CN209157826U - Manipulator and fuel tank punch device with the manipulator - Google Patents
Manipulator and fuel tank punch device with the manipulator Download PDFInfo
- Publication number
- CN209157826U CN209157826U CN201821799996.7U CN201821799996U CN209157826U CN 209157826 U CN209157826 U CN 209157826U CN 201821799996 U CN201821799996 U CN 201821799996U CN 209157826 U CN209157826 U CN 209157826U
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- manipulator
- guide groove
- clamping jaw
- transmission component
- fixed disk
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Abstract
The utility model discloses a kind of manipulator and the fuel tank punch device with the manipulator.The manipulator includes clamping jaw, the quantity at least two of the clamping jaw, and setting is spaced between two adjacent clamping jaws；Transmission component is connected with the clamping jaw；Fixed disk, is provided with the first guide groove, and the transmission component is flexibly connected with first guide groove；Movable disk is coaxially disposed with the fixed disk, and is provided with the second guide groove, and the transmission component is flexibly connected with second guide groove；The guiding of first guide groove and the guiding angulation of second guide groove are α, 0 ° of α >；Rotation by the movable disk relative to the fixed disk drives the transmission component to move to the second predeterminated position from the first predeterminated position, so that the clamping jaw be driven to be clamped.The manipulator of the utility model has simple and compact for structure, multiple clamping jaws can be assembled, and the net synchronization capability between clamping jaw is good, runs smoothly, the advantages that long service life.
Description
Technical field
The utility model relates to automated production equipment technical field more particularly to a kind of manipulator and there is the manipulator
Fuel tank punch device.
Background technique
With the arrival in intelligent epoch, all trades and professions have all been carried out by since steam engine, internal combustion engine and computer
Four industrial revolution becomes artificial plus intelligent machine mode by original artificial production line, due to human cost
It is promoted, robot is more and more important in the effect of production line, so that having had already appeared unmanned workshop, assembly line passes through machine
People operates.
Since the Tool Position Comparision of assembly line is more, each station requires manipulator and is operated, and conveyer belt is also required to provide
Power is driven, and not only needs to occupy biggish operating space, can also bring vibration, influences the firm of manipulator grabbing workpiece
Property, in order to promote working efficiency, reducing operating space is occupied, and crawl is firm, is badly in need of a kind of simple and compact for structure, can be assembled multiple
Clamping jaw, and the manipulator that net synchronization capability between clamping jaw is good.
Utility model content
The technical issues of the utility model solves is to provide a kind of simple and compact for structure, and the net synchronization capability between clamping jaw is good
Manipulator and fuel tank punch device with the manipulator.
On the one hand, the utility model provides a kind of manipulator comprising:
Clamping jaw, the quantity at least two of the clamping jaw are spaced setting between two adjacent clamping jaws；
Transmission component is connected with the clamping jaw；
Fixed disk, is provided with the first guide groove, and the transmission component is flexibly connected with first guide groove；
Movable disk is coaxially disposed with the fixed disk, and is provided with the second guide groove, the transmission component and described second
Guide groove is flexibly connected；
The guiding of first guide groove and the guiding angulation of second guide groove are α, 0 ° of α >.
Rotation by the movable disk relative to the fixed disk drives the transmission component to transport from the first predeterminated position
It moves to the second predeterminated position, so that the clamping jaw be driven to be clamped.
Preferably, first guide groove radially extends setting along the fixed disk.
Preferably, the transmission component includes:
Sliding block is equipped with first guide groove, and is connected with the clamping jaw；
Cam Follower is equipped with second guide groove, and is connected with the sliding block.
Preferably, the manipulator further includes guiding tank cover plate, and the guide groove cover plate lid is located at second guide groove
Notch, to limit the scope of activities of the sliding block.
Preferably, the manipulator further includes driving mechanism, and the driving mechanism is connected with the movable disk, described in driving
Rotation of the movable disk relative to the fixed disk.
Preferably, the driving mechanism includes driving cylinder, and one end of the driving cylinder and the fixed disk are hinged, institute
The other end and the movable disk for stating driving cylinder are hinged.
Preferably, the clamping jaw includes:
Ontology is connected with the transmission component；
Clamping piece is detachably connected with the ontology, and the clamping piece is provided with supporting for cooperation gripped object outer surface
Face.
