CN209256978U - The four of position adjustable refer to manipulator - Google Patents
The four of position adjustable refer to manipulator Download PDFInfo
- Publication number
- CN209256978U CN209256978U CN201821611028.9U CN201821611028U CN209256978U CN 209256978 U CN209256978 U CN 209256978U CN 201821611028 U CN201821611028 U CN 201821611028U CN 209256978 U CN209256978 U CN 209256978U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- refer
- transmission device
- drive transmission
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 60
- 230000009471 action Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 54
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 230000008450 motivation Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to manipulator field, refer to manipulator more particularly to the four of a kind of position adjustable, including support frame and two brackets being set on support frame, finger there are two being set side by side on each bracket, four refer to that manipulator further includes the first drive transmission device and the second drive transmission device, between two brackets relative movement can be generated along first direction under the action of the first drive transmission device, it can be under the action of the second drive transmission device along the second direction generation relative displacement with first direction with angle between two fingers on each bracket, the sandwiched space for clamping object to be held is collectively formed in four fingers on two brackets.Setting in this way, finger can move and change the size and shape in sandwiched space along first direction and second direction, realize the part of crawl different shape and size, make it have versatility, the manipulator for solving existing machinery arm end can only grab the part of specific shape and size, not have the problem of versatility.
Description
Technical field
The utility model belongs to manipulator field, and in particular to a kind of four finger manipulators of position adjustable.
Background technique
On traditional production line, need manually carry out part put and moving operation.Manual mode of operation's labour is strong
Degree is big, and production efficiency is low.With the rapid development of robot technology, universal mechanical arm technology is widely used in industrial production,
Gradually instead of manual operation, labor intensity is reduced, improves production efficiency.
But, it is applied to industrial mechanical arm, end clamping apparatus is usually to set according to specifically object to be grabbed
The special manipulator of meter can only be used to grab the part to be grabbed of specific shape and size, for other shapes or size
Part to be grabbed cannot achieve grasping manipulation, not have versatility.
Correspondingly, this field needs a kind of new technical solution to solve the above problems.
Utility model content
In order to solve the above problem in the prior art, can only be grabbed in order to solve the manipulator of existing machinery arm end
The part of specific shape and size, does not have the problem of versatility, and four fingers that the utility model provides a kind of position adjustable are mechanical
Hand, the four fingers manipulator includes support frame and two brackets being set on support frame as described above, on each bracket simultaneously
Column setting is there are two finger, wherein and the four fingers manipulator further includes the first drive transmission device and the second drive transmission device,
Relative displacement can be generated along first direction under the action of first drive transmission device between two brackets, each
Can have under the action of second drive transmission device along with the first direction between two fingers on bracket
There is the second direction of angle to generate relative displacement, the folder for clamping object to be held is collectively formed in four fingers on two brackets
Between emptying.
In the optimal technical scheme that above-mentioned four refer to manipulator, two brackets can be in the first driving driver
Along first direction to move to generate relative displacement relative to/opposite mode under the action of structure.
In the optimal technical scheme that above-mentioned four refer to manipulator, first drive transmission device includes the first driving motor
With the first transmission mechanism, first transmission mechanism include lead screw and can it is opposite along the lead screw/be moved away from two
The output shaft of nut, first driving motor is connected with the lead screw, two brackets respectively with two nuts
It is fixedly connected.
In the optimal technical scheme that above-mentioned four refer to manipulator, the first direction is provided with first on support frame as described above
Guide rail, there are two the first slide block assemblies for setting on first guide rail, and first slide block assembly includes first to be connected to each other
Connection frame and the first sliding block, first sliding block are slidably connected with first guide rail, first connection frame and corresponding institute
Bracket is stated to be fixedly connected.
In the optimal technical scheme that above-mentioned four refer to manipulator, two fingers on each bracket can be in institute
It states under the action of the second drive transmission device along the second direction to move to generate opposite position relative to/opposite mode
It moves.
