CN208231826U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN208231826U CN208231826U CN201820687997.6U CN201820687997U CN208231826U CN 208231826 U CN208231826 U CN 208231826U CN 201820687997 U CN201820687997 U CN 201820687997U CN 208231826 U CN208231826 U CN 208231826U
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- CN
- China
- Prior art keywords
- clamping jaw
- hole
- pawl seat
- locating part
- positioning
- 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
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Abstract
The utility model provides a kind of manipulator, belongs to field of automation technology.It solves the problems, such as that existing manipulator clamping stability is poor.This machinery hand includes clamping jaw and pawl seat, the groove for clamping jaw insertion is offered in pawl seat, disconnecting prevention structure is equipped between clamping jaw and pawl seat, pawl seat is equipped with a rhombus column used for positioning, it is offered on clamping jaw for rhombus column insertion and cylindrical first positioning hole, at least one positioning protrusion is additionally provided in pawl seat in addition to rhombus column, second location hole identical as positioning protrusion quantity and for positioning protrusion insertion is also provided on clamping jaw.The portable height of this machinery also has the advantages that while clamping stability so that clamping jaw is convenient for disassembly and assembly.
Description
Technical field
The utility model belongs to field of automation technology, is related to a kind of manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
The automatic pilot of part or operational instrument, with the development of science and technology, manipulator in the industrial production using more and more extensive,
And one of the infrastructure device for being increasingly becoming automatic field.In the prior art, generally use bolt by different types of clamping jaw with
Pawl seat, which is connected, enables manipulator to clamp different types of workpiece, but bolt fixation causes clamping jaw to replace cumbersome, shadow
Ring the whole efficiency of following process.
Such as Chinese patent literature data disclose a kind of quick-changing type clamping jaw connection structure [patent No.:
201420830668.4；Application publication number: 204339795 U of CN], including corpus unguis, attachment base and bolt, it is characterised in that: institute
Stating corpus unguis one end is clamping end, and the other end is installation end, is provided on the attachment base for placing the recessed of corpus unguis installation end
Slot, the corpus unguis installation end are arranged in the groove, and described bolt one end is set as compression end, and the other end is provided with for by corpus unguis
With the quick clamping mechanism of attachment base clamping, compression end and quick-clamping machine that the corpus unguis installation end and attachment base pass through bolt
Structure compression is structure as a whole.
The quick-changing type clamping jaw connection structure makes easy to connect between clamping jaw and attachment base.When installation, by the peace of corpus unguis
Dress end is embedded into the groove of attachment base, then bolt is passed through corpus unguis and groove and is stretched out, and last spring pressure ball stretches out bolt, i.e.,
Corpus unguis may make to be connected with attachment base, but when quick-changing type clamping jaw connection structure clamping, clamping jaw is shaken seriously, and then leads to machinery
The problem of the clamping stability difference of hand.
Summary of the invention
The purpose of this utility model is to propose a kind of manipulator for the above-mentioned problems in the prior art, is solved
The technical issues of make clamping jaw convenient for disassembly and assembly while be the clamping stability for how improving manipulator.
The purpose of this utility model can be realized by the following technical scheme: a kind of manipulator, including clamping jaw and pawl seat, institute
The groove offered in pawl seat for clamping jaw insertion is stated, disconnecting prevention structure is equipped between the clamping jaw and pawl seat, which is characterized in that described
Pawl seat is equipped with a rhombus column used for positioning, is offered on the clamping jaw for rhombus column insertion and cylindrical first determines
Position hole, is additionally provided at least one positioning protrusion in the pawl seat in addition to rhombus column, is also provided on the clamping jaw and positioning protrusion
Quantity it is identical and for positioning protrusion insertion second location hole.
The installation principle of this manipulator is: when clamping jaw is connect with pawl seat, clamping jaw being embedded into the groove of pawl seat
So that positioning protrusion is embedded in second location hole, rhombus column is embedded in first positioning hole, and disconnecting prevention structure is between clamping jaw and pawl seat.
Make clamping jaw two-point locating in the groove of pawl seat by positioning protrusion and rhombus column, two-point locating makes clamping jaw be embedded in pawl seat
In position determine that, since rhombus column is the cylinder that cross-sectional shape assumes diamond in shape, the shape of diamond shape determines rhombus column with first
Contact area between the hole of position is small, and contact area is small to enable rhombus column easily to connect or separate with first positioning hole,
The shape to assume diamond in shape enables rhombus column is firm to be embedded in first positioning hole, at least one positioning protrusion and a diamond shape
The setting of column is further ensured that connective stability between clamping jaw and pawl seat is good and connection position so that clamping jaw is at least two-point locating
It is accurate to set, and clamping jaw is avoided to shake with respect to pawl seat, meanwhile, clamping jaw and pawl seat can further be avoided by disconnecting prevention structure
Groove separates, this kind of structure makes clamping jaw convenient disassembly while improving the clamping stability of manipulator.
In a kind of above-mentioned manipulator, the positioning protrusion and second location hole are cylindrical, the positioning protrusion
It is clearance fit, length of the rhombus column center with line and rhombus column between positioning protrusion center between second location hole
Axis is perpendicular, and the long axis of the rhombus column is equal to or slightly less than the aperture of first positioning hole, the short axle of the rhombus column and the
There is gap between the hole wall of a positioning hole.Positioning protrusion and the cylindrical setting of second location hole are so that positioning protrusion and
It can be clearance fit between two location holes, clearance fit makes connection between positioning protrusion and second location hole or separates
It is convenient, it by the position reasonable Arrangement of rhombus column long axis, that is, may make the connection between clamping jaw and pawl seat firm, avoid clamping jaw opposite
Pawl seat shakes, and the gap setting between the corresponding position and first positioning hole hole wall of rhombus column short axle can be utmostly
Reduce the contact area between clamping jaw and pawl seat, avoids clamping jaw and pawl seat that catching phenomenon occurs when connecting or separating, so that
Clamping jaw is convenient for disassembly and assembly.
In a kind of above-mentioned manipulator, the rhombus column all has connection two sides prismatic face at the end positions of long axis
Arc surface, the arc surface and the hole wall of first positioning hole mutually recline.The setting of arc surface is so that rhombus column and the first positioning
Stickiness between hole is good, further avoids clamping jaw and shakes with respect to pawl seat, and arc surface positions rhombus column and first
Friction between the hole wall of hole is small, and then avoids clamping jaw and pawl seat that catching phenomenon occurs when connecting or separating, this kind of structure improves machine
Make clamping jaw convenient disassembly while the clamping stability of tool hand.
In a kind of above-mentioned manipulator, the second location hole and first positioning hole are provided on the end face of clamping jaw,
The positioning protrusion and rhombus column are arranged in the groove bottom of groove.Since positioning protrusion and rhombus column are arranged at groove
Groove bottom, second location hole and first positioning hole are provided on the end face of clamping jaw, and when the groove of clamping jaw insertion pawl seat, second is fixed
The position in position hole is corresponding with the position of positioning protrusion to enable positioning protrusion to be quickly embedded into second location hole, and second is fixed
The position in position hole is corresponding with the position of positioning protrusion to enable rhombus column to be quickly embedded into first positioning hole, so that
Clamping jaw is quickly located in the groove of pawl seat.
In a kind of above-mentioned manipulator, the disconnecting prevention structure includes the locating part and spring being arranged on clamping jaw, described
The spring one end other end that is connected with clamping jaw is connected with locating part, and the limit of communication groove is offered on the lateral surface of the pawl seat
Hole, the locating part can be embedded into limit hole under the elastic force effect of spring.It can on clamping jaw by disconnecting prevention structure setting
The arrangement areas of disconnecting prevention structure is reduced, opening up for limit hole enables locating part to stretch out pawl seat, due to spring one end and clamping jaw
The other end that is connected is connected with locating part, enables locating part to stretch out pawl seat under the elastic force effect of spring, people are by pressing
Locating part can separate clamping jaw and pawl seat, so that clamping jaw is convenient for disassembly and assembly.