Preferably, the clamping piece is elastomer.
Preferably, the manipulator further include:
First connection ring, first connection ring are connected with the fixed disk, and the movable disk is set in described first and connects
Connect the outer peripheral surface of ring；
Fixed ring, the fixed ring cowling is located at the upper end of the movable disk, and is connected with first connection ring.
On the other hand, the utility model also provides a kind of fuel tank punch device, including manipulator, and the manipulator is above-mentioned
The manipulator.
In conclusion the utility model has the following beneficial effects: the manipulator includes clamping jaw, the quantity of the clamping jaw
At least two；Transmission component is connected with the clamping jaw；Fixed disk, is provided with the first guide groove, the transmission component with it is described
First guide groove is flexibly connected；Movable disk is coaxially disposed with the fixed disk, and is provided with the second guide groove, the transmission group
Part is flexibly connected with second guide groove；Angle formed by guiding of the guiding of first guide groove with second guide groove
Spending is α, 0 ° of α >；Rotation by the movable disk relative to the fixed disk drives the transmission component from the first default position
It sets and moves to the second predeterminated position, so that the clamping jaw be driven to be clamped.Therefore, manipulator provided by the utility model has
It is simple and compact for structure, multiple clamping jaws can be assembled, and the advantages that the net synchronization capability between clamping jaw is good.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the utility model manipulator.
Fig. 2 is the exploded view of the preferred embodiment for the manipulator that the utility model is mounted with rotary cutter.
Fig. 3 is the structural schematic diagram of the preferred embodiment for the manipulator that the utility model is mounted with rotary cutter.
Fig. 4 is the structural schematic diagram at another visual angle for the manipulator that the utility model is mounted with rotary cutter.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.It should be noted that if do not conflicted,
Each feature in the utility model embodiment and embodiment can be combined with each other, the protection scope of the utility model it
It is interior.
The utility model provides a kind of manipulator referring to FIG. 1 to FIG. 4, comprising:
Clamping jaw 10, the quantity at least two of the clamping jaw 10 are spaced setting between the clamping jaw 10 of adjacent two；Phase
Spacing between two adjacent clamping jaws 10 is identical.
Transmission component 20 is connected with the clamping jaw 10；The transmission component 20 and the mating setting of the clamping jaw 10, quantity
It is identical.
Fixed disk 30 is provided with first guide groove 31 matched with the transmission component 20, first guide groove 31
Quantity is identical as the quantity of the transmission component 20, and the transmission component 20 is flexibly connected with first guide groove 31；
First guide groove 31 is provided with the first predeterminated position and the second predeterminated position, first predeterminated position and institute
The distance for stating 30 axle center of fixed disk is greater than second predeterminated position at a distance from 30 axle center of fixed disk.
Movable disk 40 is coaxially disposed with the fixed disk 30, and is provided with matched with the transmission component 20 second and leads
To slot 41, the quantity of second guide groove 41 is identical as the quantity of the transmission component 20, the transmission component 20 with it is described
Second guide groove 41 is flexibly connected；
Second guide groove 41 is provided with third predeterminated position and the 4th predeterminated position, the third predeterminated position and institute
The distance for stating 30 axle center of fixed disk is greater than the 4th predeterminated position at a distance from 30 axle center of fixed disk.
The guiding of first guide groove 31 and the guiding angulation of second guide groove 41 are α, 0 ° of α >；It is excellent
Selection of land, 45 °≤α≤80 °；Therefore, projection and second guide groove 41 of first guide groove 31 in the fixed disk 30
Intersect in the projection of the fixed disk 30, intersection overlapping is 20 present position of transmission component.
Rotation by the movable disk 40 relative to the fixed disk 30 drives the transmission component 20 default from first
Position moves to the second predeterminated position, so that the clamping jaw 10 be driven to carry out clamping gripped object.Therefore, the manipulator has
It is simple and compact for structure, multiple clamping jaws 10 can be assembled；And all clamping jaws are driven by the rotation of the movable disk 40
Its movement is moved, therefore, the advantages that net synchronization capability between clamping jaw 10 is good.
In the present embodiment, first guide groove 31 radially extends setting along the fixed disk 30.In other implementations
In example, what first guide groove 31 can also be staggered the fixed disk 30 radially extends setting, is not specifically limited herein.