In the optimal technical scheme that above-mentioned four refer to manipulator, second drive transmission device includes the second driving motor
With the second transmission mechanism, second transmission mechanism is slider-crank mechanism, and the slider-crank mechanism includes one shared
Crank, be pivotally connected to respectively the crank both ends two connecting rods and be pivotally connected to the two of two connecting rods respectively
A second slide block assembly, two second slide block assemblies are fixedly connected with two fingers respectively, wherein on the bracket
The second direction is provided with the second guide rail, two fingers pass through two second slide block assemblies relatively described second
Guide rail sliding and along the second direction to be moved relative to/opposite mode.
In the optimal technical scheme that above-mentioned four refer to manipulator, the bracket is including the first connecting plate and described first
Vertically extending second connecting plate in the side of connecting plate, wherein first connecting plate is fixedly connected and described with the nut
Perpendicular to the axis of the lead screw, second guide rail is fixedly connected and described second first connecting plate with second connecting plate
Axis of the guide rail perpendicular to the lead screw.
In the optimal technical scheme that above-mentioned four refer to manipulator, second slide block assembly includes that second to be connected to each other connects
Frame and the second sliding block are connect, second sliding block is slidably connected with second guide rail, and second connection frame and the connecting rod connect
It connects, second connection frame or second sliding block are fixedly connected with the corresponding finger.
In the optimal technical scheme that above-mentioned four refer to manipulator, the finger includes the installation end being connected to each other and operation
End, the operating side are used to form the sandwiched space, and the installation end is fixedly connected with second slide block assembly.
In the optimal technical scheme that above-mentioned four refer to manipulator, described four refer to that manipulator is configured with controller, the control
Device is used to control starting/stopping of first driving motor and/or second driving motor.
It will be appreciated to those of skill in the art that four refer to that manipulator includes branch in the technical solution of the utility model
Support and two brackets being set on support frame are set side by side on each bracket there are two finger, and four finger manipulators also wrap
The first drive transmission device and the second drive transmission device are included, it can be in the effect of the first drive transmission device between two brackets
It is lower to generate relative displacement along first direction, it can be in the effect of the second drive transmission device between two fingers on each bracket
There is the second direction of angle to generate relative displacement for lower edge and first direction, and clamping is collectively formed in four fingers on two brackets
The sandwiched space of object to be held.Setting in this way, in the effect of the first drive transmission device and the second drive transmission device
Under, four fingers of four finger manipulators can move the opposite position changed between four fingers along first direction and second direction
It sets, changes the size and shape in the sandwiched space of four fingers formation, thus the part of crawl and release different shape and size,
The application range for expanding four finger manipulators, makes it have versatility, and the manipulator for solving existing machinery arm end can only grab
The part for taking specific shape and size, does not have the problem of versatility.Meanwhile when avoiding the part for grabbing different shape and size
The case where needing to design multiple special manipulators and replacement special manipulator appearance, reduces costs, improves production efficiency.
In the optimal technical scheme of the utility model, the first drive transmission device includes that the first driving motor and first pass
Motivation structure, the first transmission mechanism include lead screw and can/two nuts being moved away from opposite along lead screw, the first driving motor
Output shaft be connected with lead screw, two brackets are fixedly connected with two nuts respectively.First driving motor drives lead screw positive
Perhaps two on lead screw nuts are rotated backward can be opposite along lead screw or to be moved away from.Setting in this way, only passes through
One driving mechanism just realize two brackets it is opposite/be moved away from, reduce the quantity of driving mechanism, further reduced
Cost, while the total quality and the space occupied of four finger manipulators are reduced, improve the flexibility of operation.
Detailed description of the invention
Refer to manipulator with reference to the accompanying drawings to describe the four of the utility model.In attached drawing:
Fig. 1 is a kind of structural schematic diagram of four finger manipulators of embodiment of the utility model；
Fig. 2 is the explosive view of first direction movable part in a kind of four finger manipulators of embodiment of the utility model；
Fig. 3 is the structural schematic diagram of second direction movable part in a kind of four finger manipulators of embodiment of the utility model；
Fig. 4 is the explosive view of finger in a kind of four finger manipulators of embodiment of the utility model.
