CN209394680U - Manipulator and robot - Google Patents
Manipulator and robot Download PDFInfo
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- CN209394680U CN209394680U CN201822066599.5U CN201822066599U CN209394680U CN 209394680 U CN209394680 U CN 209394680U CN 201822066599 U CN201822066599 U CN 201822066599U CN 209394680 U CN209394680 U CN 209394680U
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- rotation axis
- manipulator
- driving mechanism
- friction pulley
- mechanical
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Abstract
The utility model discloses a kind of manipulator and robot, wherein manipulator is for clamping workpiece, including support, two mechanical joints, the first driving mechanism, at least one first friction pulley and the second driving mechanism.Two mechanical joints are hingedly connected to the two sides of support；First driving mechanism is for driving at least one movement in two mechanical joints, so that two mechanical joints relatively move, with clamping workpiece；First friction pulley is rotationally connected on mechanical joint；Second driving mechanism is for driving the rotation of the first friction pulley, to adjust the position of mechanical joint clamping workpiece.Technical solutions of the utility model ensure that the stability of manipulator clamping workpiece, improve the working efficiency of manipulator.
Description
Technical field
The utility model relates to machinery equipment field, in particular to a kind of manipulator and robot.
Background technique
With the development of market economy, for an enterprise, production efficiency and production cost are enterprise's life power
Symbol in traditional industry, due to the high risk in post specific in production operation or highly difficult, has directly influenced production effect
Rate, while production cost is also increasing.The especially special occasion of working environment, manual work is inconvenient or dangerous, leads to
It is often that operation is carried out by robot, manual work is replaced by robot, mitigates enterprise to the dependence of recruitment, reduction is produced into
This, improves production efficiency, and realize industrial automation well.
Wherein, the manipulator in robot is common device in automated production process, can imitate manpower
With certain holding functions of arm, it can be used to clamp, carry workpiece.Existing robotic device structure is all more complex, expensive,
Be not suitable for generally using.Common manipulator is to lean on the folding of two mechanical joints to realize the clamping to workpiece, and machinery
Joint be to the position of the stress point of the workpiece of clamping every time it is fixed, can not adjust automatically clamping position so that machine
The picked up position in tool joint is not optimal stress point.When encounter picked up workpiece it is heavier when, be easy for causing manipulator
Stress overloading, cause workpiece to fall.It thus needs manipulator to be repeated continuously workpiece to clamp, directly affects work
Make efficiency.
Utility model content
Based on this, it is necessary to which aiming at the problem that traditional manipulator clamping position can not adjust, providing one kind can be automatic
The manipulator and robot of adjustment clamping position.
A kind of manipulator, for clamping workpiece, comprising:
Support；
Two mechanical joints, two mechanical joints are hingedly connected to the two sides of the support；
First driving mechanism, first driving mechanism are moved at least one in two mechanical joints of driving,
So that the two mechanical joint relative movements, to clamp the workpiece；
At least one first friction pulley, first friction pulley are rotationally connected on the mechanical joint；
Second driving mechanism, second driving mechanism is for driving first friction pulley to rotate, to adjust the machine
The position of tool joint clamping workpiece.
The quantity of first friction pulley is two in one of the embodiments, and two first friction pulleys turn respectively
Dynamic to be connected on two mechanical joints, the quantity of second driving mechanism is two, and two second driving mechanisms respectively drive
The two first friction pulley rotations.
Second driving mechanism includes motor and transmission mechanism in one of the embodiments, and the manipulator also wraps
The first rotation axis is included, first rotation axis is set on the mechanical joint, and first friction pulley is rotationally connected with described
In first rotation axis, the motor drives first friction pulley to turn in first rotation axis by the transmission mechanism
It is dynamic.
The transmission mechanism includes transmission component and the first synchronous belt in one of the embodiments, and the manipulator is also
Including the second rotation axis, second rotation axis is set on the support side, and the mechanical joint is rotationally connected with described
In second rotation axis, the motor is sequentially connected by the transmission component and second rotation axis, second rotation axis
It is sequentially connected by first synchronous belt and first rotation axis.
The side of the support towards the mechanical joint is offered for aligning the work in one of the embodiments,
The locating slot of part position.
The transmission component includes driving gear, third rotation axis, the second synchronous belt and the in one of the embodiments,
Three synchronous belts, the third rotation axis is arranged on the support and the neighbouring positioning channel opening is arranged, and the manipulator also wraps
The second friction pulley is included, second friction pulley is rotationally connected in the third rotation axis, the driving gear and the motor
Output end connection and by second synchronous belt and third rotation axis transmission connection, the third rotation axis passes through institute
It states third synchronous belt and second rotation axis is sequentially connected.
Second driving mechanism drives first friction pulley and the second friction pulley simultaneously in one of the embodiments,
Forward or reverse.
The mechanical joint includes clamping part and swing part in one of the embodiments, the clamping part and the pendulum
Dynamic portion has an interconnecting piece in obtuse angle.
First driving mechanism includes oscillating cylinder in one of the embodiments, the cylinder body of the oscillating cylinder
Divide and be rotatably coupled on the support, the free end of the oscillating cylinder is connect with the swing part.
A kind of robot, it is described including such as above-mentioned manipulator and for the control device of robot work as described in controlling
Control device connects first driving mechanism and second driving mechanism.
The technical solution of the utility model, by being provided with the first friction pulley on two mechanical joints of manipulator, and
During one driving mechanism drives mechanical articulated splint to take workpiece, the second driving mechanism drives the first friction wheel from rotation, with adjustment
The position of mechanical joint clamping workpiece, so that the stress point for the position for keeping mechanical joint picked up is automatically adjusted to most preferably,
And then ensure that the stability of manipulator clamping workpiece, improve the working efficiency of manipulator.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings the attached drawing of other embodiments.
Fig. 1 is the structural schematic diagram of one embodiment of the utility model manipulator；
Fig. 2 is the use state diagram of manipulator in Fig. 1；
Fig. 3 is the structural schematic diagram at another visual angle of manipulator in Fig. 1；
Fig. 4 is the structural schematic diagram of the second driving mechanism in Fig. 1；
Fig. 5 is the structural schematic diagram of mechanical joint in Fig. 1.
Drawing reference numeral explanation:
10, manipulator；20, workpiece；30, control device；
100, support；110, upper backup pad；120, lower supporting plate；130, the first fixed link；140, locating slot；
200, mechanical joint；210, upper arm plate；220, lower arm plate；230, the second fixed link；240, clamping part；250, it swings
Portion；260, interconnecting piece；
300, the first driving mechanism；310, oscillating cylinder；
400, the first friction pulley；
500, the second driving mechanism；510, motor；520, transmission mechanism；521, transmission component；522, the first synchronous belt；
5211, gear is driven；5212, third rotation axis；5213, the second synchronous belt；5214, third synchronous belt；
600, the first rotation axis；700, the second rotation axis；800, the second friction pulley.
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 describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that if related in the utility model embodiment directionality instruction (it is all according to upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction is only used for explaining the phase under a certain particular pose (shown in reference to the accompanying drawings) between each component
To positional relationship, motion conditions etc., when being changed according to the fruit particular pose, then directionality instruction also correspondingly changes therewith
Become.
In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the
Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning
The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one
A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not within the protection scope of the requires of the utility model.
Fig. 1 to Fig. 3 is please referred to, the manipulator 10 is for clamping workpiece 20, including support 100, two mechanical joints 200, the
One driving mechanism 300, at least one first friction pulley 400 and the second driving mechanism 500.Two mechanical joints 200 are hingedly connected to prop up
The two sides of seat 100.First driving mechanism 300 is for driving at least one movement in two mechanical joints 200, so that two mechanical joints
200 relative movements, with clamping workpiece 20.First friction pulley 400 is rotationally connected on mechanical joint 200.Second driving mechanism 500
For driving at least one rotation in the first friction pulley 400, to adjust the position of 200 clamping workpiece 20 of mechanical joint.
Support 100 include upper backup pad 110, lower supporting plate 120 with and be fixedly connected with upper backup pad 110 and lower supporting plate
120 more first fixed links 130.Upper backup pad 110 and lower supporting plate 120 are enclosed an accommodating space, in order to machinery
The fixed installation of the components such as joint 200.It, can be in upper backup pad 110 and lower supporting plate 120 in order to mitigate the weight of manipulator 10
The pattern of upper setting hollow out, while also increasing the aesthetics of manipulator 10.In addition, mechanical joint 200 include upper arm plate 210, under
Arm plate 220 and more second fixed links 230 for being fixedly connected with upper arm plate 210 and lower arm plate 220, upper arm plate 210 and lower arm plate
220 are enclosed an accommodating space, in order to the fixed installation of the components such as the first friction pulley 400.In order to further mitigate machine
Stainless steel can be used for 10 weight of tool hand, support 100 and two mechanical joints 200 or the plate of aluminium alloy is made.It can be seen from the above,
Support 100 and two 200 structures of mechanical joint are simple, low manufacture cost.
Under the driving of the first driving mechanism 300, the move mode of two mechanical joints 200 can be one of mechanical pass
Save 200 static, another mechanical joint 200 relative movements；It is also possible to two mechanical joints 200 while relatively moves.As long as energy
It realizes clamping workpiece 20, does not limit specifically herein.In addition, the quantity of the first friction pulley 400 can be one, it can also
Think multiple.And multiple first friction pulleys 400 can be all disposed on same mechanical joint 200, can also be divided equally and be arranged two
On mechanical joint 200；Second driving mechanism 500 drives the rotation of at least one first friction pulley 400, to drive workpiece 20 with respect to machine
Tool joint 200 is mobile, does not also limit specifically herein.
The working principle of manipulator 10 is as follows: when manipulator 10 needs to clamp workpiece 20, the driving of the first driving mechanism 300
The relative movement of two mechanical joints 200, while the second driving mechanism 500 drives the first friction pulley 400 towards 10 interior direction of manipulator
It rotates forward.During two mechanical joints, 200 clamping workpiece 20, the first friction pulley 400 first touches workpiece 20, passes through friction pulley
On frictional force drive workpiece 20 to fast move towards 10 interior direction of manipulator, while adjusting the clamping position of workpiece 20.Work as work
When part 20 is moved to suitable position, two mechanical joint 200 of the first driving mechanism 300 driving further clamps workpiece 20.Work as machine
Tool hand 10 transports workpiece 20 to when the placement of designated position, and the first driving mechanism 300 drives two mechanical joints 200 to open again,
The second driving mechanism 500 drives the first friction pulley 400 to invert towards 10 lateral direction of manipulator again simultaneously, keeps workpiece 20 quickly de-
From.So far, the primary clamping placement process to workpiece 20 of manipulator 10 is completed.
The technical solution of the utility model, by being provided with the first friction pulley on two mechanical joints 200 of manipulator 10
400, and during the first driving mechanism 300 driving mechanical joint 200 clamps workpiece 20, the second driving mechanism 500 driving the
One friction pulley 400 rotation, to adjust the position of 200 clamping workpiece 20 of mechanical joint, thus the position for keeping mechanical joint 200 picked up
The stress point set can be automatically adjusted to most preferably, and then ensure that manipulator 10 clamps the stability of workpiece 20, improve machinery
The working efficiency of hand 10.
Referring to FIG. 2, in one embodiment, the quantity of the first friction pulley 400 is two.Two first friction pulleys 400 difference
It is rotationally connected on two mechanical joints 200.The quantity of second driving mechanism 500 is two.Two second driving mechanisms 500 are driven respectively
Dynamic two first friction pulleys 400 rotation.So set, it is same to respectively drive two first friction pulleys 400 by two second driving mechanisms 500
When work, make two mechanical joints 200 can to workpiece 20 carry out simultaneously adjust, further increase manipulator 10 work imitate
Rate.
Referring to FIG. 1, in one embodiment, the second driving mechanism 500 includes motor 510 and transmission mechanism 520.Manipulator
10 further include the first rotation axis 600.First rotation axis 600 is set on mechanical joint 200.The rotation connection of first friction pulley 400
In in the first rotation axis 600.Motor 510 drives the first friction pulley 400 to turn in the first rotation axis 600 by transmission mechanism 520
It is dynamic.Motor 510 is using servo motor.Servo motor have it is small in size, precision is high, stability is good and convenient for control etc. it is special
Point.Further, motor 510 can have encoder (not shown).Manipulator 10 is equipped with the PLC (figure of control motor 510
In do not show).PLC can carry out signal processing by the pulse signal that the encoder received issues, to issue an instruction to accurate
Ground controls speed and the direction of the rotation of friction pulley, and then guarantees the accuracy of the adjustment clamping of mechanical joint 200 position.
Further, Fig. 1 and Fig. 3 are please referred to, transmission mechanism 520 includes transmission component 521 and the first synchronous belt 522.Machine
Tool hand 10 further includes the second rotation axis 700.Second rotation axis 700 is set on 100 side of support.The rotation of mechanical joint 200 connects
It is connected in the second rotation axis 700.Motor 510 is sequentially connected by transmission component 521 and the second rotation axis 700.Second rotation axis
700 are sequentially connected by the first synchronous belt 522 and the first rotation axis 600.Specifically, for the ease of control, the first synchronous belt 522
200 synchronizing moving of mechanical joint can be followed, the movement of mechanical joint 200 will not only be impacted, it is ensured that first
The stability that friction pulley 400 works.So set, structure design is simple, reasonable.
Referring to FIG. 2, in one embodiment, the side of support 100 towards mechanical joint 200 is offered for aligning workpiece
The locating slot 140 of 20 positions.Specifically, it needs to carry out workpiece 20 in the requirement of some techniques to collect to positive, so as to by workpiece
20 are placed on designated position according to the requirement of regulation.Therefore, by the way that locating slot 140 is arranged on support 100, in the first friction
Under the action of wheel 400, align workpiece 20 with the shape that locating slot 140 is set.Wherein, the shape of locating slot 140 can be with
It is set as rectangle, circle, ellipse etc., does not limit specifically herein.
Further, Fig. 3 and Fig. 4 are please referred to, transmission component 521 includes driving gear 5211, third rotation axis 5212, the
Two synchronous belts 5213 and third synchronous belt 5214.Third rotation axis 5212 is arranged on support 100 and the opening of positioned adjacent slot 140 is set
It sets.Manipulator 10 further includes the second friction pulley 800.Second friction pulley 800 is rotationally connected in third rotation axis 5212.Sliding tooth
Wheel 5211 connect with the output end of motor 510 and is sequentially connected by the second synchronous belt 5213 with third rotation axis 5212.Third
Rotation axis 5212 is sequentially connected by third synchronous belt 5214 and the second rotation axis 700.Specifically, smooth for the ease of workpiece 20
Into in locating slot 140,140 opening of locating slot is provided with the second friction pulley 800, rubs in the first friction pulley 400 and second
Under the collective effect for wiping wheel 800, the quick aligning of 20 position of workpiece is realized, to improve the working efficiency of manipulator 10.
Further, referring to FIG. 4, the second driving mechanism 500 drives the first friction pulley 400 and the second friction pulley 800 same
When forward or reverse.So set, manipulator 10 can be made to realize the folder for not only quickly but also smoothly " just inhaling counter spits " to workpiece 20
It takes and releasing effect, further increases the working efficiency of manipulator 10.
Referring to FIG. 5, in one embodiment, mechanical joint 200 includes clamping part 240 and swing part 250.Clamping part 240
There is an interconnecting piece 260 in obtuse angle with swing part 250, make the better stress of mechanical joint 200, improve mechanical joint
200 clamping force.
Referring to FIG. 5, in one embodiment, the first driving mechanism 300 includes oscillating cylinder 310.The cylinder of oscillating cylinder 310
Body portion is rotatably coupled on support 100.The free end of oscillating cylinder 310 is connect with swing part 250.When work, work as pendulum
The free end of cylinder 310 take offence when the swing part 250 of two mechanical joints 200 being pushed to rotate, to drive two clamping parts 240 are opposite to move
It is dynamic, realize the clamping to workpiece 20；Conversely, when the free end of oscillating cylinder 310 pulls the swing part 250 of two mechanical joints 200
When revolution, to drive two clamping parts 240 to be away from each other, workpiece 20 is discharged.It is understood that can also be set on oscillating cylinder 310
It is equipped with air gauge (not shown).The air pressure of oscillating cylinder 310 can be adjusted at any time by air gauge, to control clamping part
240 clamping force is further ensured that manipulator 10 clamps the stability of workpiece 20.
