CN209022096U - A kind of stable type is freezed manipulator - Google Patents
A kind of stable type is freezed manipulator Download PDFInfo
- Publication number
- CN209022096U CN209022096U CN201821389594.XU CN201821389594U CN209022096U CN 209022096 U CN209022096 U CN 209022096U CN 201821389594 U CN201821389594 U CN 201821389594U CN 209022096 U CN209022096 U CN 209022096U
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- fixed
- manipulator
- joint arm
- magnet
- protective plate
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Abstract
It freezes manipulator the utility model discloses a kind of stable type, including pedestal, fixed station is fixed at the top of the pedestal, the lateral surface of the fixed station is provided with symmetrical servo motor, ShiShimonoseki joint arm is provided on the output shaft of the servo motor, the end rotation of ShiShimonoseki joint arm is provided with upper joint arm, and the end of the upper joint arm is fixed with bracket；In the utility model, by the way that anti-skidding sawtooth is arranged provided with protective plate and on protective plate, help to increase frictional force, so that firmly grasp soldering appliance stronger for manipulator, when anti-skidding sawtooth is worn for a long time using the time, it is also convenient for grabbing to remove from the hand of manipulator by protective plate replacing, overcomes the adsorption capacity of the second magnet and the first magnet；By being provided with fixed link, fixed frame and spring so that freeze mechanical manual task when, compress fixed link, fixed link compressed spring slides in lock chamber, reset after spring-compressed, utilizes the flexible effect for playing damping of fixed link.
Description
Technical field
The utility model belongs to manipulator technical field, and in particular to a kind of stable type is freezed manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.When freezing, the manipulator that freezes comes into being.
However the existing manipulator that freezes remains some unreasonable factors, the existing machinery that freezes when in use
There is the deficiencies of following aspect when in use for hand:
1. manipulator crawl freezes tool loosely, it is unfavorable for increasing the stability for the manipulator that freezes；
2. freeze mechanical manual task when, damping is inconvenient, be easy to cause the loosening of the components for the manipulator that freezes.
Utility model content
It freezes manipulator the purpose of this utility model is to provide a kind of stable type, to solve to propose in above-mentioned background technique
The existing manipulator that freezes remain some unreasonable factors when in use, it is existing to freeze manipulator when in use
There is manipulator crawls to freeze tool loosely, is unfavorable for increasing the stability for the manipulator that freezes；Freeze mechanical manual task when, subtract
Shake is inconvenient, be easy to cause the loosening problem of the components for the manipulator that freezes.
To achieve the above object, the utility model provides the following technical solutions: a kind of stable type is freezed manipulator, including bottom
, it is fixed with fixed station at the top of the pedestal, the lateral surface of the fixed station is provided with symmetrical servo motor, described
Be provided with ShiShimonoseki joint arm on the output shaft of servo motor, the end rotation of ShiShimonoseki joint arm is provided with upper joint arm, it is described on
The end of joint arm is fixed with bracket, and the bottom end of the bracket is equipped with hand and grabs, and top is equipped with control hand and grabs movable control
Device, further includes clamp system, damping and fixed mechanism, and the clamp system includes protective plate and anti-skidding sawtooth, described anti-
The side surface opposition of backplate is fixed with convex block, and the end of the convex block is connected with the second magnet, and the anti-skidding sawtooth is opened in institute
State protection plate end face, the inside that the hand is grabbed opens up fluted, and the interior bottom end of the groove is fixed with the first magnet, the protection
Plate and hand are grabbed to be connected by the second magnet and the absorption of the first magnet.
Preferably, the inside of the pedestal offers chamber.
Preferably, the damping includes fixed link, fixed frame and spring, and the bottom of the fixed frame is fixed on described
The bottom of chamber of chamber, the inside of the fixed frame offer lock chamber, the top of the fixed link through the pedestal and with it is described
The bottom of fixed station connects, and the bottom of the fixed link extends into the lock chamber, the top of the spring and the fixation
The bottom of bar connects, and the bottom of the spring is connect with the bottom of chamber of the lock chamber.
