CN208601519U - Commutate clamping manipulator - Google Patents
Commutate clamping manipulator Download PDFInfo
- Publication number
- CN208601519U CN208601519U CN201820894493.1U CN201820894493U CN208601519U CN 208601519 U CN208601519 U CN 208601519U CN 201820894493 U CN201820894493 U CN 201820894493U CN 208601519 U CN208601519 U CN 208601519U
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- Prior art keywords
- commutation
- bearing
- clamping limb
- joint
- shaft
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Abstract
The utility model discloses a kind of commutation clamping manipulators, including commutating structure, locking mechanism and clamping limb, commutating structure includes two linking arms, three horizontal commutation joints, one group of connecting plate and a vertical commutation joint, locking mechanism includes set lever, upper locking post and lower locking post, and vertical joint of commutating includes shaft, bearing holder (housing, cover) and first bearing.The utility model passes through three horizontal commutation joints and a vertical commutation joint, structure is simplified, and is not necessarily to power drive, be can be realized clamping limb in the rotation of horizontal plane and the certain angle of vertical plane, rotation process is flexible, and clamping limb equal precise positioning in vertical plane and horizontal plane.
Description
Technical field
The invention belongs to clamping limb robotic device technical field, in particular to a kind of clamping for capableing of any conversion direction
Class 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.Feature is that various expected operations, construction and performance can be completed by programming
On have the advantage of people and robotics respectively concurrently.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people
Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
But it in the prior art, can be realized the clamping limb that three dimensions are put into any angle and position conversion, structure is complicated,
Sensor, power component are relatively more, and manufacturing process is complicated, at high cost, are suitble to accurate production and application, such as Chinese patent " three
Dimension manipulator " clamping limb disclosed in (Authorization Notice No.: CN206493315U), it can be realized Three dimensional rotation, grabbing workpiece
Or article, but structure is complicated, and manufacturing cost is high.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of commutation clamping manipulators, pass through three horizontal joints of commutating
With a vertical commutation joint, structure is simplified, and power drive is not necessarily to, and can be realized clamping limb in the certain of horizontal plane and vertical plane
The rotation of angle, rotation process is flexible, and clamping limb equal precise positioning in vertical plane and horizontal plane.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of commutation clamping manipulator is provided,
Including commutating structure, locking mechanism and clamping limb, one end of the locking mechanism is connect with the commutating structure, and the other end with
The clamping limb connection；
Define the clamping limb opening be before, the commutating structure includes that two linking arms, three horizontal commutations are closed
Section, the vertical commutation joint of one group of connecting plate and one, two linking arms are respectively the first linking arm and the second linking arm, and three
A horizontal commutation joint is respectively first level commutation joint, the second horizontal commutation joint and third level commutation joint,
First level commutation joint passes through the rear end of first linking arm, and the rear end of first linking arm can be with described
First level commutation joint is that fulcrum rotates in the horizontal plane, and the described second horizontal commutation joint passes through first linking arm
The rear end of front end and second linking arm, and the front end of first linking arm and the rear end of the second linking arm can be with described
Second horizontal commutation joint is that fulcrum rotates in the horizontal plane, and third level commutation joint passes through second linking arm
The rear end of front end and the connecting plate, and the front end of second linking arm and the rear end of the connecting plate can be with the thirds
Level commutation joint is that fulcrum rotates in the horizontal plane；The front end of the connecting plate is connect with the clamping limb, the clamping limb
It can be fulcrum in vertical rotation in surface using the vertical commutation joint；
The locking mechanism includes set lever, upper locking post and lower locking post, the vertical commutation joint include shaft,
Bearing holder (housing, cover) and first bearing, the first bearing are placed on the shaft, and the shaft and the first bearing are respectively positioned on bearing holder (housing, cover)
Interior, the shaft is horizontally disposed, the set lever sequentially pass through a connecting plate, the side of bearing holder (housing, cover), upper locking post, under
Locking post, the other side of bearing holder (housing, cover) and another connecting plate, the upper locking post and the lower locking post are respectively from upper and lower
It embraces the shaft and is fixed the shaft by the set lever.
In order to solve the above technical problems, the further technical solution that the present invention uses is: the upper locking post and described turn
The contact surface of axis is cambered surface, and the contact surface of the lower locking post and the shaft is also cambered surface.
It further says, the upper locking post and the lower locking post are copper post.
It further says, each horizontal commutation joint all includes pin shaft, latch segment, second bearing and spring catch, institute
It states second bearing and is placed on the pin shaft, the latch segment is placed on the pin shaft and by spring pin locked latch segment realization pair
The level answered changes arthrotropic locking.
It further says, the second bearing includes deep groove ball bearing and plane bearing, the deep groove ball bearing and described
Plane bearing is set in the pin shaft.
It further says, the commutation clamping manipulator further includes lock handle, and the front end of the shaft is fixed plate, is led to
The lock handle is crossed to fix the fixed plate and the clamping limb.
It further says, by circumference to multiple first mounting holes that are intervally arranged in the fixed plate, after the clamping limb
End passes through the lock handle also by circumference to multiple the second mounting holes corresponding with first position of mounting hole that are intervally arranged
The fixed plate and clamping limb are fixed across the first mounting hole and corresponding second mounting hole.
It further says, the arm of the clamping limb includes the left arm and right arm for capableing of chucking device or workpiece, institute
It is parallel with the right arm to state left arm.
The beneficial effects of the present invention are:
The present invention includes commutating structure, locking mechanism and clamping limb, and wherein commutating structure includes two linking arms, three water
Flat commutation joint, one group of connecting plate and a vertical commutation joint, changing arthrotropic adjusting by three levels can be realized folder
Gripping arm rotates in a certain range at any angle in the horizontal plane, then vertical commutation joint is cooperated to can be realized clamping limb vertical
Any rotation of certain angles, structure are simplified in face, are not necessarily to power drive, can be realized clamping limb in horizontal plane and vertical plane
The rotation of certain angle, rotation process is flexible, and clamping limb equal precise positioning in vertical plane and horizontal plane；
Furthermore the contact surface of upper locking post and shaft of the invention is cambered surface, and the contact surface of lower locking post and shaft is also
Cambered surface is matched with shaft using two cambered surfaces and is locked again by set lever, this design can increase contact surface, and then increase lock
Clamp force avoids clamping limb shaft when clamping heavier work pieces or equipment from loosening, and the therefore risk of appearance；More preferably, also
Fixed plate and clamping limb are fixed by lock handle, further increase the coupling mechanism force between shaft and clamping limb；
Furthermore upper locking post of the invention and the lower locking post are copper post, since copper material is relatively soft, there is bullet
Property, it can be improved coupling mechanism force when locking；
Furthermore the bearing that pin shaft is placed in the present invention all includes deep groove ball bearing for positioning in horizontal plane and for erecting
The plane bearing for facing interior positioning directly guarantees horizontal commutation joint and perpendicular by being used cooperatively for transverse bearing and axial bearing
Arthrotropic radial water Pingdu and axially vertical degree are directly changed, the smoothness in rotation process is also improved.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the overall structure diagram of commutating structure of the invention；
Fig. 3 is the decomposition texture schematic diagram of commutating structure of the invention；
Fig. 4 is one of the decomposition texture schematic diagram at locking mechanism of the invention；
Fig. 5 is two of the decomposition texture schematic diagram at locking mechanism of the invention；
Fig. 6 is three of the decomposition texture schematic diagram at locking mechanism of the invention；
Each section label is as follows in attached drawing:
Commutating structure 10, connecting plate 101, vertical commutation joint 102, shaft 1021, bearing holder (housing, cover) 1022, fixed plate 1023,
First mounting hole 10231, first bearing 1024, the first linking arm 103, the second linking arm 104, first level commutation joint 105,
The horizontal commutation joint of pin shaft 1051, latch segment 1052, spring catch 1053, deep groove ball bearing 1054, plane bearing 1055, second
106, the commutation of third level joint 107, locking mechanism 20, set lever 201, upper locking post 202, lower locking post 203, cambered surface
2021, clamping limb 30, the second mounting hole 301, left arm 302, right arm 303 and lock handle 304.
Specific embodiment
Illustrate a specific embodiment of the invention below by way of particular specific embodiment, those skilled in the art can be by this
The revealed content of specification understands advantages of the present invention and effect easily.The present invention can also give in further, different ways
Implement, that is, under the scope of without departing substantially from disclosed, different modification and change can be given.
