CN209022083U - A kind of multifunction manipulator fixture - Google Patents

A kind of multifunction manipulator fixture Download PDF

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Publication number
CN209022083U
CN209022083U CN201821707784.1U CN201821707784U CN209022083U CN 209022083 U CN209022083 U CN 209022083U CN 201821707784 U CN201821707784 U CN 201821707784U CN 209022083 U CN209022083 U CN 209022083U
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China
Prior art keywords
clamp arm
arm
transverse
ontology
clamp
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CN201821707784.1U
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Chinese (zh)
Inventor
王三祥
朱士新
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Jiangsu Yu Bo Automation Equipment Co Ltd
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Jiangsu Yu Bo Automation Equipment Co Ltd
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Abstract

The utility model provides a kind of multifunction manipulator fixture, including left clamp arm disposed in parallel, right clamp arm and vertically connects the transverse arm of left clamp arm Yu right clamp arm, right clamp arm is fixedly connected with transverse arm, and left clamp arm is slidably connected with transverse arm;Horizontally disposed driving cylinder and sliding rail are installed on transverse arm, drive the left clamp arm of output axis connection of cylinder, be fixedly arranged at the front end with and the matched sliding block of rail structure of left clamp arm, driving cylinder can drive left clamp arm to move along sliding rail;Rotating servo motor is also connected on transverse arm, rotating servo motor is located at the side on transverse arm far from left clamp arm and right clamp arm.The driving cylinder of the utility model is not connect with right clamp arm, therefore will not be generated vibration to right clamp arm when driving cylinder operation and influenced, and so that right clamp arm is kept relative stability state, is improved clamping accuracy of action and stability;Working in coordination, be oriented to and limiting between sliding block and sliding rail can prevent left clamp arm from generating shaking in moving process, keep clamping motion stability reliable.

Description

A kind of multifunction manipulator fixture
Technical field
The utility model belongs to field of mechanical technique, is related to a kind of multifunction manipulator fixture.
Background technique
Manipulator is the power assistive device carried or installed for material.The equilibrium principle of its dexterously application of force, makes object Body can be in space by the distance and bearing balanced sequence of setting.Object forms floating in promotion or decline by air-channel system State, without laborious, skilled manual operation, so that it may weight be correctly put into the setting position in space.Manipulator folder Tool is the important component of boosting manipulator, is used to grabbing workpiece.Existing manipulator fixture usually passes through telescopic adjustment Bar changes the opening angle of clamp arm to clamp article, and clamp arm is directly rigidly connected with telescopic advance lever, clamp arm during clamping It is also easy to produce rebound and shaking, therefore reduces the stability of clamping effect, article is caused to be easy by falling off in clamp arm.Existing machine The clamp arm of tool hand fixture is fixed structure, and cannot be adapted flexibly to different shapes, size, weight and material is grabbed work Part.
Utility model content
The purpose of the utility model is to provide a kind of reliable multifunction manipulator fixtures of clamping motion stability.
The utility model provides the following technical solution:
A kind of multifunction manipulator fixture, including left clamp arm disposed in parallel, right clamp arm and vertically connect left clamp arm and right The transverse arm of clamp arm, right clamp arm are fixedly connected with transverse arm, and left clamp arm is slidably connected with transverse arm;Horizontally disposed drive is installed on transverse arm It takes offence cylinder and sliding rail, drives the left clamp arm of output axis connection of cylinder, left clamp arm is fixedly arranged at the front end with and the matched cunning of rail structure Block, driving cylinder can drive left clamp arm to move along sliding rail;Rotating servo motor, rotating servo motor position are also connected on transverse arm In the side of left clamp arm and right clamp arm separate on transverse arm.
Preferably, left clamp arm includes left clamp arm ontology and connecting plate, and left clamp arm ontology, connecting plate and sliding block are successively fixed to be connected It connects;The upper end of connecting plate is equipped with lug boss, and driving cylinder is located at the top of sliding rail, drives the output shaft connection bump portion of cylinder.
Preferably, it is respectively oppositely provided with sliding slot on the roof and bottom wall of sliding rail, the side that sliding block is connect with sliding rail is set There is the sliding cavity for accommodating sliding rail, sliding cavity is equipped with the retention bead with the structure matching of sliding slot.
Preferably, transverse arm includes the arc mounting portion of transverse arm ontology and the lateral mid-point positioned at transverse arm ontology, arc Mounting portion is protruding upward in transverse arm ontology, and cylinder is driven to be installed on arc mounting portion.
Preferably, the rear end of left clamp arm ontology has been removably installed left cramping body, right clamp arm include right clamp arm ontology and It is removably installed in the right cramping body of the rear end of right clamp arm ontology, left cramping body and right cramping body are oppositely arranged.
Preferably, it is separately installed with bracket below left clamp arm ontology and right clamp arm ontology, bracket resists the bottom of left clamp arm The bottom wall of wall or right clamp arm;Bracket below left clamp arm ontology is installed on connecting plate, the bracket peace below right clamp arm ontology Loaded on transverse arm.
Preferably, the quantity of sliding rail is two, and two one slide rails are spaced apart setting.
Preferably, lightening hole is respectively equipped on left clamp arm ontology and right clamp arm ontology.
The beneficial effects of the utility model are: the driving cylinder of the utility model can drive left clamp arm along the cunning on transverse arm Rail moves in left and right directions relative to right clamp arm, to clamp or unclasp article, passes through the output power for adjusting driving cylinder The shift motion of left clamp arm can be changed, to make the utility model that can clamp a variety of various sizes of articles;Driving cylinder only leads to It crosses transverse arm and connects left clamp arm, to drive cylinder not connect with right clamp arm, therefore will not be to right clamp arm when driving cylinder operation Generating vibration etc. influences, and right clamp arm is made to keep relative stability state, improves clamping accuracy of action and stability;Sliding block with Working in coordination, be oriented to and limiting between sliding rail can prevent left clamp arm from generating shaking in moving process, make to clamp motion stability Reliably;Rotating servo motor on transverse arm can be rotated transverse arm, to make left clamp arm and right clamp arm can be in clamping process as required Article is overturn, to be applicable in different manufacturing technique requirents.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic perspective view of the utility model;
Fig. 2 is the overlooking structure diagram of the utility model;
The sliding rail and the structural schematic diagram at sliding block cooperation that Fig. 3 is the utility model.
In the figure, it is marked as 1. left clamp arm;11. left clamp arm ontology;12. connecting plate;121. lug boss;13. left cramping body;2. Right clamp arm;21. right clamp arm ontology;22. right cramping body;3. transverse arm;31. transverse arm ontology;32. arc mounting portion;4. driving cylinder; 5. sliding rail;51. sliding slot;6. sliding block;61. retention bead;7. rotating servo motor;8. bracket;9. lightening hole.
Specific embodiment
As depicted in figs. 1 and 2, a kind of multifunction manipulator fixture, including left clamp arm 1 disposed in parallel, right clamp arm 2, with And the transverse arm 3 of left clamp arm 1 and right clamp arm 2 is vertically connected, right clamp arm 2 is fixedly connected with transverse arm 3, and left clamp arm 1 connects with the sliding of transverse arm 3 It connects;Horizontally disposed driving cylinder 4 and sliding rail 5 are installed on transverse arm 3, drive the left clamp arm 1, Zuo Jia of output axis connection of cylinder 4 The sliding block 6 of arm 1 being fixedly arranged at the front end with the structure matching of sliding rail 5, driving cylinder 4 can drive left clamp arm 1 and sliding block 6 together along Sliding rail 5 moves back and forth;Rotating servo motor 7 is also connected on transverse arm 3, the output shaft of rotating servo motor 7 is vertical with transverse arm 3 to be connected It connects, rotating servo motor 7 is located at the side on transverse arm 3 far from left clamp arm 1 and right clamp arm 2, and rotating servo motor 7 can drive transverse arm 3 by the angular turn set, so that left clamp arm 1 and right clamp arm 2 be driven to rotate.The driving cylinder 4 of the present embodiment can drive left folder Arm 1 moves back and forth along the sliding rail 5 on transverse arm 3 relative to right clamp arm 2 in the lateral direction, so that article is clamped or unclasps, The shift motion of left clamp arm 1 can be changed in output power by adjusting driving cylinder 4, so that it is a variety of to clamp the utility model can Various sizes of article;Working in coordination, be oriented to and limiting between sliding block 6 and sliding rail 5 can prevent left clamp arm 1 in moving process Middle generation is shaken, and keeps clamping motion stability reliable;Rotating servo motor 7 on transverse arm 3 can be rotated transverse arm 3, to make left clamp arm 1 Article can be overturn as required in clamping process with right clamp arm 2, to be applicable in different manufacturing technique requirents.
Left clamp arm 1 includes left clamp arm ontology 11 and connecting plate 12, and left clamp arm ontology 11, connecting plate 12 and sliding block 6 successively lead to Bolt is crossed to be fixedly connected;The upper end of connecting plate 12 is equipped with lug boss 121, and driving cylinder 4 is located at the top of sliding rail 5, drives cylinder 4 Output shaft be fixedly connected with lug boss 121.The output shaft of driving cylinder 4 is installed on the lug boss 121 of the connecting plate of left clamp arm On, therefore interference will not be generated with the movement of left clamp arm ontology 11 and sliding block 6.
As shown in figure 3, being respectively oppositely provided with sliding slot 51 on the roof and bottom wall of sliding rail 5, sliding block 6 is connect with sliding rail 5 Side be equipped with sliding cavity for accommodating sliding rail 5, sliding cavity is equipped with the retention bead 61 with the structure matching of sliding slot 51.
Transverse arm 3 includes the arc mounting portion 32 of transverse arm ontology 31 and the lateral mid-point positioned at transverse arm ontology 31, arc Mounting portion 32 is protruding upward in transverse arm ontology 31, and cylinder 4 is driven to be installed on arc mounting portion 32.
The rear end of left clamp arm ontology 11 is equipped with left cramping body 13 by bolt, right clamp arm 2 include right clamp arm ontology 21 with And the right cramping body 22 of the rear end of right clamp arm ontology 21 is installed on by bolt, left cramping body 13 and right cramping body 22 are set relatively It sets.Left cramping body 13, right cramping body 22 are removably installed on left clamp arm ontology 11 or right clamp arm ontology 21, can according to Shape, the size of the article of clamping replace matched cramping body, easy to use and flexible.
The lower section of left clamp arm ontology 11 and right clamp arm ontology 21 is separately installed with bracket 8, and bracket 8 resists the bottom of left clamp arm 1 The bottom wall of wall or right clamp arm 2;The bracket of left 11 lower section of clamp arm ontology is installed on connecting plate 12, right 21 lower section of clamp arm ontology Bracket 8 is installed on transverse arm 3.The left clamp arm ontology 11 and bracket 8 of the lower section of right clamp arm ontology 21 can further steadily support be left Clamp arm ontology 11 and right clamp arm ontology 21 avoid left clamp arm ontology 11 and right clamp arm ontology 21 from teetertottering.
The quantity of sliding rail 5 is two, and two one slide rails 5 are spaced apart setting, to increase the cunning of 5 pairs of sliding rail left clamp arm ends The guiding and limit area of block 6, can further stablize left clamp arm, it is avoided to occur slight jitter phenomenon up and down.
It is respectively equipped with lightening hole 9 on left clamp arm ontology 11 and right clamp arm ontology 21, makes the present embodiment more lightweight, can subtract Drive less cylinder 4 and rotating servo motor 7 be used to overcome left clamp arm 1 and right clamp arm 2 weight and additional work done, save power consumption Amount.
In use, restarting driving cylinder for the manipulator control system outside cylinder access is driven, make that cylinder is driven to push away The distance that dynamic connecting plate is mobile, connecting plate drives left clamp arm and sliding block to set far from one section of right clamp arm, sliding rail is to cunning during this Block plays guiding and position-limiting action, keeps left clamp arm movement accurate, stable, will not generate shaking;Then cylinder break-off is driven, it is left Clamp arm and right clamp arm are respectively provided with the left and right sides for being located at object to be held with gap, and driving cylinder inside contracts output shaft again, makes to connect Fishplate bar drives left clamp arm to move the distance of one section of setting along the direction of sliding rail clamp arm to the right, to make left clamp arm and right clamp arm will Object clamps.When needing article for rotation, starts rotating servo motor, transverse arm is made to drive the object of left clamp arm, right clamp arm and clamping Body rotates together.The angle of stroke and rotating servo motor rotation that driving cylinder drives left clamp arm to move back and forth, is ok It is arranged as needed by external control system, this is well-known technique, and details are not described herein.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, although ginseng The utility model is described in detail according to previous embodiment, it for those skilled in the art, still can be with It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.It is all Within the spirit and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in practical Within novel protection scope.