Preferably, the fixed mechanism penetrates through the surface for being opened in the pedestal in a ring, and the fixed mechanism is several
A fixation hole.
Compared with prior art, the utility model has the beneficial effects that
(1) by being provided with protective plate and anti-skidding sawtooth being arranged on protective plate, help to increase frictional force, so that machine
It is stronger that tool hand firmly grasps soldering appliance, when anti-skidding sawtooth is worn for a long time using the time, is also convenient for protective plate from manipulator
Hand is grabbed to remove and be replaced, and the adsorption capacity of the second magnet and the first magnet is overcome；
(2) by being provided with fixed link, fixed frame and spring so that freeze mechanical manual task when, compress fixed link, it is fixed
Bar compressed spring is slided in lock chamber, is resetted after spring-compressed, and the flexible effect for playing damping of fixed link is utilized.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is that the hand of the utility model grabs broken section structural schematic diagram；
Fig. 3 is the protection plate structure schematic diagram of the utility model；
Fig. 4 is the damping structural schematic diagram of the utility model；
In figure: 1, pedestal；2, fixed station；3, hand is grabbed；4, controller；5, upper joint arm；6, ShiShimonoseki joint arm；7, servo electricity
Machine；8, fixation hole；9, protective plate；10, groove；11, the first magnet；12, anti-skidding sawtooth；13, the second magnet；14, convex block；15,
Fixed link；16, fixed frame；17, chamber；18, spring；19, lock chamber；20, bracket.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment 1
Please refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the utility model provides a kind of technical solution: a kind of stable type is freezed machinery
Hand, including pedestal 1, the top of pedestal 1 are fixed with fixed station 2, and the lateral surface of fixed station 2 is provided with symmetrical servo motor
7, ShiShimonoseki joint arm 6 is provided on the output shaft of servo motor 7, the end rotation of ShiShimonoseki joint arm 6 is provided with upper joint arm 5, upper pass
The end of joint arm 5 is fixed with bracket 20, and the bottom end of bracket 20 is equipped with hand and grabs 3, and top is equipped with control hand and grabs 3 movable controls
Device 4, further includes clamp system, damping and fixed mechanism, and clamp system includes protective plate 9 and anti-skidding sawtooth 12, protective plate 9
Side surface opposition be fixed with convex block 14, the end of convex block 14 is connected with the second magnet 13, and anti-skidding sawtooth 12 is opened in protective plate 9
End face, the inside that hand grabs 3 open up fluted 10, and the interior bottom end of groove 10 is bonded with the first magnet 11, and it is logical that protective plate 9 and hand grab 3
Cross the second magnet 13 and the absorption connection of the first magnet 11.
For the ease of fixing damping in chamber 17, in the present embodiment, it is preferred that the inside of pedestal 1 offers chamber
Room 17.
In order to enable freeze mechanical manual task when, compress fixed link 15,15 compressed spring 18 of fixed link is in lock chamber 19
Sliding, spring 18 resets after compressing, using the flexible effect for playing damping of fixed link 15, in the present embodiment, it is preferred that damping
Mechanism includes fixed link 15, fixed frame 16 and spring 18, and the bottom of chamber of chamber 17 is fixed in the bottom of fixed frame 16, fixed frame 16
Inside offers lock chamber 19, and the top of fixed link 15 is connect through pedestal 1 and with the bottom of fixed station 2, the bottom of fixed link 15
Portion extends into lock chamber 19, and the top of spring 18 is connect with the bottom of fixed link 15, bottom and the lock chamber 19 of spring 18
Bottom of chamber connection.
For the ease of passing through several bolts, across several fixation holes 8, to increase, the manipulator that freezes is fixed to be consolidated
Property, in the present embodiment, it is preferred that fixed mechanism penetrates through the surface for being opened in pedestal 1 in a ring, and fixed mechanism is fixed for several
Hole 8.
Embodiment 2
Please refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the utility model provides a kind of technical solution: a kind of stable type is freezed machinery
Hand, including pedestal 1, the top of pedestal 1 are fixed with fixed station 2, and the lateral surface of fixed station 2 is provided with symmetrical servo motor
7, ShiShimonoseki joint arm 6 is provided on the output shaft of servo motor 7, the end rotation of ShiShimonoseki joint arm 6 is provided with upper joint arm 5, upper pass
The end of joint arm 5 is fixed with bracket 20, and the bottom end of bracket 20 is equipped with hand and grabs 3, and top is equipped with control hand and grabs 3 movable controls
Device 4, further includes clamp system, damping and fixed mechanism, and clamp system includes protective plate 9 and anti-skidding sawtooth 12, protective plate 9
Side surface opposition be fixed with convex block 14, the end of convex block 14 is connected with the second magnet 13, and anti-skidding sawtooth 12 is opened in protective plate 9
End face, the inside that hand grabs 3 open up fluted 10, and the interior bottom end of groove 10 is welded with the first magnet 11, and it is logical that protective plate 9 and hand grab 3
Cross the second magnet 13 and the absorption connection of the first magnet 11.
For the ease of fixing damping in chamber 17, in the present embodiment, it is preferred that the inside of pedestal 1 offers chamber
Room 17.
In order to enable freeze mechanical manual task when, compress fixed link 15,15 compressed spring 18 of fixed link is in lock chamber 19
Sliding, spring 18 resets after compressing, using the flexible effect for playing damping of fixed link 15, in the present embodiment, it is preferred that damping
Mechanism includes fixed link 15, fixed frame 16 and spring 18, and the bottom of chamber of chamber 17 is fixed in the bottom of fixed frame 16, fixed frame 16
Inside offers lock chamber 19, and the top of fixed link 15 is connect through pedestal 1 and with the bottom of fixed station 2, the bottom of fixed link 15
Portion extends into lock chamber 19, and the top of spring 18 is connect with the bottom of fixed link 15, bottom and the lock chamber 19 of spring 18
Bottom of chamber connection.
For the ease of passing through several bolts, across several fixation holes 8, to increase, the manipulator that freezes is fixed to be consolidated
Property, in the present embodiment, it is preferred that fixed mechanism penetrates through the surface for being opened in pedestal 1 in a ring, and fixed mechanism is fixed for several
Hole 8.
The working principle and process for using of the utility model: after the utility model installs, in use, in protective plate 9
Anti-skidding sawtooth 12 is arranged in end face, and four convex blocks 14 are fixed on to the side surface of protective plate 9, and four the second magnet 13 are fixed on pair
The end for answering convex block 14 opens up four grooves 10 in the inside that hand grabs 3, four the first magnet 11 is fixed on corresponding groove 10
Interior bottom end facilitate in use, 3 fixed by being grabbed protective plate 9 and hand by the second magnet 13 and the absorption of the first magnet 11
Increase frictional force using anti-skidding sawtooth 12, so as to firmly grasp soldering appliance stronger for manipulator, when anti-skidding sawtooth 12 is long using the time
Long when abrasion, protective plate 9 is grabbed from hand and is removed on 3, the absorption of the second magnet 13 and the first magnet 11 is overcome；
Chamber 17 is opened up in the inside of pedestal 1, the bottom of fixed frame 16 is fixed on the bottom of chamber of chamber 17, in fixed frame 16
Inside opens up lock chamber 19, and the top of fixed link 15 is connect through pedestal 1 and with the bottom of fixed station 2, the bottom of fixed link 15
It extends into lock chamber 19, the top of spring 18 is connect with the bottom of fixed link 15, the bottom of spring 18 and the chamber of lock chamber 19
Bottom connection, freeze mechanical manual task when, compress fixed link 15,15 compressed spring 18 of fixed link slides in lock chamber 19, spring
It is resetted after 18 compressions, utilizes the flexible effect for playing damping of fixed link 15；