The utility model also proposes a kind of robot, which includes such as above-mentioned manipulator 10 and for controlling machinery
The control device 30 that hand 10 works, the specific structure of manipulator 10 is referring to above-described embodiment, since robot is using above-mentioned
Whole technical solutions of all embodiments, thus it is at least all beneficial to effect brought by the technical solution with above-described embodiment
Fruit, this is no longer going to repeat them.Control device 30 connects the first driving mechanism 300 and the second driving mechanism 500.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of manipulator, for clamping workpiece characterized by comprising
Support；
Two mechanical joints, two mechanical joints are hingedly connected to the two sides of the support；
First driving mechanism, first driving mechanism are moved at least one in two mechanical joints of driving, so that
The two mechanical joint relative movements, to clamp the workpiece；
At least one first friction pulley, first friction pulley are rotationally connected on the mechanical joint；
Second driving mechanism, second driving mechanism is for driving first friction pulley to rotate, to adjust the mechanical pass
Save the position of clamping workpiece.
2. manipulator according to claim 1, which is characterized in that the quantity of first friction pulley is two, described in two
First friction pulley is rotationally connected with respectively on two mechanical joints, and the quantity of second driving mechanism is two, and two described second
Driving mechanism respectively drives the two first friction pulley rotations.
3. manipulator according to claim 1, which is characterized in that second driving mechanism includes motor and driver
Structure, the manipulator further include the first rotation axis, and first rotation axis is set on the mechanical joint, first friction
Wheel is rotationally connected in first rotation axis, and the motor drives first friction pulley described by the transmission mechanism
It is rotated in first rotation axis.
4. manipulator according to claim 3, which is characterized in that the transmission mechanism includes that transmission component and first are synchronous
Band, the manipulator further include the second rotation axis, and second rotation axis is set on the support side, the mechanical joint
It being rotationally connected in second rotation axis, the motor is sequentially connected by the transmission component and second rotation axis,
Second rotation axis is sequentially connected by first synchronous belt and first rotation axis.
5. manipulator according to claim 4, which is characterized in that the side of the support towards the mechanical joint opens up
There is the locating slot for aligning the location of workpiece.
6. manipulator according to claim 5, which is characterized in that the transmission component includes driving gear, third rotation
Axis, the second synchronous belt and third synchronous belt, the third rotation axis is arranged on the support and the neighbouring positioning channel opening is set
It sets, the manipulator further includes the second friction pulley, and second friction pulley is rotationally connected in the third rotation axis, the drive
Moving gear connect with the output end of the motor and is sequentially connected by second synchronous belt and the third rotation axis, described
Third rotation axis is sequentially connected by the third synchronous belt and second rotation axis.
7. manipulator according to claim 6, which is characterized in that second driving mechanism drives first friction pulley
With the second friction pulley while forward or reverse.
8. manipulator as claimed in any of claims 1 to 7, which is characterized in that the mechanical joint includes clamping
Portion and swing part, the clamping part and the swing part have an interconnecting piece in obtuse angle.
9. manipulator according to claim 8, which is characterized in that first driving mechanism includes oscillating cylinder, described
The cylinder part of oscillating cylinder is rotatably coupled on the support, and the free end of the oscillating cylinder and the swing part connect
It connects.
10. a kind of robot, which is characterized in that including the manipulator as described in claim 1 to 9 and for controlling the machinery
The control device made by hand, the control device connect first driving mechanism and second driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822066599.5U CN209394680U (en) | 2018-12-10 | 2018-12-10 | Manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822066599.5U CN209394680U (en) | 2018-12-10 | 2018-12-10 | Manipulator and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209394680U true CN209394680U (en) | 2019-09-17 |
Family
ID=67894140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822066599.5U Expired - Fee Related CN209394680U (en) | 2018-12-10 | 2018-12-10 | Manipulator and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209394680U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774299A (en) * | 2019-10-15 | 2020-02-11 | 哈尔滨工业大学（深圳） | Fingertip mechanism |
-
2018
- 2018-12-10 CN CN201822066599.5U patent/CN209394680U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774299A (en) * | 2019-10-15 | 2020-02-11 | 哈尔滨工业大学（深圳） | Fingertip mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190917 Termination date: 20211210 |
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| CF01 | Termination of patent right due to non-payment of annual fee |