In the present embodiment, the transmission component 20 includes:
Sliding block 32 is equipped with first guide groove 31, and is connected with the clamping jaw 10；To limit the clamping jaw 10
Along the guiding movement of first guide groove 31.
Cam Follower 42 is equipped with second guide groove 41, and is connected with the sliding block 32.Described in reducing
The friction of transmission component 20 and second guide groove 41, in order to which second guide groove 41 as cam drives the biography
Dynamic component 20 moves.
In other embodiments, the transmission component 20 is also possible to lead through first guide groove 31 and described second
To the optical axis of slot 41；Also it may include the Cam Follower 42 being equipped with first guide groove 31 and led with described second
The sliding block 32 being equipped with to slot 41.It is not specifically limited herein.
Preferably, the manipulator further includes guiding tank cover plate 50, and the lid of guiding tank cover plate 50 is located at described second and leads
The sliding block 32 is avoided to be detached from second guide groove 41 to limit the scope of activities of the sliding block 32 to the notch of slot 41.Cause
This, the manipulator has the advantages of stabilized structure, long service life.
Preferably, the manipulator further includes driving mechanism 60, and the driving mechanism 60 is connected with the movable disk 40, is driven
Move rotation of the movable disk 40 relative to the fixed disk 30.
Preferably, the outer peripheral surface of the fixed disk 30, which is extended, the first connector 33, the periphery of the movable disk 40
Face, which is extended, the second connector 43；The driving mechanism 60 include driving cylinder 61, it is described driving cylinder 61 cylinder body with
First connector 33 of the fixed disk 30 is hinged, the end of the piston rod of the driving cylinder 61 and the movable disk 40
Second connector 43 it is hinged.Piston rod by the driving cylinder 61 is flexible, drive the movable disk 40 relative to
The fixed disk 30 rotates.Therefore, there is simple and compact for structure, the fast advantage of holding action.In the present embodiment, driving mechanism
60 be driving cylinder 61, and in other embodiments, the driving mechanism 60 is also possible to and the movable disk 40 transmission connection
Motor.It is not specifically limited herein.
In the present embodiment, the manipulator includes:
First state, the sliding block 32 are located at second predeterminated position of first guide groove 31, the cam with
Dynamic device 42 is located at the 4th predeterminated position of second guide groove 41, at this point, the 4th predeterminated position is positioned at described the
The surface of two predeterminated positions, the clamping jaw 10 are in clamp position；
Second state, the sliding block 32 are located at first predeterminated position of first guide groove 31, the cam with
Dynamic device 42 is located at the third predeterminated position of second guide groove 41, at this point, the third predeterminated position is positioned at described the
The surface of one predeterminated position, the clamping jaw 10 are in releasing orientation.
In the present embodiment, the working principle of first state is switched to from second state are as follows: the driving cylinder 61
Piston rod elongation, drive the movable disk 40 to rotate clockwise relative to the fixed disk 30,41 band of the second guide groove
It moves the Cam Follower 42 and moves to the 4th movement position from the third predeterminated position, while driving the sliding block 32
Second predeterminated position is moved to from first predeterminated position, and then the clamping jaw 10 is driven to clamp the gripped object.
The working principle of the second state is switched to from the first state are as follows: the piston rod of the driving cylinder 61 is shunk,
The movable disk 40 is driven to rotate counterclockwise relative to the fixed disk 30, second guide groove 41 drives the cam following
Device 42 moves to the third movement position from the 4th predeterminated position, while driving the sliding block 32 default from described second
Position moves to first predeterminated position, and then the clamping jaw 10 is driven to unclamp the gripped object.
Preferably, the clamping jaw 10 includes:
Ontology 11 is connected with the transmission component 20；
Clamping piece 12 is detachably connected with the ontology 11, and the clamping piece 12 is provided with cooperation gripped object outer surface
Supporting surface 13.Convenient for being directed to the gripped object of different shapes, the clamping piece 12 with corresponding supporting surface 13 is matched；To protect
The contact area for demonstrate,proving the clamping piece 12 and the gripped object is sufficiently large, the clamping jaw 10 steadily is clamped described
Gripped object.Therefore, the manipulator has compatibility strong, clamps firm advantage.
Preferably, the clamping piece 12 is elastomer.In the present embodiment, the clamping piece 12 is polyurethane clamping piece
12；In other embodiments, the clamping piece 12 is also possible to the bullets such as rubber clamping piece 12, foam clamping piece 12 and silica gel clamping
Property body, is not specifically limited herein.
Preferably, the manipulator further include:
First connection ring 34, first connection ring 34 are connected with the fixed disk 30, and the movable disk 40 is set in institute
State the outer peripheral surface of the first connection ring 34；In order to the coaxial arrangement of the movable disk 40 and the fixed disk 30.Therefore, the machine
Tool hand has the advantages that easy to assembly.In the present embodiment, first connection ring 34 is to be integrally formed with the fixed disk 30
Structure, to reduce difficulty of processing and the matching requirements of part, in other embodiments, first connection ring 34 and the fixation
Disk 30 may be a detachable connection, and be not specifically limited herein.
Fixed ring 35, the fixed ring 35 cover the upper end for being located at the movable disk 40, and with 34 phase of the first connection ring
Even.To avoid because the external contaminants such as dust pollute first guide groove 31, the second guide groove 41, Cam Follower 42 and slide
Block 32 causes the stationarity of the manipulator to decline and the problem of reduced service life.The fixed disk 30 and the fixed ring
35 are located at the both ends of the movable disk 40, and are coaxially disposed.The fixed ring 35 is also used to connect with external agency, with
Expand the working range of the manipulator.
Preferably, the manipulator further include:
The upper surface of second connection ring 36, the lower end surface of second connection ring 36 and first connection ring 34 passes through edge
The bolt of the fixed ring 35 being axially arranged is connected, and the fixed ring 35 is set in the outer peripheral surface of second connection ring 36
On；
The outer peripheral surface of the fixed ring 35 is provided with fixation hole 37, and the fixation hole 37 prolongs along the radial direction of the fixed ring 35
Setting is stretched, the connecting column 38 being connected with second connection ring 36 is inserted in the fixation hole 37.
By the connection of second connection ring 36, the fixed ring 35 is avoided directly by the connecting column 38 and institute
The connection of the first connection ring 34 is stated, so that 34 radial deformation of the first connection ring, influence is set in outside first connection ring 34
The problem of rotation of the movable disk 40 of circumferential surface.Therefore, the manipulator has the advantages that run smoothly.
Preferably, the connecting column 38 is interior hexagonal jackscrew, and the fixation hole 37 is threaded hole；Second connection ring 36
It is provided with the groove 39 for shortening the interior hexagonal jackscrew locking stroke.Therefore, the manipulator has easy to assembly excellent
Point.
In the present embodiment, the middle part of the fixed disk 30 and the movable disk 40 is provided with for accommodating rotary cutter
70 receiving opening 71；The rotary cutter 70 is coaxially disposed with the fixed disk 30, and is connected with the fixed ring 35.With
Convenient for positioning the axle center of the gripped object by the manipulator clamping, allow the rotary cutter 70 along the quilt
Clamp the axle center cutting of object.
The utility model also provides a kind of fuel tank punch device, including manipulator, and the manipulator is machine described above
Tool hand.The manipulator is used to grip the pipe joint of fuel tank, and the punching of the fuel tank is positioned by the manipulator
Position.Since the net synchronization capability between several clamping jaws 10 of the manipulator is good, and the circumgyration incision for punching
Knife 70 and the fixed disk 30 are coaxially disposed；Therefore the fuel tank punch device has the advantages that punch accurate positioning.
In other embodiments, the manipulator can be used for other and need in clamping workpiece or the equipment of material,
This is not especially limited.
In conclusion the utility model has the following beneficial effects: the manipulator includes clamping jaw 10, the clamping jaw 10
Quantity at least two；Transmission component 20 is connected with the clamping jaw 10；Fixed disk 30 is provided with the first guide groove 31, the biography
Dynamic component 20 is flexibly connected with first guide groove 31；Movable disk 40 is coaxially disposed with the fixed disk 30, and is provided with the
Two guide grooves 41, the transmission component 20 are flexibly connected with second guide groove 41；The guiding of first guide groove 31 with
The guiding angulation of second guide groove 41 be α, 0 ° of α >；By the movable disk 40 relative to the fixed disk 30
Rotation, drive the transmission component 20 to move to the second predeterminated position from the first predeterminated position, to drive the clamping jaw 10
It is clamped.Therefore, manipulator provided by the utility model has simple and compact for structure, can assemble multiple clamping jaws 10, and clamping jaw
The advantages that net synchronization capability between 10 is good.
The fuel tank punch device to manipulator provided by the utility model and with the manipulator has carried out in detail above
It introduces, specific case used herein is expounded the principles of the present invention and embodiment, above embodiments
Illustrate the method and its core concept for being merely used to help understand the utility model；Meanwhile for the general technology people of this field
Member, based on the idea of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this
Description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all utilizations
Equivalent structure or equivalent flow shift made by the utility model specification and accompanying drawing content, is applied directly or indirectly in other
Relevant technical field, is also included in the patent protection scope of the utility model.It should not be construed as to the utility model
Limitation.
Claims (10)
1. a kind of manipulator characterized by comprising
Clamping jaw, the quantity at least two of the clamping jaw are spaced setting between two adjacent clamping jaws；
Transmission component is connected with the clamping jaw；
Fixed disk, is provided with the first guide groove, and the transmission component is flexibly connected with first guide groove；
Movable disk is coaxially disposed with the fixed disk, and is provided with the second guide groove, the transmission component and second guiding
Slot is flexibly connected；
The guiding of first guide groove and the guiding angulation of second guide groove are α, 0 ° of α >；
Rotation by the movable disk relative to the fixed disk drives the transmission component to move to from the first predeterminated position
Second predeterminated position, so that the clamping jaw be driven to be clamped.
2. manipulator according to claim 1, it is characterised in that: first guide groove prolongs along the radial direction of the fixed disk
Stretch setting.
3. manipulator according to claim 2, which is characterized in that the transmission component includes:
Sliding block is equipped with first guide groove, and is connected with the clamping jaw；
Cam Follower is equipped with second guide groove, and is connected with the sliding block.
4. manipulator according to claim 3, it is characterised in that: the manipulator further includes guiding tank cover plate, described to lead
It is located at the notch of second guide groove, to tank cover plate lid to limit the scope of activities of the sliding block.
5. manipulator according to claim 1, it is characterised in that: the manipulator further includes driving mechanism, the driving
Mechanism is connected with the movable disk, drives the movable disk relative to the rotation of the fixed disk.
6. manipulator according to claim 5, it is characterised in that: the driving mechanism includes driving cylinder, the driving
One end of cylinder and the fixed disk are hinged, and the other end of the driving cylinder and the movable disk are hinged.
7. manipulator according to claim 1, which is characterized in that the clamping jaw includes:
Ontology is connected with the transmission component；
Clamping piece is detachably connected with the ontology, and the clamping piece is provided with the supporting surface of cooperation gripped object outer surface.
8. manipulator according to claim 7, it is characterised in that: the clamping piece is elastomer.
9. manipulator according to claim 1, which is characterized in that the manipulator further include:
First connection ring, first connection ring are connected with the fixed disk, and the movable disk is set in first connection ring
Outer peripheral surface；
Fixed ring, the fixed ring cowling is located at the upper end of the movable disk, and is connected with first connection ring.
10. a kind of fuel tank punch device, including manipulator, it is characterised in that: the manipulator is any one of claim 1 to 9
The manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821799996.7U CN209157826U (en) | 2018-11-02 | 2018-11-02 | Manipulator and fuel tank punch device with the manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821799996.7U CN209157826U (en) | 2018-11-02 | 2018-11-02 | Manipulator and fuel tank punch device with the manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209157826U true CN209157826U (en) | 2019-07-26 |
Family
ID=67336538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821799996.7U Active CN209157826U (en) | 2018-11-02 | 2018-11-02 | Manipulator and fuel tank punch device with the manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209157826U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023087193A1 (en) * | 2021-11-18 | 2023-05-25 | 杭州电子科技大学技术转移有限公司 | Conveying robotic arm for production of paper cups and bowls |
-
2018
- 2018-11-02 CN CN201821799996.7U patent/CN209157826U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023087193A1 (en) * | 2021-11-18 | 2023-05-25 | 杭州电子科技大学技术转移有限公司 | Conveying robotic arm for production of paper cups and bowls |
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