CN209533427U - A kind of manipulator joint connection structure - Google Patents
A kind of manipulator joint connection structure Download PDFInfo
- Publication number
- CN209533427U CN209533427U CN201920073108.1U CN201920073108U CN209533427U CN 209533427 U CN209533427 U CN 209533427U CN 201920073108 U CN201920073108 U CN 201920073108U CN 209533427 U CN209533427 U CN 209533427U
- Authority
- CN
- China
- Prior art keywords
- gripper
- connection structure
- welded
- joint connection
- slide bar
- 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.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 abstract description 3
- 230000001771 impaired effect Effects 0.000 abstract description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of manipulator joint connection structures, including mechanical arm and gripper, the side of the mechanical arm is by being rotatably connected to turntable, other side bolt is fixed with servo motor, and servo motor is sequentially connected by output shaft and turntable, the side of the mechanical arm is welded with fixed pivoted frame, passes through shaft on the inside of the fixed pivoted frame and is symmetrically rotatably connected to drive rod, and drive rod is sequentially connected by connecting rod and turntable, is welded with limited block at the side center of the fixed pivoted frame.In the utility model, this connection structure, it is internally provided with anti-offset mechanism, this structure can effectively reduce gripper shaking when grabbing TV backlight, to improve the stability of manipulator crawl, deuterzooid connection structure, it is internally provided with crawl protection mechanism, this structure can reduce the impact force of manipulator crawl TV backlight, and the crawl for effectively preventing TV backlight is impaired, to improve the protective of manipulator.
Description
Technical field
The utility model relates to TV backlight technical field of processing equipment more particularly to a kind of manipulator joint connection knots
Structure.
Background technique
Backlight is a kind of light source positioned at liquid crystal display behind, its illumination effect will directly influence liquid crystal display
Module visual effect.Liquid crystal display itself does not shine, it shows figure or character is its result to light modulation.
However existing manipulator joint connection structure, structure is simple, and internal without anti-offset mechanism is arranged, gripper grabs
When TV backlight, it is also easy to produce horizontal and vertical direction shaking, grasp stability is poor；Secondly existing manipulator joint connection
Structure, it is internal to grab protection mechanism without setting, when gripper and the direct rigid contact of TV backlight, easily lead to TV backlight by
Damage, protective are poor.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of manipulator joint proposed
Connection structure.
To achieve the goals above, the utility model adopts the technical scheme that
The side of a kind of manipulator joint connection structure, including mechanical arm and gripper, the mechanical arm is connected by rotation
It is connected to turntable, other side bolt is fixed with servo motor, and servo motor is sequentially connected by output shaft and turntable, the machinery
The side of arm is welded with fixed pivoted frame, passes through shaft on the inside of the fixed pivoted frame and is symmetrically rotatably connected to drive rod, and drive rod
It is sequentially connected by connecting rod and turntable, is welded with limited block, one end of the drive rod at the side center of the fixed pivoted frame
It is rotatably connected to gripper by bearing holder (housing, cover), is welded with fixed plate, the side of the fixed plate on the outside of one end of the drive rod
It is welded with limit slide bar, the outside of the gripper, which is located on the outside of limit slide bar, is welded with limit sliding sleeve, the limit sliding sleeve
By squeezing spring and limit slide bar elastic connection, sliding slot is offered on the inside of the gripper, and slips in sliding slot and have fixture block,
And multiple groups brute spring is elasticly connected between fixture block and sliding slot.
It is as above-mentioned technical proposal to further describe:
The connecting rod is provided with two groups altogether, and two groups of connecting rods are parallel to each other.
It is as above-mentioned technical proposal to further describe:
The vertical section of the limited block is embedded with rubber sheet gasket in folding C-shaped configuration on the inside of limited block.
It is as above-mentioned technical proposal to further describe:
The fixed plate is inclined to set, and the angle of fixed plate and horizontal plane is 75 ° -80 °.
It is as above-mentioned technical proposal to further describe:
The limit slide bar and the arc-shaped structure of vertical section for limiting sliding sleeve, and the outer diameter for limiting slide bar is equal to limit
The internal diameter of sliding sleeve.
It is as above-mentioned technical proposal to further describe:
The outer diameter of the fixture block is equal to the internal diameter of sliding slot, is embedded with improved mat on the inside of the fixture block.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are:
1, in the utility model, this connection structure is internally provided with anti-offset mechanism, solid by fixed plate on drive rod
Fixed limit slide bar slips when limiting inside sliding sleeve, the shaking of gripper horizontal direction is reduced, to improve gripper
The stability of horizontal direction crawl, while when gripper rotation, the limit slide bar of arc-shaped structure will be in arc-shaped structure
Sliding in sliding sleeve is limited, consequently facilitating the rotation of gripper vertical direction, to improve the steady of gripper vertical direction crawl
Qualitative, this structure can effectively reduce gripper in the shaking of crawl TV backlight, to improve manipulator crawl
Stability.
2, in the utility model, this connection structure is internally provided with crawl protection mechanism, in fixed pivoted frame side setting
In the limited block of folding C-shaped configuration, and it is embedded with rubber sheet gasket on the inside of limited block, TV backlight can be reduced and entered in manipulator
Impact force when side, while fixture block is elasticly connected with by brute spring on the inside of gripper, when gripper touches TV backlight
The outside of lamp, fixture block will inwardly squeeze the brute spring between fixture block and gripper, and brute spring will grabbing gripper
Impact force is taken to carry out elastic deformation buffering, thus TV backlight can be clamped between the improved mat on the inside of two groups of fixture blocks,
This structure can reduce the impact force of manipulator crawl TV backlight, and the crawl for effectively preventing TV backlight is impaired, thus
Improve the protective of manipulator.
Detailed description of the invention
Fig. 1 is a kind of structure schematic diagram of manipulator joint connection structure in the utility model；
Fig. 2 is the attachment structure schematic diagram of drive rod and gripper in the utility model；
Fig. 3 is the side view figure structure schematic representation of mechanical arm in the utility model.
Marginal data:
1, mechanical arm；2, turntable；3, fixed pivoted frame；4, drive rod；5, connecting rod；6, limited block；7, rubber sheet gasket；8, fixed
Plate；9, bearing holder (housing, cover)；10, gripper；11, slide bar is limited；12, sliding sleeve is limited；13, fixture block；14, improved mat；15, sliding slot；16,
Brute spring；17, spring is squeezed；18, servo motor.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig.1-3, a kind of manipulator joint connection structure, including mechanical arm 1 and gripper 10, the side of mechanical arm 1
By being rotatably connected to turntable 2, other side bolt is fixed with servo motor 18, and servo motor 18 passes through output shaft and turntable 2
Transmission connection, the setting of turntable 2 are handled convenient for the transmission of connecting rod 5, and the side of mechanical arm 1 is welded with fixed pivoted frame 3, fixed to turn
Drive rod 4 is symmetrically rotatably connected to by shaft on the inside of frame 3, and drive rod 4 is sequentially connected by connecting rod 5 and turntable 2, it is fixed to turn
Limited block 6 is welded at the side center of frame 3, one end of drive rod 4 is rotatably connected to gripper 10 by bearing holder (housing, cover) 9, is driven
Fixed plate 8 is welded on the outside of one end of bar 4, the side of fixed plate 8 is welded with limit slide bar 11, and the outside of gripper 10 is located at limit
The outside of position slide bar 11 is welded with limit sliding sleeve 12, and limit sliding sleeve 12, which passes through, squeezes spring 17 and limit 11 elastic connection of slide bar,
The setting for squeezing spring 17 can keep the equilibrium state of gripper 10, while when gripper 10 inwardly grabs, can reduce machinery
The impact force of 10 part of pawl, the inside of gripper 10 offer sliding slot 15, and in sliding slot 15 slip have fixture block 13, and fixture block 13
Multiple groups brute spring 16 is elasticly connected between sliding slot 15.
Further, connecting rod 5 is provided with two groups altogether, and two groups of connecting rods 5 are parallel to each other.Two groups of connecting rods 5 that are parallel to each other are set
It sets, the transmission effect convenient for turntable 2 to drive rod 4, consequently facilitating the crawl of gripper 10 is handled.
Further, the vertical section of limited block 6 is in folding C-shaped configuration, and the inside of limited block 6 is embedded with rubber sheet gasket 7,
In the limited block 6 of folding C-shaped configuration, convenient for the slide-in of TV backlight, while the rubber sheet gasket 7 being embedded on the inside of limited block 6, effectively
Reduce impact force when TV backlight slides into.
Further, fixed plate 8 is inclined to set, and the angle of fixed plate 8 and horizontal plane is 75 ° -80 °, inclined to set
The fixed plate 8 set, convenient for limit slide bar 11 and limit 12 sliding of sliding sleeve processing.
Further, the arc-shaped structure of vertical section of limit slide bar 11 and limit sliding sleeve 12, and limit slide bar 11
Outer diameter is equal to the internal diameter of limit sliding sleeve 12, the limit slide bar 11 and limit sliding sleeve 12 of arc-shaped structure, convenient for turning for gripper 10
Dynamic crawl processing, while the outer diameter for limiting slide bar 11 is equal to the internal diameter of limit sliding sleeve 12, improves steady when gripper 10 grabs
It is qualitative.
Further, the outer diameter of fixture block 13 is equal to the internal diameter of sliding slot 15, and the inside of fixture block 13 is embedded with improved mat 14, presss from both sides
The outer diameter of block 13 is equal to the internal diameter of sliding slot 15, improves the stability of fixture block 13 vertical direction movement, while improved mat 14
Setting improves stability when fixture block 13 grabs.
Working principle: in use, installing and fixing on a robotic arm mechanical arm 1, needing to grab TV backlight, will be mechanical
Hand is moved horizontally to the outside of TV backlight, and when the side of TV backlight touches the inside of limited block 6, servo motor 18 is just
It will drive turntable 2 and rotate clockwise 90 °, when turntable 2 rotates, to drive drive rod 4 to be rotated by connecting rod 5, work as transmission
The gripper 10 of 4 one end of bar setting touches the outside of TV backlight, and fixture block 13 will inwardly squeeze fixture block 13 and gripper 10
Between brute spring 16, brute spring 16 will by the crawl impact force of gripper 10 carry out elastic deformation buffering, thus just
TV backlight is clamped between the improved mat 14 of two groups of fixture blocks, 13 inside, while while the rotation of gripper 10, gripper
On 10 the limit sliding sleeve 12 of arc-shaped structure will in fixed plate 8 arc-shaped structure the outer Slideslip of limit slide bar 11, thus
Offset when gripper 10 grabs is effectively reduced, to improve the stability of manipulator crawl.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of manipulator joint connection structure, including mechanical arm (1) and gripper (10), which is characterized in that the mechanical arm
(1) by being rotatably connected to turntable (2), other side bolt is fixed with servo motor (18) for side, and servo motor (18) is logical
It crosses output shaft and turntable (2) is sequentially connected, the side of the mechanical arm (1) is welded with fixed pivoted frame (3), the fixed pivoted frame
(3) inside is symmetrically rotatably connected to drive rod (4) by shaft, and drive rod (4) is connected by connecting rod (5) and turntable (2) transmission
It connects, is welded with limited block (6) at the side center of the fixed pivoted frame (3), one end of the drive rod (4) passes through bearing holder (housing, cover)
(9) it is rotatably connected to gripper (10), is welded with fixed plate (8) on the outside of one end of the drive rod (4), the fixed plate (8)
Side be welded with limit slide bar (11), the outside of the gripper (10), which is located on the outside of limit slide bar (11), is welded with limit
Sliding sleeve (12), the limit sliding sleeve (12) is by squeezing spring (17) and limit slide bar (11) elastic connection, the gripper
(10) offered on the inside of sliding slot (15), and slip and have fixture block (13) in sliding slot (15), and fixture block (13) and sliding slot (15) it
Between be elasticly connected with multiple groups brute spring (16).
2. a kind of manipulator joint connection structure according to claim 1, which is characterized in that the connecting rod (5) is arranged altogether
There are two groups, and two groups of connecting rods (5) are parallel to each other.
3. a kind of manipulator joint connection structure according to claim 1, which is characterized in that the limited block (6) is erected
Straightforward face is embedded with rubber sheet gasket (7) in folding C-shaped configuration on the inside of limited block (6).
4. a kind of manipulator joint connection structure according to claim 1, which is characterized in that the fixed plate (8) is in incline
Tiltedly setting, and the angle of fixed plate (8) and horizontal plane is 75 ° -80 °.
5. a kind of manipulator joint connection structure according to claim 1, which is characterized in that the limit slide bar (11) and
The arc-shaped structure of vertical section of sliding sleeve (12) is limited, and the outer diameter for limiting slide bar (11) is equal to the interior of limit sliding sleeve (12)
Diameter.
6. a kind of manipulator joint connection structure according to claim 1, which is characterized in that the outer diameter of the fixture block (13)
Equal to the internal diameter of sliding slot (15), improved mat (14) are embedded on the inside of the fixture block (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920073108.1U CN209533427U (en) | 2019-01-16 | 2019-01-16 | A kind of manipulator joint connection structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920073108.1U CN209533427U (en) | 2019-01-16 | 2019-01-16 | A kind of manipulator joint connection structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209533427U true CN209533427U (en) | 2019-10-25 |
Family
ID=68270025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920073108.1U Expired - Fee Related CN209533427U (en) | 2019-01-16 | 2019-01-16 | A kind of manipulator joint connection structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209533427U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900447A (en) * | 2019-12-16 | 2020-03-24 | 张耕乾 | Clamping device capable of keeping bearing clamping force constant |
| CN115489987A (en) * | 2022-10-24 | 2022-12-20 | 江苏福吉特管业有限公司 | Pipe fitting snatchs damage prevention manipulator with anti falling structure |
| CN115609618A (en) * | 2022-12-14 | 2023-01-17 | 四川欧乐智能技术有限公司 | Manipulator device for assembling communication equipment |
-
2019
- 2019-01-16 CN CN201920073108.1U patent/CN209533427U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900447A (en) * | 2019-12-16 | 2020-03-24 | 张耕乾 | Clamping device capable of keeping bearing clamping force constant |
| CN110900447B (en) * | 2019-12-16 | 2021-11-30 | 建湖县华越机械制造有限公司 | Clamping device capable of keeping bearing clamping force constant |
| CN115489987A (en) * | 2022-10-24 | 2022-12-20 | 江苏福吉特管业有限公司 | Pipe fitting snatchs damage prevention manipulator with anti falling structure |
| CN115609618A (en) * | 2022-12-14 | 2023-01-17 | 四川欧乐智能技术有限公司 | Manipulator device for assembling communication equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209533427U (en) | A kind of manipulator joint connection structure | |
| CN101190528A (en) | Under-actuated coupling transmission type imitation human finger mechanism | |
| CN110076818B (en) | Manipulator for grabbing irregular object | |
| CN215395272U (en) | Parallel clamping jaw device | |
| CN111872970A (en) | Self-adaptive rigid paw | |
| CN210088300U (en) | Computer image detection device | |
| CN104723327A (en) | Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm | |
| CN110867142A (en) | Display device capable of being displayed in multiple directions for customer relationship management | |
| CN107309895A (en) | A kind of drive lacking end effector captured for envelope with parallel clamping | |
| CN216201999U (en) | Robot vision recognition device is patrolled and examined to outdoor wheel formula | |
| CN108161963A (en) | Robot gripper | |
| CN208317191U (en) | A kind of water supply and sewage work water pump control cabinet | |
| CN209113082U (en) | A kind of automatic fetching device of adjustable up-down type | |
| CN113108188B (en) | Suspension mechanism and digital media device with same | |
| CN109713473A (en) | A kind of hot-line work cable clamp | |
| CN211742289U (en) | Network teaching projection arrangement | |
| CN210662097U (en) | Computer display support of height and angular adjustment | |
| CN221026226U (en) | Clamping device for excircle surface workpiece | |
| CN215959065U (en) | Economic information management uses picture and text gallows | |
| CN213685161U (en) | Link mechanism and clamping device thereof | |
| CN215371634U (en) | Display device | |
| CN220296951U (en) | Screw clamping and fixing device | |
| CN216484112U (en) | Sampler for engineering hydrographic investigation | |
| CN215158952U (en) | Heat dissipation module location extracting device | |
| CN210302580U (en) | Plate taking structure of filter press |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191025 |