In a kind of above-mentioned manipulator, mounting hole is offered on the clamping jaw, the spring and locating part are arranged at
In mounting hole, the aperture of the mounting hole is greater than the aperture of limit hole, and the locating part is in coniform, the small end of the locating part
Mounting hole and limit hole can be passed through under the elastic force effect of spring and stretch out pawl seat.On the one hand mounting hole makes spring drive limit
Position part is moved along the hole wall of mounting hole, so that the moving stability of locating part is good, on the other hand further such that anticreep knot
The characteristics of compact layout of structure, the aperture due to locating part in coniform and mounting hole aperture greater than limit hole, when locating part small end exists
When stretching out under the elastic force effect of spring, the fully extended pawl of locating part can be avoided by the aperture difference between mounting hole and limit hole
Seat, and is threaded through locating part between mounting hole and limit hole, so that clamping jaw connect firm with pawl seat, avoids clamping jaw with respect to pawl
Seat shakes, to improve the clamping stability of manipulator.
In a kind of above-mentioned manipulator, the mounting hole run through clamping jaw, the mounting hole include guide section and limit section,
The aperture of the guide section is greater than the aperture of limit section, and the guide section and the junction for limiting section form the circular cone for locating part
Face against step surface, the position limiting structure further includes the holding screw for being connected in guide section, and one end of the spring is connected in
The other end is connected on locating part on holding screw.Mounting hole runs through clamping jaw, so that being connected between holding screw and guide section
It is convenient, step surface is formed by the aperture difference between guide section and limit section, enables spring elastic reaction in holding screw
Between step surface, so that locating part is resisted against on step surface always under the elastic force effect of spring, step surface avoids limiting
The position fully extended clamping jaw of part so that locating part against firm so that clamping jaw connect firm with pawl seat, avoid clamping jaw opposite
Pawl seat shakes, to improve the clamping stability of manipulator.
Compared with prior art, a kind of manipulator provided by the utility model has the advantage that
1, when the groove of clamping jaw insertion clamping jaw, at least one positioning protrusion is embedded in corresponding second location hole, one
A rhombus column is embedded in cylindrical first positioning hole, so that clamping jaw is at least two-point locating, clamping jaw is avoided to send out with respect to pawl seat
It is raw to shake, due to being clearance fit between positioning protrusion and second location hole, so that between positioning protrusion and second location hole
Connection or convenient separation, since rhombus column is the cylinder that cross-sectional shape assumes diamond in shape, so that rhombus column and first positioning hole hole
The contact area of wall is small, and the position of reasonable Arrangement rhombus column may make the connection between clamping jaw and pawl seat firm, meanwhile, lead to
Cross that disconnecting prevention structure can further avoid clamping jaw and the groove of pawl seat separates, this kind of structure improves the clamping stability of manipulator
While make clamping jaw convenient disassembly.
2, the arc surface of rhombus column long axis corresponding position and the hole wall of first positioning hole are mutually reclined, so that rhombus column side
Face can be good with the hole wall stickiness of first positioning hole, and then avoids clamping jaw from shaking with respect to pawl seat, and arc surface makes water chestnut
Friction between shape column and first positioning hole hole wall is small, avoids clamping jaw and pawl seat that catching phenomenon occurs when connecting or separating, this kind
Structure makes clamping jaw convenient disassembly while improving the clamping stability of manipulator.
3, disconnecting prevention structure is arranged in the mounting hole of clamping jaw, so that disconnecting prevention structure characteristics of compact layout, the guide section of mounting hole
It can play the role of guiding to locating part and spring, step surface can be avoided the fully extended clamping jaw of locating part, the hole of limit hole
Diameter enables in coniform that locating part is worn and against so that the connection between clamping jaw and pawl seat is firm, to improve
Make clamping jaw convenient disassembly while the clamping stability of manipulator.
Detailed description of the invention
Fig. 1 is the overall structure diagram of this manipulator.
Fig. 2 is the partial structure sectional view one of this manipulator.
Fig. 3 is the partial structurtes enlarged drawing of Fig. 2.
Fig. 4 is the partial structure sectional view of Fig. 2.
Fig. 5 is the partial structure sectional view two of this manipulator.
Fig. 6 is the partial structurtes enlarged drawing of Fig. 5.
Fig. 7 is the partial structure sectional view of embodiment two.
In figure, 1, clamping jaw；11, second location hole；12, first positioning hole；2, pawl seat；21, groove；22, positioning protrusion；
23, rhombus column；231, arc surface；24, limit hole；3, disconnecting prevention structure；31, locating part；32, spring；33, mounting hole；331, it leads
To section；332, section is limited；333, step surface；34, holding screw.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Embodiment one
As shown in Figure 1, this machinery hand includes clamping jaw 1 and pawl seat 2.
As shown in Figure 2, Figure 3, Figure 4, the groove 21 being embedded in for clamping jaw 1 is offered in pawl seat 2, pawl seat 2 is equipped with a use
In the rhombus column 23 of positioning, clamping jaw 1 is also provided with for the insertion of rhombus column 23 and cylindrical first positioning hole 12, rhombus column 23
Center is perpendicular with the long axis of line and rhombus column 23 between 22 center of positioning protrusion, and the long axis of rhombus column 23 is equal to or omits
Less than the aperture of first positioning hole 12, there is gap, water chestnut between the short axle of the rhombus column 23 and the hole wall of first positioning hole 12
Shape column 23 all has the arc surface 231 in connection two sides prismatic face, arc surface 231 and first positioning hole at the end positions of long axis
12 hole wall mutually reclines, and in the present embodiment, pawl seat 2 is additionally provided with a positioning protrusion 22 in addition to rhombus column 23, offers on clamping jaw 1
One second location hole 11 being embedded in for positioning protrusion 22, in actual production, the quantity of positioning protrusion 22 can for two or
Three, the quantity of second location hole 11 is identical as the quantity of positioning protrusion 22, and positioning protrusion 22 and second location hole 11 are in circle
Column is clearance fit between positioning protrusion 22 and second location hole 11, and second location hole 11 and first positioning hole 12 open up
On the end face of clamping jaw 1, positioning protrusion 22 and rhombus column 23 are arranged in the groove bottom of groove 21.
As shown in Figure 5, Figure 6, disconnecting prevention structure 3 is equipped between clamping jaw 1 and pawl seat 2, disconnecting prevention structure 3 includes being arranged on clamping jaw
And be in coniform locating part 31, spring 32 and holding screw 34, the limit of communication groove 21 is offered on the lateral surface of pawl seat 2
Hole 24 offers mounting hole 33 on clamping jaw 1, and mounting hole 33 runs through clamping jaw 1, and spring 32 and locating part 31 are arranged at mounting hole 33
In, the aperture of mounting hole 33 is greater than the aperture of limit hole 24, and mounting hole 33 includes guide section 331 and limit section 332, guide section
331 aperture is greater than the aperture of limit section 332, and guide section 331 and the junction for limiting section 332 form the circular cone for locating part 31
Face against step surface 333, holding screw 34 is connected on guide section 331, and one end of spring 32 is connected on holding screw 34
The other end is connected on locating part 31, and the small end of locating part 31 can pass through mounting hole 33 and limit under the elastic force effect of spring 32
Pawl seat 2 is simultaneously stretched out in position hole 24.
When clamping jaw 1 is connect with pawl seat 2, clamping jaw 1 is embedded into the groove 21 of pawl seat 2, that is, may make positioning protrusion 22 embedding
Enter in second location hole 11, rhombus column 23 is embedded in first positioning hole 12, and locating part 31 passes through limit under the elastic force effect of spring 32
Position section 332 and limit hole 24 stretch out pawl seat 2, that is, it is firm to may make that clamping jaw 1 is connect with pawl seat 2；When clamping jaw 1 is separated with pawl seat 2,
By the locating part 31 for protruding pawl seat 2 by being back in pawl seat 2, clamping jaw 1 is then pulled, clamping jaw 1 and pawl seat 2 can be separated, it should
Kind structure makes 1 convenient disassembly of clamping jaw while improving the clamping stability of manipulator.
Embodiment two
As shown in fig. 7, the present embodiment is essentially identical with the structure and principle of embodiment one, different places are, this reality
It applies in example, 32 one end of spring other end that is connected with clamping jaw 1 is connected with locating part 31, and locating part 31 is under the elastic force effect of spring 32
It can be embedded into limit hole 24.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Although clamping jaw 1, second location hole 11, first positioning hole 12, pawl seat 2, groove 21, positioning is used more herein
Raised 22, rhombus column 23, arc surface 231, limit hole 24, disconnecting prevention structure 3, locating part 31, spring 32, mounting hole 33, guide section
331, the terms such as section 332, step surface 333, holding screw 34 are limited, but it does not exclude the possibility of using other terms.It uses
These terms are used for the purpose of being more convenient to describe and explain the essence of the utility model；It is construed as any additional
Limitation be all contrary to the spirit of the present invention.
Claims (7)
1. a kind of manipulator, including clamping jaw (1) and pawl seat (2), the groove for clamping jaw (1) insertion is offered on the pawl seat (2)
(21), disconnecting prevention structure (3) are equipped between the clamping jaw (1) and pawl seat (2), which is characterized in that the pawl seat (2) is equipped with one
Rhombus column (23) used for positioning, the clamping jaw (1) offer for rhombus column (23) insertion and cylindrical first positioning hole
(12), at least one positioning protrusion (22) is additionally provided on the pawl seat (2) in addition to rhombus column (23), is also opened on the clamping jaw (1)
Equipped with second location hole (11) identical as positioning protrusion (22) quantity and for positioning protrusion (22) insertion.
2. a kind of manipulator according to claim 1, which is characterized in that the positioning protrusion (22) and second location hole
(11) cylindrical, it is clearance fit, the rhombus column (23) between the positioning protrusion (22) and second location hole (11)
The long axis of line and rhombus column (23) between center same positioning protrusion (22) center is perpendicular, described rhombus column (23) long axis etc.
In or be slightly less than the apertures of first positioning hole (12), the hole walls of the short axle of the rhombus column (23) and first positioning hole (12) it
Between have gap.
3. a kind of manipulator according to claim 2, which is characterized in that end positions of the rhombus column (23) in long axis
Place all has the arc surface (231) in connection two sides prismatic face, and the arc surface (231) and the hole wall of first positioning hole (12) are affixed
It leans on.
4. a kind of manipulator according to claim 1 or 2 or 3, which is characterized in that the second location hole (11) and first
Location hole (12) is provided on the end face of clamping jaw (1), and the positioning protrusion (22) and rhombus column (23) are arranged at groove
(21) in groove bottom.
5. a kind of manipulator according to claim 1 or 2 or 3, which is characterized in that the disconnecting prevention structure (3) includes setting
Locating part (31) and spring (32) on clamping jaw (1), described spring (32) one end are connected the other end and locating part with clamping jaw (1)
(31) it is connected, the limit hole (24) of communication groove (21) is offered on the lateral surface of the pawl seat (2), the locating part (31) exists
It can be embedded into limit hole (24) under the elastic force effect of spring (32).
6. a kind of manipulator according to claim 5, which is characterized in that mounting hole (33) are offered on the clamping jaw (1),
The spring (32) and locating part (31) are arranged in mounting hole (33), and the aperture of the mounting hole (33) is greater than limit hole
(24) aperture, the locating part (31) is in coniform, and the small end of the locating part (31) is under the elastic force effect of spring (32)
Mounting hole (33) and limit hole (24) can be passed through and stretch out pawl seat (2).
7. a kind of manipulator according to claim 6, which is characterized in that the mounting hole (33) runs through clamping jaw (1), described
Mounting hole (33) includes guide section (331) and limit section (332), and the aperture of the guide section (331) is greater than limit section (332)
Aperture, the guide section (331) and limit section (332) junction formed for locating part (31) circular conical surface against step surface
(333), the disconnecting prevention structure (3) further includes the holding screw (34) for being connected in guide section (331), one end of the spring (32)
The other end on holding screw (34) is connected in be connected on locating part (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820687997.6U CN208231826U (en) | 2018-05-09 | 2018-05-09 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820687997.6U CN208231826U (en) | 2018-05-09 | 2018-05-09 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208231826U true CN208231826U (en) | 2018-12-14 |
Family
ID=64582752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820687997.6U Expired - Fee Related CN208231826U (en) | 2018-05-09 | 2018-05-09 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208231826U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716330A (en) * | 2021-08-24 | 2021-11-30 | 苏州瑞丰达工业科技有限公司 | Mechanism and hold-down mechanism are got to fecund article clamp |
-
2018
- 2018-05-09 CN CN201820687997.6U patent/CN208231826U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716330A (en) * | 2021-08-24 | 2021-11-30 | 苏州瑞丰达工业科技有限公司 | Mechanism and hold-down mechanism are got to fecund article clamp |
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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: 20181214 Termination date: 20200509 |