Reference signs list:
11, ring flange；12, connecting plate；131, bearing block；132, motor bearing seat；133, bearing；134, shaft joint；21,
First stepper motor；22, screw nut driven mechanism；221, double rotational directions lead screw；222, nut；31, the first guide rail；321, first
Sliding block；322, the first connection frame；41, second stepper motor；411, motor flange connector；42, slider-crank mechanism；421, bent
Handle；422, connecting rod；4231, the second connection frame；4232, the second sliding block；5, bracket；51, the first connecting plate；52, the second connecting plate；
53, the second guide rail；6, finger；61, installation end；62, operating side；7, sandwiched space.
Specific embodiment
It will be apparent to a skilled person that these embodiments are used only for explaining that the technology of the utility model is former
Reason, it is not intended that the limitation protection scope of the utility model.For example, although the finger of the utility model manipulator is straight line column
Structure, but the shape of manipulator is not limited to this, those skilled in the art, which can according to need, makes adjustment to it, to fit
Specific application is answered, technical solution adjusted will fall into the protection scope of the utility model, such as the utility model machine
The finger of tool hand is also possible to straight line strip structure, arc club shaped structure, arc strip structure etc..
It should be noted that term "front", "rear", "left", "right", "upper", "lower" etc. in the description of the present invention,
The term for indicating direction or positional relationship is direction based on the figure or positional relationship, this is intended merely to facilitate description,
Rather than indication or suggestion described device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It should not be understood as limiting the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and cannot manage
Solution is indication or suggestion relative importance.
In addition it is also necessary to explanation, in the description of the present invention, unless otherwise clearly defined and limited, art
Language " fixation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also indirectly connected through an intermediary, also
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the utility model.
Referring to Fig.1, Fig. 1 is a kind of structural schematic diagram of four finger manipulators of embodiment of the utility model.
In an embodiment of the present invention, four finger manipulators include support frame, and there are two branch for setting on support frame
Frame 5 is set side by side on each bracket 5 along the longitudinal direction there are two finger 6, and folder is collectively formed in four fingers 6 on two brackets
The sandwiched space 7 of object to be held is held, four finger manipulators further include that the first drive transmission device and the second drive transmission device is arranged,
Two brackets 5 can generate relative displacement along first direction under the action of the first drive transmission device, in the second driving transmission
Under the action of mechanism, two fingers 6 on each bracket 5 can generate opposite along the second direction with first direction with angle
Displacement.
Four fingers 6 of setting in this way, four finger manipulators can be moved along first direction and/or second direction,
To change the size and shape in sandwiched space 7, to realize to object the to be grabbed such as machine components of different sizes and shapes
Crawl.
It is first in a kind of four finger manipulators of embodiment of the utility model referring to Fig. 2 and Fig. 3 and with continued reference to Fig. 1, Fig. 2
The explosive view of direction movable part, Fig. 3 are second direction movable parts in a kind of four finger manipulators of embodiment of the utility model
Structural schematic diagram.
As depicted in figs. 1 and 2, support frame includes connecting plate 12, is bolted on the middle part upper surface of connecting plate 12
Have for referring to the ring flange 11 of manipulator connection on the robotic arm for four.Lead to respectively on the lower surface of 12 left and right ends of connecting plate
It crosses bolt and is fixed with bearing block 131 and motor bearing seat 132.First drive transmission device includes that the first driving motor and first pass
Motivation structure, the first driving motor are the first stepper motor 21, and the first transmission mechanism is screw nut driven mechanism 22, are specifically included
The double rotational directions lead screw 221 of setting in left-right direction and two nuts 222 to match with double rotational directions lead screw 221.Double rotational directions
The left end of lead screw 221 is connect by bearing 133 with bearing block 131, and double rotational directions lead screw 221 passes through bearing close to the position of right end
133 connect with motor bearing seat 132, and the right end of double rotational directions lead screw 221 passes through the output shaft of shaft coupling and the first stepper motor 21
It is fixedly connected.
Preferably, it is provided with the first guide rail 31 in left-right direction in the lower surface of connecting plate 12, is arranged on the first guide rail 31
There are two the first slide block assembly, the first slide block assembly includes the first sliding block 321 and the second connection frame 322 being connected to each other, and first
Sliding block 321 is slidably connected with the first guide rail 31, and the second connection frame 322 is fixedly connected with the first connecting plate 51 of corresponding bracket 5.
Setting in this way can reduce the radial power between nut 222 and double rotational directions lead screw 221 along double rotational directions lead screw 211, from
And reduce the bending deformation of double rotational directions lead screw 211, reduce the resistance of relative motion between the two, facilitates opposite shifting between the two
It is dynamic.
As shown in figures 1 and 3, bracket 5 vertically prolongs including the lower section side of the first connecting plate 51 and the first connecting plate 51
The second connecting plate 52 stretched out, the first connecting plate 51 are fixedly connected with nut 222, and the first connecting plate 51 and double rotational directions lead screw
221 axis is vertical, to keep second direction vertical with first direction.It is understood that first direction and second direction
The angle with other sizes can be set into.Second drive transmission device includes the second driving motor and the second transmission mechanism,
Second driving motor is second stepper motor 41, and the second transmission mechanism is slider-crank mechanism 42.Specifically, slider-crank mechanism
42 include a shared crank 421, be pivotally connected to respectively crank 421 both ends two connecting rods 422 and pivot respectively
It is connected to two the second slide block assemblies of two connecting rods 422.It is fixed with the second guide rail 53 in the lower surface of the second connecting plate 52, the
Two slide block assemblies include the second connection frame 4231 and the second sliding block 4232 being fixedly secured to one another.The middle part of crank 421 passes through electricity
The output axis connection of machine flange connector 411 and second stepper motor 41, the both ends of crank 421 respectively with two connecting rods 422
One end is pivotally connected, and the other end of each connecting rod 422 is pivotally connected with the second connection frame 4231, the second connection frame 4231 and second
Sliding block 4232 is bolted to connection, and the second sliding block 4232 is slidably connected with the second guide rail 53, each finger 6 and corresponding
Two connection frames 4231 are fixedly connected.It will be appreciated by persons skilled in the art that finger 6 can also be fixed with the second sliding block 4232
Connection.
First stepper motor 21 drives double rotational directions lead screw 221 to rotate forward or invert, and correspondingly matches with double rotational directions lead screw 221
Two nuts 222 closed are opposite in left-right direction or are moved away from, so that two brackets 5 are respectively with two fingers 6 along a left side
Right direction is opposite or is moved away from.Second stepper motor 41 drives crank 421 to rotate forward or invert, correspondingly the second sliding block group
Part is opposite along the longitudinal direction along the second guide rail or is moved away from.First stepper motor 21 and second stepper motor 22 cooperate with work
Make, two fingers on each bracket 5 can be made close or separate along the longitudinal direction, make two brackets 5 with hand thereon
Refer to that 6 is close or separate in left-right direction, to change the size and shape in sandwiched space, four finger manipulators is enable to grab not
With the part of size and shape.
By above-mentioned the first transmission mechanism and the second transmission mechanism, a stepper motor just realizes two brackets 5
It moving left and right, a motor realizes the back-and-forth motion of two fingers 6 on each bracket 5, reduce the quantity of driving mechanism, into
One step reduces costs, while reducing the total quality and the space occupied of four finger manipulators, improves the flexibility of operation.And
It, can be in the case where 6 Clamp blocks of finger stall the first driving motor and using leadscrew-nut mechanism as transmission mechanism
Keep the chucking power of manipulator in left and right directions.By the way that the first driving mechanism and the second driving mechanism are arranged to stepper motor,
Output torque is kept after can be realized stalling, four finger manipulators is can be achieved at the same time and clamps in left and right directions and in the front-back direction
Power.Second transmission mechanism is arranged to slider-crank mechanism, simplifies structure, reduces four finger manipulator front-rear directions occupancy
Space.In addition, four refer to the second moving direction partial symmetry setting in manipulator, reduce the type of part in four finger manipulators,
Manufacture and assembly difficulty are reduced, assembly efficiency is improved.
It will be appreciated by persons skilled in the art that it is only that one kind is shown that the first transmission mechanism, which is screw nut driven mechanism,
The description of example property, those skilled in the art, which can according to need, makes adjustment to it, to adapt to specific application, adjustment
Technical solution afterwards will fall into the protection scope of the utility model, and such as the first transmission mechanism also can be set into above-mentioned second and pass
Slider-crank mechanism in motivation structure is arranged to gear and rack teeth mechanism or is arranged to other suitable transmission mechanisms, such as gear
The structure of rackwork is specially that a gear is connect with driving motor, and a tooth is respectively arranged in two lateral edge first directions of the gear
Item, each rack gear are fixedly connected with each bracket 5, drive gear positive and negative rotation to make two rack gears along first by driving motor
Direction is opposite or is moved away from.Certainly, the feed screw nut machine in the first transmission mechanism also can be set into the second transmission mechanism
Structure or gear and rack teeth mechanism etc..Also, the first driving mechanism and the second driving mechanism are also possible to its with locking mechanism
The motor of his type.In addition, sliding slot also can be set in the lower surface of the second connecting plate 52, the second sliding block 4232 and sliding slot are sliding
Dynamic connection.In addition, bolted position can also be connected by modes such as pin joint, riveting or welding.
It is the explosive view of finger in a kind of four finger manipulators of embodiment of the utility model referring to Fig. 4, Fig. 4.Preferably, hand
Refer to that 6 include installation end 61 and operating side 62, installation end 61 is L shape connecting flange, and operating side 62 is straight line club shaped structure, installation end
61 are plugged in together with operating side 62 and are bolted, and installation end 61 is bolted to connection with the second connection frame 4231.
Setting in this way can facilitate the manufacture of finger 6, and facilitate operation after operating side 62 is used for a long time and is damaged
The replacement at end 62.
Although it is not shown in the diagrams, preferably, finger 6 is additionally provided with anti-skid structure, such as shape in the part towards sandwiched space 7
At thering is multiple block-shaped protrusions, striped perhaps groove or to be bonded with rubber pad etc..Setting in this way can increase finger 6
Frictional force between the part of clamping, avoids part from sliding in clamping process, and the clamping for improving four finger manipulators is reliable
Property.
Preferably, four refer to that manipulator is configured with controller, and controller is for controlling the first driving motor and/or the second driving
Starting/stopping of motor.Preferably, the first driving motor and the second driving motor are each equipped with torque sensor.It is driven first
In dynamic motor and the second driving motor course of work, the first driving motor of torque sensor real-time detection and the second driving motor
The output torque and output torque numerical value that will test drives to controller, when the output torque detected reaches setting value,
Controller controls the first driving motor and the stalling of the second driving motor.
Setting in this way, can be avoided the first driving motor and the second driving motor continues to rotate makes output torque mistake
Big and injuring part burns out motor.Furthermore, it is possible to which different setting values is arranged in the part for different weight, in order to difference
The crawl of part.It will be appreciated by persons skilled in the art that four refer to manipulators can not also Configuration Control Unit, pass through four refer to machines
Tool hand application mechanical arm controller and the first driving motor, the second driving motor and torque sensor communication connection so as to
Control the stalling of the first driving motor, the second driving motor.
It can be seen from the above description that four refer to that manipulator includes support frame and two branch being set on support frame
Frame is set side by side on each bracket there are two finger, and four finger manipulators further include that the first drive transmission device and the second driving pass
Motivation structure.First drive transmission device includes the first driving motor and the first transmission mechanism, and the first driving motor is the first stepping
Motor, the first transmission mechanism be screw nut driven mechanism, including double rotational directions lead screw and match with double rotational directions lead screw two
A nut.Second drive transmission device includes the second driving motor and the second transmission mechanism, and the second driving motor is the second stepping
Motor, the second transmission mechanism are slider-crank mechanism, including a shared crank, are pivotally connected to the both ends of crank respectively
Two connecting rods and two the second slide block assemblies for being pivotally connected to two connecting rods respectively, the middle part of crank and second stepper motor
Output axis connection, two the second slide block assemblies fix with two fingers respectively, are provided with second on bracket in a second direction and lead
Rail, finger are slided relative to the second guide rail by the second slide block assembly and are moved in a second direction in opposite/opposite mode.
By the cooperation of the first stepper motor and screw nut driven mechanism, make two brackets with finger thereon along
One direction is opposite or is moved away from, and by the cooperation of second stepper motor and slider-crank mechanism, makes two on each bracket
A finger is opposite in a second direction or is moved away from, and then change the sandwiched space for four fingers formation that four refer to manipulator
Size and shape realizes that four refer to crawl of the manipulator to the part of different shape and size.
So far, it has been combined preferred embodiment shown in the drawings and describes the technical solution of the utility model, still, this
Field technical staff is it is easily understood that the protection scope of the utility model is expressly not limited to these specific embodiments.?
Under the premise of the principles of the present invention, those skilled in the art can make equivalent change to the relevant technologies feature
Or replacement, the technical solution after these changes or replacement are fallen within the protection scope of the utility model.
Claims (10)
1. the four of a kind of position adjustable refer to manipulator, which is characterized in that the four fingers manipulator includes support frame and is set to
Two brackets on support frame as described above are set side by side on each bracket there are two finger,
Wherein, described four refer to that manipulator further includes the first drive transmission device and the second drive transmission device, two brackets
Between can generate relative displacement along first direction under the action of first drive transmission device, along each bracket
There can be angle along with the first direction under the action of second drive transmission device between two fingers
Second direction generates relative displacement,
The sandwiched space for clamping object to be held is collectively formed in four fingers on two brackets.
2. according to claim 1 four refer to manipulator, which is characterized in that two brackets can be in first driving
Along first direction to move to generate relative displacement relative to/opposite mode under the action of transmission mechanism.
3. according to claim 2 four refer to manipulator, which is characterized in that first drive transmission device includes the first drive
Dynamic motor and the first transmission mechanism, first transmission mechanism include lead screw and can it is opposite along the lead screw/be moved away from
Two nuts,
The output shaft of first driving motor is connected with the lead screw,
Two brackets are fixedly connected with two nuts respectively.
4. according to claim 3 four refer to manipulator, which is characterized in that be arranged on support frame as described above along the first direction
There is the first guide rail, there are two the first slide block assembly, first slide block assembly includes being connected to each other for setting on first guide rail
The first sliding block and the first connection frame, first sliding block is slidably connected with first guide rail, first connection frame with it is right
The bracket answered is fixedly connected.
5. according to claim 4 four refer to manipulator, which is characterized in that two finger energy on each bracket
It is enough to be moved in opposite/opposite mode to generate phase under the action of second drive transmission device along the second direction
To displacement.
6. according to claim 5 four refer to manipulator, which is characterized in that second drive transmission device includes the second drive
Dynamic motor and the second transmission mechanism, second transmission mechanism are slider-crank mechanism, and the slider-crank mechanism includes one
Shared crank, be pivotally connected to respectively the crank both ends two connecting rods and be pivotally connected to two companies respectively
Two the second slide block assemblies of bar, two second slide block assemblies are fixedly connected with two fingers respectively,
Wherein, the second direction is provided with the second guide rail on the bracket, two fingers pass through two described second
Slide block assembly slides relative to second guide rail and along the second direction to move relative to/opposite mode.
7. according to claim 6 four refer to manipulator, which is characterized in that the bracket is including the first connecting plate and in institute
Vertically extending second connecting plate in side of the first connecting plate is stated,
Wherein, first connecting plate be fixedly connected with the nut and first connecting plate perpendicular to the lead screw axis
Line, second guide rail be fixedly connected with second connecting plate and second guide rail perpendicular to the lead screw axis.
8. according to claim 7 four refer to manipulator, which is characterized in that second slide block assembly includes being connected to each other
Second connection frame and the second sliding block, second sliding block are slidably connected with second guide rail, second connection frame with it is described
Connecting rod connection, second connection frame or second sliding block are fixedly connected with the corresponding finger.
9. according to claim 8 four refer to manipulator, which is characterized in that the finger include the installation end that is connected to each other and
Operating side, the operating side are used to form the sandwiched space, and the installation end is fixedly connected with second slide block assembly.
10. according to any one of claims 6 to 9 four refer to manipulator, which is characterized in that described four refer to manipulator configuration
There is controller, the controller is used to control starting/stopping of first driving motor and/or second driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821611028.9U CN209256978U (en) | 2018-09-30 | 2018-09-30 | The four of position adjustable refer to manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821611028.9U CN209256978U (en) | 2018-09-30 | 2018-09-30 | The four of position adjustable refer to manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209256978U true CN209256978U (en) | 2019-08-16 |
Family
ID=67553266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821611028.9U Active CN209256978U (en) | 2018-09-30 | 2018-09-30 | The four of position adjustable refer to manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209256978U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434882A (en) * | 2019-09-26 | 2019-11-12 | 滁州职业技术学院 | A kind of apery refers to that inflation soft body three refers to clamper |
| CN113921457A (en) * | 2021-09-30 | 2022-01-11 | 弥费实业(上海)有限公司 | Grabbing device and air transport vehicle |
-
2018
- 2018-09-30 CN CN201821611028.9U patent/CN209256978U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434882A (en) * | 2019-09-26 | 2019-11-12 | 滁州职业技术学院 | A kind of apery refers to that inflation soft body three refers to clamper |
| CN110434882B (en) * | 2019-09-26 | 2024-05-24 | 滁州职业技术学院 | Three finger holders of imitative people finger inflatable software |
| CN113921457A (en) * | 2021-09-30 | 2022-01-11 | 弥费实业(上海)有限公司 | Grabbing device and air transport vehicle |
| WO2023051810A1 (en) * | 2021-09-30 | 2023-04-06 | 弥费科技(上海)股份有限公司 | Grabbing device and overhead conveyance vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209425438U (en) | A kind of material-feeding and fetching manipulator | |
| CN208361348U (en) | A kind of transfer robot | |
| CN209256978U (en) | The four of position adjustable refer to manipulator | |
| CN108247658B (en) | Flat folder coupling adaptive multi-mode grabs robot finger apparatus | |
| CN109605404A (en) | The flat folder adaptive robot finger apparatus of sliding slot parallel connection link linear | |
| CN219213199U (en) | Mechanical arm convenient to adjust for workshop | |
| CN110380306A (en) | A kind of automotive wire bundle joint connection | |
| CN2500410Y (en) | Clamp for pinch apparatus of forging part former | |
| CN108941393A (en) | A kind of Rebar splicing device for reinforced bar skeleton seam welder feeding | |
| CN211440039U (en) | Gripper of truss manipulator for grabbing motor rotor | |
| CN108620883A (en) | A kind of cutting of aluminium alloy type timber-used and deburring all-in-one machine | |
| CN205834535U (en) | Full-automatic welding machinery arm | |
| CN212420537U (en) | Mechanical part clamping manipulator for machining production line | |
| CN209534012U (en) | A kind of injection molding machine waste material picking manipulator | |
| CN218947718U (en) | Top clamping jaw structure of mechanical arm of robot | |
| CN216967782U (en) | Double-head double-manipulator structure | |
| CN206485635U (en) | A kind of single motor driving filming-drawing mechanism | |
| CN219367140U (en) | Pipeline foreign matter grabber | |
| CN220145982U (en) | Manipulator device convenient to adjust | |
| CN117680525B (en) | Automatic bending equipment | |
| CN213165387U (en) | Multi-degree-of-freedom mechanical arm | |
| CN220501982U (en) | Mechanical grabbing mechanism | |
| CN109794953A (en) | The flat folder compound crawl robot finger apparatus of coupling adaptive of gear drive | |
| CN221026284U (en) | Gripping device capable of moving in multiple dimensions | |
| CN219358361U (en) | Welding device for machining precision mechanical parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |