cams 202 is generated by the first fulcrum 112
Leverage be amplified, formed it is left top connecting rod 103 significantly displacement.Similarly, but also right bottom connecting rod 107 is in cylinder
The longitudinal displacement generated under the action of cam 201 is amplified by the leverage that the second fulcrum 113 generates, and forms right bottom
The significantly variation of connecting rod 107 and the displacement of 102 abutment end of right side connecting rod.
Again specifically, cam member further includes the rotary drive unit being connected in transmission shaft.
Optionally, rotary drive unit includes first bevel gear 207 and the first bevel gear 207 on transmission shaft
The second bevel gear 208 of engaged transmission is nibbled with the driven gear 209 of 208 coaxial transmission of second bevel gear, with driven gear 209
Close the driving gear 210 of transmission, and the driving assembly suitable for driving driving gear 210 to rotate.
Wherein, driving assembly includes the passive runner 211 being coaxially connected with driving gear 210, by synchronous belt 212 and quilt
The connected active runner 213 of turn wheel 211, and the driving motor 215 being connected with the shaft of active runner 213.
The specific implementation principle of moving drive mechanism for moving object manipulator of the present embodiment is as follows: disc cams 202
Driven thimble 108 is supported in rotation, so that left bottom connecting rod 105 makees 101 side of connecting rod to the left along the axial of the first spring 206
Move horizontally, due to the leverage of the first fulcrum 112, left top connecting rod 103 generates and the opposite level side of left bottom connecting rod 105
To movement, and the first fulcrum 112 be arranged position due to, by lever principle compare left bottom connecting rod 105 displacement,
Left top connecting rod 103 can produce the displacement to increase substantially.Synchronously, during disc cams 202 rotate, cylindrical cam
201 are also rotating, the design of the curve caulking groove 203 on cylindrical cam 201, when pivot pin 110 from curve caulking groove 203 as cylinder is convex
Wheel 201 rotation rise to high-end position from low side position during, pivot pin 110 does longitudinal ascending motion, the ascending motion by
In the leverage of the second fulcrum 113, so that the end left side that right bottom connecting rod 107 connects with right side connecting rod 102 is relative to pivot pin 110
The movement of opposite direction, i.e., the movement of decline herein, and the end decline that right bottom connecting rod 107 connects with right side connecting rod 102
In the process, the decline of right top connecting rod 104 can be driven mobile by right side connecting rod 102.
With the continuous rotation of cylindrical cam 201 and disc cams 202, when disc cams 202 lose for driven thimble
After 108 counter-active effect, left bottom connecting rod 105 and left top connecting rod 103 execute the motion profile opposite with the above process；Similarly, when
Pivot pin 110 with cylinder wheel rotation, from high-end position drop to bottom end position during, right bottom connecting rod 107 and right top connecting rod
104 execute the motion profile opposite with the above process.
Embodiment 2:
It please refers to shown in Fig. 1 and Fig. 3, on the basis of embodiment 1 is for moving the moving drive mechanism of object manipulator, this
Embodiment provides a kind of shifting object manipulator, comprising: the moving drive mechanism for being used to move object manipulator of embodiment 1, Yi Jiyi
Paw mechanism.
Specifically, paw mechanism include be slidably connected at by a sliding block 302 it is right top connecting rod 104 on movable block 301, with
The connected double sided rack 303 of the movable block 301, and a pair of of the pincers hand 305 engaged respectively with double sided rack 303；A pair of pincers hand
305 are hinged in a support plate.The end face of the corresponding double sided rack 303 of a pair of pincers hand 305 is set as appropriate for nibbling with double sided rack 303
The gear ring of conjunction；And movable end of the movable block 301 also with left top connecting rod 103 is connected.
Specifically, since the movable block 301 is slidably connected on right top connecting rod 104, so that the lifting fortune of right top connecting rod 104
The dynamic lifting that can drive movable block 301；And movable end of the movable block 301 also with left top connecting rod 103 is connected, so that left top connects
The movement of the horizontal direction of bar 103 can drive the movement of the horizontal direction of movable block 301.Therefore, design in this way, makes
Movement in the horizontal direction for the paw mechanism of the present embodiment and longitudinal direction may be implemented in the moving drive mechanism for obtaining embodiment 1
Lifting moving, convenient for realizing transfer conveying for material after paw mechanism clamping material.
In order to meet the demand for the displacement for moving object paw mechanism, left top connecting rod 103 and the right length for pushing up connecting rod 104 are
When left side connecting rod 101 and the 1/2~2/3 of the spacing of 102 run-in index of right side connecting rod between the two.
Paw mechanism further includes the fixed ring 309 in support plate.Double sided rack 303 includes connected slide bar portion 306
With toothed region 307.A boss 310 is formed in slide bar portion 306 and 307 joint of toothed region；Slide bar portion 306 passes through the fixed ring
309；Toothed region 307 is engaged with a pair of pincers hand 305 to be connected.It is arranged in slide bar portion 306 between boss 310 and fixed ring 309
There is second spring 308；Fixed ring 309 is supported in one end of second spring 308, and the other end of the second spring 308 supports boss
310.That is, support plate and a pair of of pincers hand 305, for double sided rack 303, support plate and a pair of of pincers hand 305 pass through the second bullet
Spring 308 is suspended in double sided rack 303, and therefore, support plate and a pair of of pincers hand 305 can be generated due to the gravity of itself relative to double
The downward motive force of side rack gear 303.
The specific implementation principle of the paw mechanism of the present embodiment is as follows:
Since the gravity of a pair of of pincers hand 305 and support plate itself generates the motive force downward relative to double sided rack 303, one
Downward movement is done relative to double sided rack 303 to pincers hand 305 and support plate, the gear ring of a pair of pincers hand 305 is in double sided rack 303
Engagement under, it is opposite to shrink, realize the trend that a pair of of pincers hand 305 is closed, but due to a pair of pincers hand 305 and support plate from
The limited gravity of body completes closure insufficient for a pair of pincers hand 305.When a pair of of pincers hand 305 is located at the two sidewalls of material
When, the gravity of material also generates downward motive force to double sided rack 303, and a pair of pincers hand 305 and support plate are relative to bilateral tooth
Item 303 continues to do downward movement, so that a pair of of pincers hand 305 continues to shrink in opposite directions, realizes the purpose for firmly grasping material.Paw mechanism
Under the action of moving drive mechanism and in moving process, a pair of pincers hand 305 is due to material, support plate and the Gravitative Loads of itself
Under, inside grasp is persistently kept, to guarantee that material is not fallen, in this process, second spring 308 is in and is compressed continuously
State, the displacement effect that paw mechanism is then generated according to moving drive mechanism realizes movement for material.When material reaches
When designated position, the bottom supporting of material is on external supporter, so that material was generated relative to the gravity of bilateral gear
Pulling force effect disappears, and under the action of the reset force of second spring 308, a pair of pincers hand 305 and support plate are relative to bilateral tooth
Item 303 does upward movement, a pair of pincers hand 305 be flared out under the engagement of double sided rack 303, complete to decontrol material
Movement, to realize that 305 mechanism of Qian Shou is not necessary to additional driving power and firmly grasps material automatically and decontrols material, and can be effective
Guarantee that material is grasped when moving, structure is simple, easy to operate.
Above specific embodiment has carried out further in detail the purpose of this utility model, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above are only specific embodiments of the present invention, it is practical new to be not limited to this
Type, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection scope of utility model.
In the description of the present invention, it should be understood that indicating position or the term of positional relationship are based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion institute
The equipment or element of finger must have a particular orientation, is constructed and operated in a specific orientation, therefore should not be understood as to this reality
With novel limitation.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area
Divide description, is not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the present invention unless specifically defined or limited otherwise, fisrt feature is on or below second feature
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature the
Right above two features and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature is in the second spy
Under sign, lower section and fisrt feature included below be directly below and diagonally below the second feature, or be merely representative of fisrt feature level
Height is less than second feature.
Claims (10)
1. a kind of for moving the moving drive mechanism of object manipulator characterized by comprising
Lever unit to form four connecting rods of a quadrilateral structure, including left side connecting rod (101), the right side including being hinged and connected from beginning to end
Side connecting rod (102), top connecting rod and bottom connecting rod；Wherein the bottom connecting rod includes left bottom connecting rod (105) and right bottom connecting rod (107)；Institute
Stating has a gap between left bottom connecting rod (105) and the movable end of right bottom connecting rod (107)；The top connecting rod includes left top connecting rod
(103) and right top connecting rod (104)；The movable end of left top connecting rod (103) and right top connecting rod (104) is dislocatedly distributed；The left side
The movable end of bottom connecting rod (105) is equipped with a driven thimble (108)；The movable end of the right bottom connecting rod (107) is equipped with a pivot pin
(110)；And
Cam member, including the cylindrical cam (201) and disc cams (202) being connected by a transmission shaft；The cylindrical cam
(201) it is located in the gap with disc cams (202)；The side end face of the disc cams (202) and the driven thimble
(108) it abuts；The lateral surface of the cylindrical cam (201) is equipped with a circle and inserts embedding curve caulking groove suitable for the pivot pin (110)
(203)；The pivot pin (110) and driven thimble (108) are located at the two sides of cylindrical cam (201).
2. according to claim 1 for moving the moving drive mechanism of object manipulator, which is characterized in that the curve caulking groove
(203) top end face of plane and the cylindrical cam (201) where is in non-parallel distribution.
3. according to claim 1 for moving the moving drive mechanism of object manipulator, which is characterized in that the driven thimble
(108) it is equipped with the roller (109) for being suitable for abutting with cam.
4. described in any item for moving the moving drive mechanism of object manipulator according to claim 1~3, which is characterized in that institute
It states and is arranged with the first spring (206) on left bottom connecting rod (105)；
The left bottom connecting rod (105) is suitable for moving axially along the first spring (206) inner cavity.
5. according to claim 1 for moving the moving drive mechanism of object manipulator, which is characterized in that the left side connecting rod
(101) part of nearly left bottom connecting rod (105) is equipped with the first fulcrum (112) on；The left side connecting rod (101) and first fulcrum
(112) hinged；And
The part of the paraxial pin of the right bottom connecting rod (107) (110) is equipped with the second fulcrum (113)；The right bottom connecting rod (107) and institute
It is hinged to state the second fulcrum (113).
6. according to claim 5 for moving the moving drive mechanism of object manipulator, which is characterized in that the left side connecting rod
(101) with left bottom connecting rod (105) phase contact away from a distance from the first fulcrum (112) with left side connecting rod (101) and left top connecting rod (103)
Ratio of distances constant of the phase contact away from the first fulcrum (112) is 1:7~1:4；And
The phase contact of the pivot pin (110) distance away from the second fulcrum (113) and right bottom connecting rod (107) and right side connecting rod (102)
Ratio of distances constant away from the second fulcrum (113) is 1:6~1:4.
7. according to claim 1 for moving the moving drive mechanism of object manipulator, which is characterized in that the cam member
It further include the rotary drive unit being connected in the transmission shaft；
The rotary drive unit includes first bevel gear (207) and the first bevel gear (207) on the transmission shaft
Engaged transmission second bevel gear (208), with the driven gear (209) of the second bevel gear (208) coaxial transmission, with it is described
The driving gear (210) of driven gear (209) engaged transmission, and it is suitable for driving the driving assembly of driving gear (210) rotation.
8. according to claim 7 for moving the moving drive mechanism of object manipulator, which is characterized in that the driving component
Including be coaxially connected with the driving gear (210) passive runner (211), by synchronous belt (212) and the passive runner
(211) connected active runner (213), and the driving motor (215) being connected with the shaft of the active runner (213).
9. a kind of shifting object manipulator characterized by comprising as described in any one of claims 1 to 8 for moving object manipulator
Moving drive mechanism and a paw mechanism；
The paw mechanism includes the movable block being slidably connected on right top connecting rod (104) by a sliding block (302)
(301), with the movable block (301) be connected double sided rack (303), and engaged respectively with the double sided rack (303) one
To pincers hand (305)；A pair of pincers hand (305) is hinged on a support plate (304)；
The end face of a pair of corresponding double sided rack (303) of pincers hand (305) is set as appropriate for engaging with double sided rack (303)
Gear ring；And
Movable end of the movable block (301) also with left top connecting rod (103) is connected.
10. shifting object manipulator according to claim 9, which is characterized in that the paw mechanism further includes being set to the branch
Fixed ring (309) on fagging (304)；The double sided rack (303) includes connected slide bar portion (306) and toothed region (307)；
A boss (310) are formed in slide bar portion (306) and toothed region (307) joint；
The slide bar portion (306) passes through the fixed ring (309)；The toothed region (307) is engaged with a pair of pincers hand (305) to be connected；
And
Second spring (308) are arranged in slide bar portion (306) between the boss (310) and fixed ring (309)；
The fixed ring (309) are supported in one end of the second spring (308), and the other end of the second spring (308) supports institute
State boss (310).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820815692.9U CN208179546U (en) | 2018-05-23 | 2018-05-23 | Move object manipulator and its moving drive mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820815692.9U CN208179546U (en) | 2018-05-23 | 2018-05-23 | Move object manipulator and its moving drive mechanism |
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| Publication Number | Publication Date |
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| CN208179546U true CN208179546U (en) | 2018-12-04 |
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ID=64427875
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820815692.9U Active CN208179546U (en) | 2018-05-23 | 2018-05-23 | Move object manipulator and its moving drive mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406761A (en) * | 2018-05-23 | 2018-08-17 | 常州机电职业技术学院 | Move object manipulator and its moving drive mechanism |
-
2018
- 2018-05-23 CN CN201820815692.9U patent/CN208179546U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406761A (en) * | 2018-05-23 | 2018-08-17 | 常州机电职业技术学院 | Move object manipulator and its moving drive mechanism |
| CN108406761B (en) * | 2018-05-23 | 2024-06-25 | 常州机电职业技术学院 | Move thing manipulator and remove actuating mechanism thereof |
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