CN208645375U - A kind of adjustable connecting-rod formula catching robot - Google Patents
A kind of adjustable connecting-rod formula catching robot Download PDFInfo
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- CN208645375U CN208645375U CN201821505352.2U CN201821505352U CN208645375U CN 208645375 U CN208645375 U CN 208645375U CN 201821505352 U CN201821505352 U CN 201821505352U CN 208645375 U CN208645375 U CN 208645375U
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- piston
- manipulator
- mechanical arm
- rod
- connecting rod
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Abstract
A kind of adjustable connecting-rod formula catching robot belongs to automated production auxiliary device technical field.The utility model is in order to solve the problems, such as that the claw of existing manipulator can not be applicable in the crawl of the workpiece of different size.Technical essential: piston propeller is mounted on the rear end of rack, the both ends of connecting rod are provided with connecting rod through slot, the center of connecting rod is hingedly and at the front end center of rack, the rear end of active mechanical arm and follower arm is slidably mounted on the upper and lower side of rack by sliding block, and manipulator through slot is offered on active mechanical arm and follower arm, the connecting rod through slot at connecting rod both ends is hinged by bolt and the manipulator through slot on active mechanical arm and follower arm；Piston rod is connect with active mechanical arm, and active mechanical arm is driven to move forward and backward；The front end of active mechanical arm and follower arm is equipped with manipulator claw, setting before and after two manipulator claws.The utility model is for workpiece grabbing in producing.
Description
Technical field
The utility model relates to a kind of catching robots, and in particular to a kind of adjustable connecting-rod formula catching robot belongs to certainly
Dynamic metaplasia produces auxiliary device technical field.
Background technique
Manipulator is a kind of new device to grow up during mechanization, automated production.Life can be improved in it
The degree of automation of production process is improved working conditions and is reduced manually, and working efficiency is greatly improved.Common manipulator can
The low, poor universality by property.The crawl for meeting different size workpiece requires to replace a whole set of manipulator.Either link-type, gear
Formula or pinion and-rack, it will usually by changing the relative position of main driving arm and slave drive arm, changing the reference circle of gear
Radius increases the length of rack gear to realize the requirement of crawl different size workpiece.Thus there are some drawbacks:
(1) pass through the method for increase gear compound graduation radius of circle, it will usually be limited to size, and working efficiency is low, versatility
Difference.By increasing the method for rack gear length, the rigidity of manipulator can be reduced, the deformation of manipulator is easily caused, to influence to fill
Press from both sides precision.
(2) either gear engagement or wheel and rack engagement, torque be all it is relatively-stationary so that manipulator claw
It can not be adapted to the workpiece of different size, and it is very troublesome to replace a whole set of manipulator operation.Similarly in link manipulator, main drive
Swing arm is all fixedly connected with slave drive arm, equally cannot achieve the workpiece that a set of manipulator is applicable in different size.
Utility model content
The brief overview about the utility model is given below, in order to provide certain sides about the utility model
The basic comprehension in face.It should be appreciated that this general introduction is not the exhaustive general introduction about the utility model.It is not intended to really
The key or pith of the utility model are determined, nor intended limitation the scope of the utility model.Its purpose is only with letter
The form of change provides certain concepts, taking this as a prelude to a more detailed description discussed later.
In consideration of it, the utility model provides a kind of adjustable connecting-rod formula catching robot, solves to overcome above-mentioned drawback
The claw of existing manipulator can not be applicable in the crawl of the workpiece of different size.The utility model will be between mechanical arm and connecting rod
Connection be set as adjustable, different positions can be adjusted to according to the workpiece of different size, to realize a set of manipulator i.e.
The crawl of the workpiece of applicable various specifications improves working efficiency, improves the versatility of manipulator, when the position for adjusting tie point
When setting, since to be relative to piston rod axis symmetrical for connecting rod and mechanical arm, it can be ensured that the precision of adjustment.
The scheme that the utility model is taken are as follows: a kind of adjustable connecting-rod formula catching robot, including piston propeller, machinery
Hand claw, connecting rod, bolt, rack, active mechanical arm, follower arm and sliding block；
The piston propeller is mounted on the rear end of rack, and the both ends of connecting rod are provided with connecting rod through slot, connecting rod
Hingedly and at the front end center of rack, the rear end of active mechanical arm and follower arm is slidably mounted on by sliding block at center
The upper and lower side of rack, and manipulator through slot is offered on active mechanical arm and follower arm, the connecting rod both ends
Connecting rod through slot by bolt and the manipulator through slot on active mechanical arm and follower arm it is hinged；The piston pushes away
Piston rod into device is connect with active mechanical arm, and active mechanical arm is driven to move forward and backward；The active mechanical arm and from
The front end of dynamic mechanical arm is equipped with manipulator claw, setting before and after two manipulator claws.
Further: the piston propeller is hydraulic piston propeller or pneumaticpiston propeller.So set, using
Person can be allowed a choice according to service condition.
Further: the piston propeller includes cylinder seat, gray iron, piston, sealing ring and piston rod, the cylinder
Seat, cylinder body and cylinder cap are connected in turn, and piston is placed in cylinder body and is provided with sealing ring, the rear end of piston rod between cylinder body
It is fixedly connected with the piston, cylinder cap is stretched out in the front end of piston rod, and the medium entrance being connected to cylinder body is machined in cylinder seat, is added on cylinder cap
Work has the media outlet being connected to cylinder body, and the medium entrance and media outlet connect with air pump or oil pump, set on connecting line
It is equipped with reversal valve, the front-rear reciprocation movement of piston is controlled by reversal valve.
Further: the manipulator claw is V-type groove structure, and the V-type groove opening of two manipulator claws is opposite
Setting.So set, increase V-type groove special jaw, it can be achieved that workpiece it is self-centering, guarantee being properly positioned for workpiece, also
Friction can be increased, prevent falling off for workpiece.
Further: fixture anti-slip layer is installed on the opposite face of described two manipulator claws.It is arranged such.Increase rubs
It wipes, prevents falling off for workpiece.
Further: the surface of the fixture anti-slip layer is with sawtooth or bar shaped ripple or graininess protrusion.It is arranged such.
Preferably increase friction, prevents falling off for workpiece.
Further: the connecting rod and active mechanical arm and follower arm are relative to piston rod axis pair
Claim distribution.It is arranged such, it can be ensured that the precision of adjustment.
The utility model effect achieved are as follows:
The utility model is connected two mechanical arms with a connecting rod by the type of attachment of design connecting rod, and even
It is designed with through slot on extension bar and mechanical arm, the position of the tie point of connecting rod and mechanical arm can be changed, is realized according to difference
The workpiece of specification adjusts the link position of connecting rod and mechanical arm, to realize that a set of manipulator is i.e. applicable various in real time
The crawl of the workpiece of specification improves working efficiency, improves the versatility of manipulator.When adjusting the position of tie point, due to
It is symmetrical that connecting rod and mechanical arm are relative to piston rod axis, it can be ensured that the precision of adjustment.
The to sum up effect of the utility model:
1) structure is simple, increases centrosymmetric connecting rod, in connecting rod and active mechanical arm, follower arm
Through slot is set, by changing the position of hinge joint, to realize the crawl of different size workpiece.
2) versatile, suitable for all occasions using manipulator.
3) V-type groove is added in manipulator claw, it is ensured that workpiece is properly positioned.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of adjustable connecting-rod formula catching robot of the utility model；
In figure:
1- fixture anti-slip layer；2- manipulator claw；3- connecting rod；4- bolt；5- piston rod；6- rack；7- piston；8- is close
Seal；9- medium entrance；10- media outlet；11- manipulator through slot；12- connecting rod through slot；13- active mechanical arm；14- from
Dynamic mechanical arm；15- sliding block；16- cylinder seat；17- cylinder body；18- cylinder cap.
Specific embodiment
For clarity and conciseness, all features of actual implementation mode are not described in the description.However, should
Understand, much decisions specific to embodiment must be made, during developing any this practical embodiments so as to reality
The objectives of existing developer, for example, meeting restrictive condition those of related to system and business, and these restrictive conditions
It may be changed with the difference of embodiment.In addition, it will also be appreciated that although development is likely to be very multiple
It is miscellaneous and time-consuming, but for the those skilled in the art for having benefited from the utility model disclosure, this development is only
It is routine task.
Here, and also it should be noted is that, in order to avoid having obscured the utility model because of unnecessary details, in Shen
It please illustrate only the apparatus structure and/or processing step closely related with scheme according to the present utility model in file, and save
The other details little with the utility model relationship are omited.