Embodiment: a kind of commutation clamping manipulator, as shown in Fig. 1 to Fig. 6, including commutating structure 10,20 and of locking mechanism
Clamping limb 30, one end of the locking mechanism are connect with the commutating structure, and the other end is connect with the clamping limb；
Define the clamping limb opening be before, the commutating structure includes that two linking arms, three horizontal commutations are closed
The vertical commutation joint 102 of section, one group of connecting plate 101 and one, two linking arms are respectively the first linking arm 103 and second
Linking arm 104, three horizontal commutation joints are respectively horizontal commutation 106 and of joint in first level commutation joint 105, second
Third level commutation joint 107, first level commutation joint passes through the rear end of first linking arm, and described first connects
The rear end for connecing arm can rotate in the horizontal plane using first level commutation joint as fulcrum, the described second horizontal commutation joint
Across the front end of first linking arm and the rear end of second linking arm, and the front end of first linking arm and second connects
The rear end for connecing arm can rotate in the horizontal plane using the described second horizontal commutation joint as fulcrum, third level commutation joint
Across the front end of second linking arm and the rear end of the connecting plate, and the front end of second linking arm and the connecting plate
The rear end joint that can be commutated using the third level rotate in the horizontal plane as fulcrum；The front end of the connecting plate and the folder
Gripping arm connection, the clamping limb can be fulcrum in vertical rotation in surface using the vertical commutation joint；
As shown in figure 4, the locking mechanism includes set lever 201, upper locking post 202 and lower locking post 203, it is described
Vertical commutation joint includes shaft 1021, bearing holder (housing, cover) 1022 and first bearing 1024, and the first bearing is placed on the shaft, institute
It states shaft and the first bearing is respectively positioned in bearing holder (housing, cover), the shaft is horizontally disposed, and the set lever sequentially passes through an institute
Connecting plate, the side of bearing holder (housing, cover), upper locking post, lower locking post, the other side of bearing holder (housing, cover) and another connecting plate are stated, it is described
Upper locking post and the lower locking post are respectively from embracing the shaft up and down and fixed the shaft by the set lever.
As shown in fig. 6, the contact surface of the upper locking post and the shaft is cambered surface 2021, the lower locking post with it is described
The contact surface of shaft is also cambered surface 2021.This design can increase contact surface, increase coupling mechanism force.
The upper locking post and the lower locking post are copper post.Since copper material is relatively soft, there is elasticity, can be improved
Coupling mechanism force when locking.
As shown in Figures 2 and 3, each horizontal commutation joint all include pin shaft 1051, latch segment 1052, second bearing and
Spring catch 1053, the second bearing are placed on the pin shaft, and the latch segment is placed on the pin shaft and by the spring lock
Tight latch segment realizes that corresponding level changes arthrotropic locking.
The second bearing includes deep groove ball bearing 1054 and plane bearing, the deep groove ball bearing and the plane bearing
It is set in the pin shaft.
The bearing for being placed on pin shaft all includes deep groove ball bearing for positioning in horizontal plane and for positioning in vertical plane
Plane bearing guarantee level commutation joint and is changed arthrotropic vertically by being used cooperatively for transverse bearing and axial bearing
Radial water Pingdu and axially vertical degree also improve the smoothness in rotation process.
As shown in Fig. 2, the commutation clamping limb further includes lock handle 304, the front end of the shaft is fixed plate 1023,
The fixed plate and the clamping limb are fixed by the lock handle.
As shown in figs. 1 and 4, in the fixed plate by circumference to multiple first mounting holes 10231 that are intervally arranged, the clamping
The rear end of arm passes through institute also by circumference to multiple the second mounting holes 301 corresponding with first position of mounting hole that are intervally arranged
Lock handle is stated to fix the fixed plate and clamping limb across the first mounting hole and corresponding second mounting hole.The clamping limb
It can be determined in the rotation angle in vertical plane by the quantity and arrangement mode of mounting hole, such as the first mounting hole and the second installation
There are six hole is all provided with, and when uniform intervals arrangement, clamping limb just more realizes the rotation of six angles in vertical plane.
The arm of the clamping limb includes the left arm 302 and right arm 303 for capableing of chucking device or workpiece, the left hand
Arm is parallel with the right arm.It sets for surveying for example, can be clamped between left and right arm and needs to keep a certain fixed position
The equipment or instrument, but not limited to this.
The working principle of the invention and the course of work are as follows:
Changing arthrotropic adjusting by three levels can be realized clamping limb any angle in a certain range in the horizontal plane
Rotation, then any rotation for cooperating vertical commutation joint to can be realized clamping limb certain angles in vertical plane, structure simplify,
Without power drive, clamping limb can be realized in the rotation of horizontal plane and the certain angle of vertical plane, rotation process is flexible, and presss from both sides
Gripping arm equal precise positioning in vertical plane and horizontal plane.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant technical fields, similarly
It is included within the scope of the present invention.
Claims (8)
1. a kind of commutation clamping manipulator, it is characterised in that: including commutating structure (10), locking mechanism (20) and clamping limb
(30), one end of the locking mechanism is connect with the commutating structure, and the other end is connect with the clamping limb；
Define the clamping limb opening be before, the commutating structure includes two linking arms, three horizontal commutation joints, one
Group connecting plate (101) and one are commutated joint (102) vertically, and two linking arms are respectively the first linking arm (103) and the
Two linking arms (104), three horizontal commutation joints are respectively that first level commutates joint (105), the second horizontal commutation is closed
(106) and third level commutation joint (107) are saved, first level commutation joint passes through the rear end of first linking arm,
And the rear end of first linking arm can rotate in the horizontal plane using first level commutation joint as fulcrum, described second
Level commutation joint passes through the front end of first linking arm and the rear end of second linking arm, and first linking arm
Front end and the rear end of the second linking arm can rotate in the horizontal plane using the described second horizontal commutation joint as fulcrum, the third
Level commutation joint passes through the front end of second linking arm and the rear end of the connecting plate, and the front end of second linking arm
It can be rotated in the horizontal plane using third level commutation joint as fulcrum with the rear end of the connecting plate；The connecting plate
Front end is connect with the clamping limb, and the clamping limb can be fulcrum in vertical rotation in surface using the vertical commutation joint；
The locking mechanism includes set lever (201), upper locking post (202) and lower locking post (203), and the vertical commutation is closed
Section includes shaft (1021), bearing holder (housing, cover) (1022) and first bearing (1024), and the first bearing is placed on the shaft, and described turn
Axis and the first bearing are respectively positioned in bearing holder (housing, cover), and the shaft is horizontally disposed, and the set lever sequentially passes through a company
Fishplate bar, the side of bearing holder (housing, cover), upper locking post, lower locking post, the other side of bearing holder (housing, cover) and another connecting plate, the locking
Tight column and the lower locking post are respectively from embracing the shaft up and down and fixed the shaft by the set lever.
2. commutation clamping manipulator according to claim 1, it is characterised in that: the upper locking post connects with the shaft
Contacting surface is cambered surface (2021), and the contact surface of the lower locking post and the shaft is also cambered surface (2021).
3. commutation clamping manipulator according to claim 1, it is characterised in that: the upper locking post and the lower locking post
It is copper post.
4. commutation clamping manipulator according to claim 1, it is characterised in that: each horizontal commutation joint all includes
Pin shaft (1051), latch segment (1052), second bearing and spring catch (1053), the second bearing is placed on the pin shaft, described
Latch segment is placed on the pin shaft and realizes that corresponding level changes arthrotropic locking by the spring pin locked latch segment.
5. commutation clamping manipulator according to claim 4, it is characterised in that: the second bearing includes deep groove ball bearing
(1054) and plane bearing (1055), the deep groove ball bearing and the plane bearing are set in the pin shaft.
6. commutation clamping manipulator according to claim 1, it is characterised in that: it further include lock handle (304), described turn
The front end of axis is fixed plate (1023), is fixed the fixed plate and the clamping limb by the lock handle.
7. commutation clamping manipulator according to claim 6, it is characterised in that: by the circumferentially-spaced row of circle in the fixed plate
Multiple first mounting holes (10231) of cloth, also by circumference, to being intervally arranged, multiple and described first is installed for the rear end of the clamping limb
Corresponding second mounting hole (301) in hole site passes through the first mounting hole and corresponding second mounting hole by the lock handle
The fixed plate and clamping limb are fixed.
8. commutation clamping manipulator according to claim 1, it is characterised in that: the arm of the clamping limb includes that can press from both sides
The left arm (302) and right arm (303), the left arm of holding equipment or workpiece are parallel with the right arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820894493.1U CN208601519U (en) | 2018-06-11 | 2018-06-11 | Commutate clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820894493.1U CN208601519U (en) | 2018-06-11 | 2018-06-11 | Commutate clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208601519U true CN208601519U (en) | 2019-03-15 |
Family
ID=65662683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820894493.1U Expired - Fee Related CN208601519U (en) | 2018-06-11 | 2018-06-11 | Commutate clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208601519U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544476A (en) * | 2018-06-11 | 2018-09-18 | 昆山宇辰光通自动化科技有限公司 | Commutate clamping manipulator |
-
2018
- 2018-06-11 CN CN201820894493.1U patent/CN208601519U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544476A (en) * | 2018-06-11 | 2018-09-18 | 昆山宇辰光通自动化科技有限公司 | Commutate clamping manipulator |
| CN108544476B (en) * | 2018-06-11 | 2024-04-12 | 昆山宇辰光通自动化科技有限公司 | Reversing clamping manipulator |
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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: 20190315 Termination date: 20210611 |