Claims (8)

1. a kind of multifunction manipulator fixture, which is characterized in that including left clamp arm disposed in parallel, right clamp arm and vertically connect institute The transverse arm of left clamp arm Yu the right clamp arm is stated, the right clamp arm is fixedly connected with the transverse arm, the left clamp arm and the transverse arm It is slidably connected;Horizontally disposed driving cylinder and sliding rail, the output axis connection institute of the driving cylinder are installed on the transverse arm Left clamp arm, be fixedly arranged at the front end with and the matched sliding block of the rail structure of the left clamp arm are stated, the driving cylinder can drive institute Left clamp arm is stated to move along the sliding rail;Rotating servo motor is also connected on the transverse arm, the rotating servo motor is located at Far from the side of the left clamp arm and the right clamp arm on the transverse arm.
2. multifunction manipulator fixture according to claim 1, which is characterized in that the left clamp arm includes left clamp arm ontology And connecting plate, the left clamp arm ontology, the connecting plate and the sliding block are fixedly connected sequentially;The upper end of the connecting plate is equipped with Lug boss, the driving cylinder are located at the top of the sliding rail, lug boss described in the output axis connection of the driving cylinder.
3. multifunction manipulator fixture according to claim 2, which is characterized in that the roof of the sliding rail and the sliding rail Bottom wall on be respectively oppositely provided with sliding slot, the side that the sliding block is connect with the sliding rail is equipped with for accommodating the sliding rail Sliding cavity, the sliding cavity is equipped with retention bead with the structure matching of the sliding slot.
4. multifunction manipulator fixture according to claim 3, which is characterized in that the quantity of the sliding rail and the sliding block It is two, two sliding rails are spaced apart setting along the vertical direction, and two sliding blocks are spaced apart setting along the vertical direction.
5. multifunction manipulator fixture according to claim 3, which is characterized in that the transverse arm includes transverse arm ontology and position In the arc mounting portion of the lateral mid-point of the transverse arm ontology, the arc mounting portion is protruding upward in the transverse arm sheet Body, the driving cylinder are installed on the arc mounting portion.
6. multifunction manipulator fixture according to claim 3, which is characterized in that the rear end of the left clamp arm ontology is removable Left cramping body is installed with unloading, after the right clamp arm includes right clamp arm ontology and is removably installed in the right clamp arm ontology The right cramping body at end, the left cramping body and the right cramping body are oppositely arranged.
7. multifunction manipulator fixture according to claim 6, which is characterized in that the left clamp arm ontology and the right folder Bracket is separately installed with below arm body, the bracket resists the bottom wall of the left clamp arm or the bottom wall of the right clamp arm.
8. multifunction manipulator fixture according to claim 6, which is characterized in that the left clamp arm ontology and the right folder Lightening hole is respectively equipped on arm body.
CN201821707784.1U 2018-10-22 2018-10-22 A kind of multifunction manipulator fixture Active CN209022083U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821707784.1U CN209022083U (en) 2018-10-22 2018-10-22 A kind of multifunction manipulator fixture

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821707784.1U CN209022083U (en) 2018-10-22 2018-10-22 A kind of multifunction manipulator fixture

Publications (1)

Publication Number Publication Date
CN209022083U true CN209022083U (en) 2019-06-25

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201821707784.1U Active CN209022083U (en) 2018-10-22 2018-10-22 A kind of multifunction manipulator fixture

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112809725A (en) * 2020-12-30 2021-05-18 创维集团智能装备有限公司 Injection molding assembly line positioning and grabbing equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112809725A (en) * 2020-12-30 2021-05-18 创维集团智能装备有限公司 Injection molding assembly line positioning and grabbing equipment

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