Embodiment: referring to Fig. 1, a kind of adjustable connecting-rod formula catching robot of present embodiment, including piston propeller, machine
Tool hand claw 2, connecting rod 3, bolt 4, rack 6, active mechanical arm 13, follower arm 14 and sliding block 15, the piston
Propeller includes cylinder seat 16, cylinder body 17, cylinder cap 18, piston 7, sealing ring 8 and piston rod 5；
The cylinder seat 16 of the piston propeller is mounted on the rear end of rack 6, and the both ends of connecting rod 3 are provided with connecting rod through slot
12, the center of connecting rod 3 is hingedly and at the front end center of rack 6, the rear end of active mechanical arm 13 and follower arm 14
It is slidably mounted on the upper and lower side of rack 6 by sliding block 15, and is offered on active mechanical arm 13 and follower arm 14
The connecting rod through slot 12 of manipulator through slot 11,3 both ends of connecting rod passes through bolt 4 and active mechanical arm 13 and follower
Manipulator through slot 11 on arm 14 is hinged；The piston rod 5 of the piston propeller passes through a connecting plate and active mechanical hand
Arm 13 connects, and active mechanical arm 13 is driven to move forward and backward；The front end of the active mechanical arm 13 and follower arm 14
Manipulator claw 2 is installed, is arranged before and after two manipulator claws 2；The manipulator claw 2 is V-type groove structure, two machines
The V-type groove opening of tool hand claw 2 is oppositely arranged；Fixture anti-slip layer 1 is installed on the opposite face of two manipulator claws 2；Folder
Has the surface of anti-slip layer 1 with sawtooth or bar shaped ripple or graininess protrusion；The connecting rod and active mechanical arm 13 and from
It is symmetrical that dynamic mechanical arm 14 is relative to piston rod axis.
The cylinder seat 16, cylinder body 17 and cylinder cap 18 are connected in turn, and piston 7 is placed in cylinder body 17 and sets between cylinder body
It is equipped with sealing ring 8, the rear end of piston rod 5 is fixedly connected with piston 7, and cylinder cap 18 is stretched out in the front end of piston rod 5, is processed in cylinder seat 16
There is the medium entrance 9 being connected to cylinder body 17, the media outlet 10 being connected to cylinder body 17, the medium entrance are machined on cylinder cap 18
9 and media outlet 10 connect with air pump or oil pump, reversal valve is provided on connecting line, pass through reversal valve control piston front and back
Move back and forth, air pump, oil pump, connecting line and reversal valve connection relationship be the prior art, it is not shown in figures.
Wherein:
1) manipulator can drive using hydraulic-driven or using air pressure.
2) connecting rod of manipulator is relative to the hinge joint central symmetry with rack, can be with when adjusting hinge joint position
The effective synchronism and accuracy for guaranteeing active mechanical arm and follower arm.
3) piston propeller is fixed on the rack, and the hinge joint of connecting rod also is located in rack.
4) piston rod can realize reciprocating movement, to drive active mechanical arm to move back and forth on the rack, due to actively
Mechanical arm is hinged with connecting rod, connecting rod around with the rotation of the hinge joint of rack, to drive and connecting rod hingedly driven
Mechanical arm moves back and forth, to realize the crawl and release of workpiece.Active mechanical arm, follower arm and connecting rod
The position of hinge joint be it is adjustable, suitable position is moved in through slot by bolt, is then locked, i.e., changeable machine
The magnitude range of tool hand grabbing workpiece.
Change connecting rod and active mechanical arm, follower arm tie point position, it can also be using other forms
Adjustable component.The adjustable component being connect such as rotating nuts with screw rod.
5) manipulator claw 2 is V-type groove structure, and the V-type groove opening of two manipulator claws 2 is oppositely arranged.So
Setting, increase the special jaw of V-type groove, it can be achieved that workpiece it is self-centering, guarantee being properly positioned for workpiece, can also increase and rub
It wipes, prevents falling off for workpiece.
6) medium entrance 9 and media outlet 10 are connect with air pump or oil pump, reversal valve are provided on connecting line, by changing
To the front-rear reciprocation movement of valve control piston.
Working principle:
When needing grabbing workpiece, 9 oil inlet of medium entrance or air inlet, 10 oil return of media outlet or return-air, piston rod 5 is forward
It is mobile, realize process movement, the mobile drive active mechanical arm 13 of piston rod 5 is moved along rack 6, due to mover
Tool arm 13 and connecting rod 3 are hinged, so that connecting rod 3 be driven to rotate clockwise, due to follower arm 14 equally with connection
Bar 3 is hinged, and under the drive of connecting rod 3, follower arm 14 moves backward, thus realize two manipulator claws 2 by
It is gradually close.When needing to discharge workpiece, 10 oil inlet of media outlet or air inlet, 9 oil return of medium entrance or return-air, piston rod 5 is backward
It is mobile, realize drawback movement, the mobile drive active mechanical arm 13 of piston rod 5 moves backward along rack 6, due to mover
Tool arm 13 and connecting rod 3 are hinged, so that connecting rod 3 be driven to rotate counterclockwise, due to follower arm 14 equally with connection
Bar 3 is hinged, and under the drive of connecting rod 3, follower arm 14 is moved along, thus realize two manipulator claws 2 by
Gradually separate.
When needing to grab the workpiece of different size, adjustable connecting rod and active mechanical arm 13, follower hand
The position of the hinge joint of arm 14, a set of manipulator, which thus may be implemented, can meet the crawl of different size workpiece, improve work
Make efficiency.
Although the revealed embodiment of the utility model is as above, its content is only to facilitate understand the utility model
Technical solution and the embodiment that uses, be not intended to limit the utility model.Any the utility model technical field
Interior technical staff can be in the form of implementation under the premise of not departing from the utility model revealed core technology scheme
With any modification and variation are made in details, but protection scope defined by the utility model still must be with appended claims
Subject to the range of restriction.
Claims (7)
1. a kind of adjustable connecting-rod formula catching robot, it is characterised in that: including piston propeller, manipulator claw (2), connecting rod
(3), bolt (4), rack (6), active mechanical arm (13), follower arm (14) and sliding block (15)；
The piston propeller is mounted on the rear end of rack (6), and the both ends of connecting rod (3) are provided with connecting rod through slot (12), even
The center of extension bar (3) is hingedly and at the front end center of rack (6), after active mechanical arm (13) and follower arm (14)
End is slidably mounted on the upper and lower side of rack (6), and active mechanical arm (13) and follower arm (14) by sliding block (15)
On offer manipulator through slot (11), the connecting rod through slot (12) at connecting rod (3) both ends passes through bolt (4) and mover
Manipulator through slot (11) on tool arm (13) and follower arm (14) is hinged；The piston rod (5) of the piston propeller
It is connect with active mechanical arm (13), active mechanical arm (13) is driven to move forward and backward；The active mechanical arm (13) and from
The front end of dynamic mechanical arm (14) is equipped with manipulator claw (2), setting before and after two manipulator claws (2).
2. a kind of adjustable connecting-rod formula catching robot according to claim 1, it is characterised in that: the piston propeller is
Hydraulic piston propeller or pneumaticpiston propeller.
3. a kind of adjustable connecting-rod formula catching robot according to claim 2, it is characterised in that: the piston propeller packet
Include cylinder seat (16), cylinder body (17), cylinder cap (18), piston (7), sealing ring (8) and piston rod (5), the cylinder seat (16), cylinder body
(17) it being connected in turn with cylinder cap (18), piston (7) is placed in cylinder body (17) and is provided with sealing ring (8) between cylinder body,
The rear end of piston rod (5) is fixedly connected with piston (7), and cylinder cap (18) are stretched out in the front end of piston rod (5), and cylinder seat is machined on (16)
The medium entrance (9) being connected to cylinder body (17) is machined with the media outlet (10) being connected to cylinder body (17) on cylinder cap (18), described
Medium entrance (9) and media outlet (10) are connect with air pump or oil pump, and reversal valve is provided on connecting line, passes through reversal valve control
The front-rear reciprocation movement of piston processed.
4. a kind of adjustable connecting-rod formula catching robot according to claim 3, it is characterised in that: the manipulator claw
It (2) is V-type groove structure, the V-type groove opening of two manipulator claws (2) is oppositely arranged.
5. a kind of adjustable connecting-rod formula catching robot according to claim 4, it is characterised in that: described two manipulator cards
Fixture anti-slip layer (1) is installed on the opposite face of pawl (2).
6. a kind of adjustable connecting-rod formula catching robot according to claim 5, it is characterised in that: the fixture anti-slip layer
(1) surface is with sawtooth or bar shaped ripple or graininess protrusion.
7. a kind of adjustable connecting-rod formula catching robot according to claim 1, it is characterised in that: the connecting rod and active
It is symmetrical that mechanical arm (13) and follower arm (14) are relative to piston rod axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821505352.2U CN208645375U (en) | 2018-09-14 | 2018-09-14 | A kind of adjustable connecting-rod formula catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821505352.2U CN208645375U (en) | 2018-09-14 | 2018-09-14 | A kind of adjustable connecting-rod formula catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208645375U true CN208645375U (en) | 2019-03-26 |
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ID=65793098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821505352.2U Active CN208645375U (en) | 2018-09-14 | 2018-09-14 | A kind of adjustable connecting-rod formula catching robot |
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| Country | Link |
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| CN (1) | CN208645375U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052175A1 (en) * | 2020-09-08 | 2022-03-17 | 苏州元联科技创业园管理有限公司 | Large-stroke pneumatic clamp |
-
2018
- 2018-09-14 CN CN201821505352.2U patent/CN208645375U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052175A1 (en) * | 2020-09-08 | 2022-03-17 | 苏州元联科技创业园管理有限公司 | Large-stroke pneumatic clamp |
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