Several fixation holes 8 are passed through by 1 fix stably of pedestal for the manipulator that freezes by several bolts, pass through controller
4 control hands grab 3 crawl soldering appliances to be welded.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (4)
- The manipulator 1. a kind of stable type is freezed, including pedestal (1) are fixed with fixed station (2) at the top of the pedestal (1), described The lateral surface of fixed station (2) is provided with symmetrical servo motor (7), is provided on the output shaft of the servo motor (7) The end rotation of ShiShimonoseki joint arm (6), ShiShimonoseki joint arm (6) is provided with upper joint arm (5), the end of the upper joint arm (5) It is fixed with bracket (20), the bottom end of the bracket (20) is equipped with hand and grabs (3), and top is equipped with control hand and grabs (3) movable control Device (4) processed, it is characterised in that: further include clamp system, damping and fixed mechanism, the clamp system includes protective plate (9) it is fixed with convex block (14) with anti-skidding sawtooth (12), the side surface opposition of the protective plate (9), the end of the convex block (14) It is connected with the second magnet (13), the anti-skidding sawtooth (12) is opened in the protective plate (9) end face, and the hand grabs the inside of (3) It opens up fluted (10), the interior bottom end of the groove (10) is fixed with the first magnet (11), and the protective plate (9) and hand grab (3) Pass through the second magnet (13) and the first magnet (11) absorption connection.
- The manipulator 2. a kind of stable type according to claim 1 is freezed, it is characterised in that: open the inside of the pedestal (1) Equipped with chamber (17).
- The manipulator 3. a kind of stable type according to claim 2 is freezed, it is characterised in that: the damping includes fixing The bottom of chamber of the chamber (17) is fixed in the bottom of bar (15), fixed frame (16) and spring (18), the fixed frame (16), described The inside of fixed frame (16) offers lock chamber (19), the top of the fixed link (15) through the pedestal (1) and with it is described The bottom of fixed station (2) connects, and the bottom of the fixed link (15) extends into the lock chamber (19), the spring (18) Top is connect with the bottom of the fixed link (15), and the bottom of the spring (18) is connect with the bottom of chamber of the lock chamber (19).
- The manipulator 4. a kind of stable type according to claim 2 is freezed, it is characterised in that: the fixed mechanism passes through in a ring It opens up set on the surface of the pedestal (1), the fixed mechanism is several fixation holes (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821389594.XU CN209022096U (en) | 2018-08-28 | 2018-08-28 | A kind of stable type is freezed manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821389594.XU CN209022096U (en) | 2018-08-28 | 2018-08-28 | A kind of stable type is freezed manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209022096U true CN209022096U (en) | 2019-06-25 |
Family
ID=66875543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821389594.XU Expired - Fee Related CN209022096U (en) | 2018-08-28 | 2018-08-28 | A kind of stable type is freezed manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209022096U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2746910C1 (en) * | 2020-03-18 | 2021-04-22 | Амир Нурутдинович Хуснутдинов | Method for capture of metal objects and device for its implementation |
| CN117260685A (en) * | 2023-04-06 | 2023-12-22 | 福美仕智能科技(东莞)有限公司 | Intelligent multifunctional manipulator |
-
2018
- 2018-08-28 CN CN201821389594.XU patent/CN209022096U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2746910C1 (en) * | 2020-03-18 | 2021-04-22 | Амир Нурутдинович Хуснутдинов | Method for capture of metal objects and device for its implementation |
| CN117260685A (en) * | 2023-04-06 | 2023-12-22 | 福美仕智能科技(东莞)有限公司 | Intelligent multifunctional manipulator |
| CN117260685B (en) * | 2023-04-06 | 2024-05-03 | 福美仕智能科技(东莞)有限公司 | Intelligent multifunctional 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 |
Granted publication date: 20190625 Termination date: 20190828 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |