CN208557539U - A kind of continuous clamping type manipulator - Google Patents
A kind of continuous clamping type manipulator Download PDFInfo
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- CN208557539U CN208557539U CN201820686103.1U CN201820686103U CN208557539U CN 208557539 U CN208557539 U CN 208557539U CN 201820686103 U CN201820686103 U CN 201820686103U CN 208557539 U CN208557539 U CN 208557539U
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- connecting rod
- rotating plate
- slide bar
- plate
- plate ontology
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Abstract
The utility model relates to one kind, it in particular is a kind of continuous clamping type manipulator, it may be implemented continuously to clamp, including support assembly and gripper, the support assembly includes upper mounted plate, rotating plate, transmission gear, limit terminal, input gear, motor and bottom plate, transmission gear is fixedly connected on rotating plate boss, limit terminal is fixedly connected on bull stick, bull stick is between transmission gear and upper mounted plate ontology, terminal is limited between bottom plate and transmission gear, axial limitation can be carried out to rotation of the rotating plate ontology on bull stick by limiting terminal, so that rotating plate ontology does not depart from bull stick；Limit casing can limit spring, so that spring does not depart from slide bar；Rectangular shaft can limit sliding of the slide bar in fixed plate, so that slide bar does not depart from fixed plate；The length of connecting rod I is greater than the length of connecting rod IV, and connecting rod IV and connecting rod I during exercise, will not generate interference to crawl.
Description
Technical field
The utility model relates to one kind, are in particular a kind of continuous clamping type manipulators.
Background technique
Such as the clamping type manipulator of Patent No. CN201510970306.4, comprising: the side of base, base is provided with
Base sidesway driving mechanism；Lift drive mechanism on base is set；The gripping body on lift drive mechanism top is set,
Gripping body includes a pair of of the rotary driving part for being arranged at intervals on lift drive mechanism top, the rotation of each rotary driving part
It transferring outlet and is connected with a cursor, a pair of of cursor is arranged in parallel and turns on the contrary, be provided with clamping jaw fixed block on cursor,
It is provided with the clamping jaw to clamp chip accommodating case edge on clamping jaw fixed block, position sensor is set on clamping jaw fixed block,
But the shortcomings that utility model is to can not achieve continuous clamping.
Utility model content
The purpose of the utility model is to provide a kind of continuous clamping type manipulators, may be implemented continuously to clamp.
The purpose of this utility model is achieved through the following technical solutions:
A kind of continuous clamping type manipulator, including support assembly and gripper, the support assembly include upper fixation
Plate, rotating plate, transmission gear, limit terminal, input gear, motor and bottom plate, fixed plate include upper mounted plate ontology and
Bull stick, bull stick are welded on the lower end of upper mounted plate ontology；
The rotating plate includes rotating plate ontology and rotating plate boss, and rotating plate boss is welded on the lower end of rotating plate ontology；
The bar rotation is connected to the middle-end of rotating plate boss, and transmission gear is fixedly connected on rotating plate boss, positive stop end
Son is fixedly connected on bull stick, rotating plate ontology between transmission gear and upper mounted plate ontology, limit terminal be located at bottom plate with
Between transmission gear, motor is fixedly connected on bottom plate, and input gear is fixedly connected on the output shaft of motor, input gear with
Transmission gear engaged transmission；
The gripper includes fixed plate, telescopic rod, limit casing, spring, connecting rod I, connecting rod II, connecting rod III and connecting rod
IV, the telescopic rod includes slide bar and rectangular shaft, and rectangular shaft is welded on the front end of slide bar；After sliding bar is connected to fixed plate
End, spring is socketed on slide bar, and limit casing is fixedly connected on the rear end of slide bar, spring be located at limit casing and fixed plate it
Between；One end of connecting rod IV is hingedly connected in rectangular shaft, and the other end of connecting rod IV is hingedly connected on connecting rod I, the middle-end of connecting rod I
It is hingedly connected in fixed plate, one end of connecting rod III is hingedly connected on connecting rod II, and the other end of connecting rod III is hingedly connected to square
On shape bar, the middle-end of connecting rod II is hingedly connected in rectangular shaft；
There are two the gripper settings, and two fixed plates are respectively fixedly connected at the both ends of rotating plate ontology.
As advanced optimizing for the technical program, a kind of continuous clamping type manipulator of the utility model is fixed
Globoidal structure is arranged in the left and right ends of plate ontology, and the rear and front end of upper mounted plate ontology is planar structure.
As advanced optimizing for the technical program, a kind of continuous clamping type manipulator of the utility model, I He of connecting rod
II structure and size of connecting rod is identical, and connecting rod III is identical with IV structure and size of connecting rod, and the length of connecting rod I is greater than the length of connecting rod IV
Degree.
A kind of continuous clamping type manipulator of the utility model has the beneficial effect that
A kind of continuous clamping type manipulator of the utility model, limit terminal can carry out rotation of the rotating plate ontology on bull stick
Axial limitation, so that rotating plate ontology does not depart from bull stick；Limit casing can limit spring, so that spring does not depart from slide bar；
Rectangular shaft can limit sliding of the slide bar in fixed plate, so that slide bar does not depart from fixed plate；The length of connecting rod I, which is greater than, to be connected
The length of bar IV, connecting rod IV and connecting rod I during exercise, will not generate interference to crawl.
Detailed description of the invention
The utility model is described in more detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is the overall structure diagram one of the utility model；
Fig. 2 is the overall structure diagram two of the utility model；
Fig. 3 is the support assembly structural schematic diagram one of the utility model；
Fig. 4 is the support assembly structural schematic diagram two of the utility model；
Fig. 5 is the upper mounted plate structural schematic diagram of the utility model；
Fig. 6 is the rotating plate structural schematic diagram of the utility model；
Fig. 7 is the gripper structural schematic diagram of the utility model；
Fig. 8 is the Telescopic rod structure schematic diagram of the utility model.
In figure: support assembly 1；Upper mounted plate 1-1；Upper mounted plate ontology 1-1-1；Bull stick 1-1-2；Rotating plate 1-2；Rotating plate
Ontology 1-2-1；Rotating plate boss 1-2-2；Transmission gear 1-3；Limit terminal 1-4；Input gear 1-5；Motor 1-6；Bottom plate 1-7；
Gripper 2；Fixed plate 2-1；Telescopic rod 2-2；Slide bar 2-2-1；Rectangular shaft 2-2-2；Limit casing 2-3；Spring 2-4；I 2- of connecting rod
5；II 2-6 of connecting rod；III 2-7 of connecting rod；IV 2-8 of connecting rod.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Specific embodiment 1:
Illustrate present embodiment, a kind of continuous clamping type manipulator, including support assembly 1 and machine below with reference to Fig. 1-8
Machinery claw 2, the support assembly 1 include upper mounted plate 1-1, rotating plate 1-2, transmission gear 1-3, limit terminal 1-4, input gear
1-5, motor 1-6 and bottom plate 1-7, fixed plate 1-1 include upper mounted plate ontology 1-1-1 and bull stick 1-1-2, bull stick 1-1-
2 are welded on the lower end of upper mounted plate ontology 1-1-1；
The rotating plate 1-2 includes rotating plate ontology 1-2-1 and rotating plate boss 1-2-2, and rotating plate boss 1-2-2 is welded on rotating plate sheet
The lower end of body 1-2-1；
The bull stick 1-1-2 is rotatably connected on the middle-end of rotating plate boss 1-2-2, and transmission gear 1-3 is fixedly connected on rotating plate
On boss 1-2-2, limit terminal 1-4 is fixedly connected on bull stick 1-1-2, and rotating plate ontology 1-2-1 is located at transmission gear 1-3 and upper
Between fixed plate ontology 1-1-1, terminal 1-4 is limited between bottom plate 1-7 and transmission gear 1-3, motor 1-6 is fixedly connected on
On bottom plate 1-7, input gear 1-5 is fixedly connected on the output shaft of motor 1-6, and input gear 1-5 is engaged with transmission gear 1-3
Transmission；
Axial limitation can be carried out to rotation of the rotating plate ontology 1-2-1 on bull stick 1-1-2 by limiting terminal 1-4, so that rotating plate
Ontology 1-2-1 does not depart from bull stick 1-1-2；
The gripper 2 includes fixed plate 2-1, telescopic rod 2-2, limit casing 2-3, spring 2-4, I 2-5 of connecting rod, connecting rod
II 2-6, III 2-7 of connecting rod and connecting rod IV 2-8, the telescopic rod 2-2 include slide bar 2-2-1 and rectangular shaft 2-2-2, rectangular shaft 2-2-
2 are welded on the front end of slide bar 2-2-1；Slide bar 2-2-1 is slidably connected at the rear end of fixed plate 2-1, and spring 2-4 is socketed in slide bar 2-
On 2-1, limit casing 2-3 is fixedly connected on the rear end of slide bar 2-2-1, and spring 2-4 is located at limit casing 2-3 and fixed plate 2-1
Between；One end of IV 2-8 of connecting rod is hingedly connected on rectangular shaft 2-2-2, and the other end of IV 2-8 of connecting rod is hingedly connected to connecting rod I
On 2-5, the middle-end of I 2-5 of connecting rod is hingedly connected on fixed plate 2-1, and one end of III 2-7 of connecting rod is hingedly connected to II 2-6 of connecting rod
On, the other end of III 2-7 of connecting rod is hingedly connected on rectangular shaft 2-2-2, and the middle-end of II 2-6 of connecting rod is hingedly connected to rectangular shaft 2-
On 2-2；
Limit casing 2-3 can limit spring 2-4, so that spring 2-4 does not depart from slide bar 2-2-1；Rectangular shaft 2-2-2
Sliding of the slide bar 2-2-1 on fixed plate 2-1 can be limited, so that slide bar 2-2-1 does not depart from fixed plate 2-1；
There are two the settings of gripper 2, and two fixed plate 2-1 are respectively fixedly connected at the both ends of rotating plate ontology 1-2-1；
In use, being powered to motor 1-6, so that motor 1-6 drives input gear 1-5 to rotate, pass through input gear 1-5
Engaged transmission between transmission gear 1-3, drives transmission gear 1-3 to rotate, and transmission gear 1-3 rotation drives rotating plate convex
Platform 1-2-2 rotate so that drives rotating plate ontology 1-2-1 rotate, rotating plate ontology 1-2-1 rotation drive two fixed plate 2-1 around
Bull stick 1-1-2 rotation, because upper mounted plate ontology 1-1-1 left and right ends be arranged globoidal structure, upper mounted plate ontology 1-1-1's
Rear and front end is planar structure, when the inner end of two limit casing 2-3 and the globoidal structure of fixed plate ontology 1-1-1 are tangent
When, fixed plate ontology 1-1-1 pushes two limit casing 2-3 while moving outward, and limit casing 2-3 pushes slide bar 2-
2-1 is moved outward, and slide bar 2-2-1 drives rectangular shaft 2-2-2 to move outward, III 2-7 of connecting rod and IV 2-8 of connecting rod and rectangle
The hinged place of bar 2-2-2 moves outward, drives hinged place and II 2-6 of connecting rod and the connecting rod of IV 2-8 of I 2-5 of connecting rod and connecting rod
The hinged place of III 2-7 moves inwardly, with the hinged place of I 2-5 of connecting rod and fixed plate 2-1 and II 2-6 of connecting rod and fixed plate 2-1
Hinged place is the center of circle, and the outer end of II 2-6 of I 2-5 of connecting rod and connecting rod moves outward, and II 2-6's of I 2-5 of connecting rod and connecting rod is outer at this time
Spacing between end increases, and object is placed between II 2-6 of I 2-5 of connecting rod and connecting rod, when rotating plate ontology 1-2-1 drives two
When the inner end of a limit casing 2-3 and the nontangential globoidal structure of fixed plate ontology 1-1-1, due to the effect of spring 2-4 elastic force,
Two limit casing 2-3 are pushed inwardly, so that two limit casing 2-3 medial motions, drive slide bar 2-2-1 and rectangle
Bar 2-2-2 is moved inwardly simultaneously, so that the hinged place of III 2-7 of connecting rod and IV 2-8 of connecting rod and rectangular shaft 2-2-2 are transported inwardly
It is dynamic, drive the hinged place of IV 2-8 of I 2-5 of connecting rod and connecting rod and the hinged place of III 2-7 of II 2-6 of connecting rod and connecting rod to move outward,
Using the hinged place of I 2-5 of connecting rod and fixed plate 2-1 and the hinged place of II 2-6 of connecting rod and fixed plate 2-1 as the center of circle, I 2-5 of connecting rod and
The outer end of II 2-6 of connecting rod moves inwardly, and spacing between the outer end of II 2-6 of I 2-5 of connecting rod and connecting rod reduces at this time, and by object
Body clamping；As rotating plate ontology 1-2-1 is rotated, when two limit casing 2-3 and fixed plate ontology 1-1-1 globoidal structure again
When tangent, the object of clamping is unclamped and is fallen, and completes the process of object back and forth transported.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-8, it is described on
Globoidal structure is arranged in the left and right ends of fixed plate ontology 1-1-1, and the rear and front end of upper mounted plate ontology 1-1-1 is planar structure,
When the globoidal structure of the inner end of two limit casing 2-3 and fixed plate ontology 1-1-1 is tangent, fixed plate ontology 1-1-1
It pushes two limit casing 2-3 while moving outward, limit casing 2-3 pushes slide bar 2-2-1 to move outward, slide bar
2-2-1 drives rectangular shaft 2-2-2 to move outward, the hinged place of III 2-7 of connecting rod and IV 2-8 of connecting rod and rectangular shaft 2-2-2 to
Movement outside drives the hinged place of IV 2-8 of I 2-5 of connecting rod and connecting rod and the hinged place of III 2-7 of II 2-6 of connecting rod and connecting rod inside
Side movement, using the hinged place of I 2-5 of connecting rod and fixed plate 2-1 and the hinged place of II 2-6 of connecting rod and fixed plate 2-1 as the center of circle, connecting rod
The outer end of II 2-6 of I 2-5 and connecting rod moves outward, and the spacing between the outer end of II 2-6 of I 2-5 of connecting rod and connecting rod increases at this time.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-8, the company
I 2-5 of bar is identical with II 2-6 structure and size of connecting rod, and III 2-7 of connecting rod is identical with IV 2-8 structure and size of connecting rod, I 2-5's of connecting rod
Length is greater than the length of IV 2-8 of connecting rod, and the length of connecting rod I is greater than the length of connecting rod IV, connecting rod IV and connecting rod I during exercise, no
Interference can be generated to crawl.
A kind of continuous clamping type manipulator of the utility model, its working principle is that: in use, being powered to motor 1-6, make
Obtaining motor 1-6 drives input gear 1-5 to rotate, and passes through the engaged transmission between input gear 1-5 and transmission gear 1-3, band
Transmission gear 1-3 rotation is moved, transmission gear 1-3 rotation drives rotating plate boss 1-2-2 to rotate and then drives rotating plate ontology
1-2-1 rotation, rotating plate ontology 1-2-1 rotation drives two fixed plate 2-1 to rotate around bull stick 1-1-2, because of upper mounted plate sheet
Globoidal structure is arranged in the left and right ends of body 1-1-1, and the rear and front end of upper mounted plate ontology 1-1-1 is planar structure, limits when two
When the inner end of position casing 2-3 and the tangent globoidal structure of fixed plate ontology 1-1-1, fixed plate ontology 1-1-1 pushes two
Limit casing 2-3 is moved outward simultaneously, and limit casing 2-3 pushes slide bar 2-2-1 to move outward, and slide bar 2-2-1 drives
Rectangular shaft 2-2-2 move outward, the hinged place of III 2-7 of connecting rod and IV 2-8 of connecting rod and rectangular shaft 2-2-2 move outward,
The hinged place of IV 2-8 of I 2-5 of connecting rod and connecting rod and the hinged place of III 2-7 of II 2-6 of connecting rod and connecting rod is driven to move inwardly, with
The hinged place of I 2-5 of connecting rod and fixed plate 2-1 and the hinged place of II 2-6 of connecting rod and fixed plate 2-1 are the center of circle, I 2-5 of connecting rod and company
The outer end of II 2-6 of bar moves outward, and the spacing between the outer end of II 2-6 of I 2-5 of connecting rod and connecting rod increases at this time, and object is put
It sets between II 2-6 of I 2-5 of connecting rod and connecting rod, when rotating plate ontology 1-2-1 drives inner end and the fixation of two limit casing 2-3
When the globoidal structure of plate ontology 1-1-1 is nontangential, due to the effect of spring 2-4 elastic force, two limit casings are pushed inwardly
2-3, so that two limit casing 2-3 medial motions, drive slide bar 2-2-1 and rectangular shaft 2-2-2 while moving inwardly, make
The hinged place for obtaining III 2-7 of connecting rod and IV 2-8 of connecting rod and rectangular shaft 2-2-2 moves inwardly, drives I 2-5 of connecting rod and connecting rod IV
The hinged place of 2-8 and the hinged place of III 2-7 of II 2-6 of connecting rod and connecting rod move outward, with the hinge of connecting rod I 2-5 and fixed plate 2-1
The hinged place for meeting place and II 2-6 of connecting rod and fixed plate 2-1 is the center of circle, and the outer end of II 2-6 of I 2-5 of connecting rod and connecting rod moves inwardly,
Spacing between the outer end of II 2-6 of I 2-5 of connecting rod and connecting rod reduces at this time, and by object clamping；As rotating plate ontology 1-2-1 turns
Dynamic, when the globoidal structure of two limit casing 2-3 and fixed plate ontology 1-1-1 is tangent again, the object of clamping unclamps and falls
It falls, completes the process of object back and forth transported.
Certainly, above description is not limitation of the utility model, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the those of ordinary skill in art field is made in the essential scope of the utility model, also belong to
In the protection scope of the utility model.
Claims (3)
1. a kind of continuous clamping type manipulator, including support assembly (1) and gripper (2), it is characterised in that: the bracket group
Fit (1) include upper mounted plate (1-1), rotating plate (1-2), transmission gear (1-3), limit terminal (1-4), input gear (1-5),
Motor (1-6) and bottom plate (1-7), fixed plate (1-1) include upper mounted plate ontology (1-1-1) and bull stick (1-1-2), are turned
Bar (1-1-2) is welded on the lower end of upper mounted plate ontology (1-1-1)；
The rotating plate (1-2) includes rotating plate ontology (1-2-1) and rotating plate boss (1-2-2), and rotating plate boss (1-2-2), which is welded on, to be turned
The lower end of plate ontology (1-2-1)；
The bull stick (1-1-2) is rotatably connected on the middle-end of rotating plate boss (1-2-2), and transmission gear (1-3), which is fixedly connected on, to be turned
On plate boss (1-2-2), limit terminal (1-4) is fixedly connected on bull stick (1-1-2), and rotating plate ontology (1-2-1) is located at transmission
Between gear (1-3) and upper mounted plate ontology (1-1-1), limit terminal (1-4) is located at bottom plate (1-7) and transmission gear (1-3)
Between, motor (1-6) is fixedly connected on bottom plate (1-7), and input gear (1-5) is fixedly connected on the output shaft of motor (1-6)
On, input gear (1-5) and transmission gear (1-3) engaged transmission；
The gripper (2) includes fixed plate (2-1), telescopic rod (2-2), limit casing (2-3), spring (2-4), I (2- of connecting rod
5), connecting rod II (2-6), connecting rod III (2-7) and connecting rod IV (2-8), the telescopic rod (2-2) include slide bar (2-2-1) and rectangle
Bar (2-2-2), rectangular shaft (2-2-2) are welded on the front end of slide bar (2-2-1)；Slide bar (2-2-1) is slidably connected at fixed plate (2-
1) rear end, spring (2-4) are socketed on slide bar (2-2-1), after limit casing (2-3) is fixedly connected on slide bar (2-2-1)
End, spring (2-4) are located between limit casing (2-3) and fixed plate (2-1)；One end of connecting rod IV (2-8) is hingedly connected to square
On shape bar (2-2-2), the other end of connecting rod IV (2-8) is hingedly connected on connecting rod I (2-5), and the middle-end of connecting rod I (2-5) is hinged
Be connected on fixed plate (2-1), one end of connecting rod III (2-7) is hingedly connected on connecting rod II (2-6), connecting rod III (2-7) it is another
One end is hingedly connected on rectangular shaft (2-2-2), and the middle-end of connecting rod II (2-6) is hingedly connected on rectangular shaft (2-2-2)；
There are two gripper (2) settings, and two fixed plates (2-1) are respectively fixedly connected with the two of rotating plate ontology (1-2-1)
End.
2. a kind of continuous clamping type manipulator according to claim 1, it is characterised in that: fixed plate ontology (1-
Globoidal structure is arranged in left and right ends 1-1), and the rear and front end of upper mounted plate ontology (1-1-1) is planar structure.
3. a kind of continuous clamping type manipulator according to claim 2, it is characterised in that: the connecting rod I (2-5) and connecting rod
II (2-6) structure and size is identical, and connecting rod III (2-7) is identical with (2-8) structure and size of connecting rod IV, the length of connecting rod I (2-5)
Greater than the length of connecting rod IV (2-8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820686103.1U CN208557539U (en) | 2018-05-09 | 2018-05-09 | A kind of continuous clamping type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820686103.1U CN208557539U (en) | 2018-05-09 | 2018-05-09 | A kind of continuous clamping type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208557539U true CN208557539U (en) | 2019-03-01 |
Family
ID=65481035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820686103.1U Active CN208557539U (en) | 2018-05-09 | 2018-05-09 | A kind of continuous clamping type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208557539U (en) |
-
2018
- 2018-05-09 CN CN201820686103.1U patent/CN208557539U/en active Active
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| GR01 | Patent grant | ||
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| CP03 | "change of name, title or address" | ||
| CP03 | "change of name, title or address" |
Address after: 322118 Hengdian Industrial Park, Dongyang, Zhejiang, Jinhua Patentee after: Zhejiang Zhongke magnetic Co.,Ltd. Address before: 322100 Hongxing three road 9, lower Liantang Industrial Zone, Hengdian Town, Dongyang City, Jinhua, Zhejiang Patentee before: ZHEJIANG ZHONGKE MAGNETIC INDUSTRY Co.,Ltd. |