CN209868622U - Rotary two-claw manipulator - Google Patents

Rotary two-claw manipulator Download PDF

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Publication number
CN209868622U
CN209868622U CN201920110931.5U CN201920110931U CN209868622U CN 209868622 U CN209868622 U CN 209868622U CN 201920110931 U CN201920110931 U CN 201920110931U CN 209868622 U CN209868622 U CN 209868622U
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China
Prior art keywords
finger
rotary
fixed connection
pneumatic finger
stiff
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Active
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CN201920110931.5U
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Chinese (zh)
Inventor
陈群
张启源
钟贵盛
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Fujian Corran Sword Intelligent Equipment Technology Co Ltd
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Fujian Corran Sword Intelligent Equipment Technology Co Ltd
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Priority to CN201920110931.5U priority Critical patent/CN209868622U/en
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Abstract

The utility model provides a rotation type two-jaw manipulator, including base, revolving cylinder, interval adjustment mechanism and first pneumatic finger, revolving cylinder includes first stiff end and rotatory end, and interval adjustment mechanism includes second stiff end and first removal end, and first pneumatic finger includes third stiff end and first finger end, first stiff end with the downside fixed connection of base, rotatory end and second fixed end fixed connection, first removal end with third fixed end fixed connection still includes the pneumatic finger of second, and the pneumatic finger of second includes fourth stiff end and second finger end, and interval adjustment mechanism still includes that the second removes the end, and fourth stiff end and second remove end fixed connection. The utility model has the advantages that: the utility model has the function of adjusting the space, and can grab objects with different specifications; collision can be avoided; in the grabbing process, displaying the states of rotation in place and grabbing in place; the application range is wide, the grabbing precision is high, and the error rate is low.

Description

Rotary two-claw manipulator
[ technical field ] A method for producing a semiconductor device
The utility model relates to a robotic arm technical field specifically relates to a two claw manipulators of rotation type.
[ background of the invention ]
The manipulator can imitate some action functions of human arm, and can be used for gripping and carrying articles or operating tools according to fixed program, it can replace heavy labour of human body to implement mechanization and automation of production, and can be used for operation under the harmful environment to protect personal safety.
The chinese utility model of grant notice number CN204868875U specially does benefit to 2015 12 months and 16 days to disclose unloading arm, include: the manipulator robot comprises a base, a rotary cylinder arranged on the base, a manipulator telescopic cylinder arranged on the rotary cylinder and a pneumatic finger; the pneumatic finger is driven to open and close through a driving cylinder, and the driving finger moves up and down and rotates on a longitudinal plane through a rotating cylinder and a manipulator telescopic cylinder. The base is provided with an installation plate, and the rotary cylinder is installed on the installation plate; the manipulator telescopic cylinder is connected to the output shaft of the rotary cylinder through a connecting plate. This prior art has the following disadvantages: 1. the clamping distance cannot be adjusted; 2. when clamping an object, the manipulator is easy to collide with the object; 3. it cannot be confirmed whether the gripper is rotated in place or gripped in place.
[ Utility model ] content
For overcoming the defect that existing equipment exists, the utility model provides a two claw manipulators of rotation type can adjust the interval between two claws, and the object of getting different specifications is convenient for press from both sides, still has the function of reporting to the police when colliding to and show manipulator action state.
The utility model discloses a realize like this: the utility model provides a rotation type two-jaw manipulator, includes base, revolving cylinder, interval adjustment mechanism and first pneumatic finger, revolving cylinder includes first stiff end and rotatory end, interval adjustment mechanism includes second stiff end and first removal end, first pneumatic finger includes third stiff end and first finger end, first stiff end with the downside fixed connection of base, rotatory end with second fixed end fixed connection, first removal end with third fixed end fixed connection still includes the pneumatic finger of second, the pneumatic finger of second includes fourth stiff end and second finger end, interval adjustment mechanism still includes the second removal end, the fourth stiff end with second removal fixed connection.
Further, the device also comprises a first proximity switch and a second proximity switch, wherein the first proximity switch is fixedly connected with the third fixed end, and the second proximity switch is fixedly connected with the fourth fixed end.
Further, there are two first finger ends and two second finger ends, the first proximity switch is located between the two first finger ends, and the second proximity switch is located between the two second finger ends.
Further, revolving cylinder still including rotatory pilot lamp and the first position sensor that arrives a position, first wire casing has been seted up to first stiff end, rotatory pilot lamp that arrives a position sets firmly in first wire casing, first position sensor is used for detecting rotatory end, and still with rotatory pilot lamp that arrives a position electricity is connected.
Further, the first pneumatic finger further comprises a first clamping in-place indicator light and a second position sensor, and the second pneumatic finger further comprises a second clamping in-place indicator light and a third position sensor; the third fixing end is provided with a second wire slot, the first clamping in-place indicator lamp is fixedly arranged in the second wire slot, and the second position sensor is used for detecting the finger end of the first pneumatic finger and is also electrically connected with the first clamping in-place indicator lamp; the fourth fixed end is provided with a third wire slot, the second clamp is arranged in the third wire slot and fixedly arranged on the indicator lamp, and the third position sensor is used for detecting the finger end of the second pneumatic finger and is also electrically connected with the indicator lamp in place by the second clamp.
Further, still include the locating pin, the locating pin with the side fixed connection on the base.
Further, interval adjustment mechanism includes first telescopic cylinder and the telescopic cylinder of second, first telescopic cylinder include first cylinder body with first removal end, the telescopic cylinder of second include the second cylinder body with the second removes the end, the second stiff end by first cylinder body with the second cylinder body is constituteed.
Further, still include the connecting plate, the last side of connecting plate with rotatory end fixed connection, the downside of connecting plate with first cylinder body second cylinder body fixed connection, the downside of connecting plate still is equipped with the guide rail, the third stiff end with fourth stiff end sliding connection respectively in the guide rail.
The utility model has the advantages that: the rotary two-claw manipulator of the utility model has the function of adjusting the space and can grab objects with different specifications; the object can be effectively grabbed, and collision is avoided; in the grabbing process, displaying the states of rotation in place and grabbing in place; the application range is wide, the grabbing precision is high, and the error rate is low.
[ description of the drawings ]
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a rotary two-jaw manipulator according to the present invention.
Fig. 2 is a schematic structural diagram of a rotary two-jaw manipulator according to the present invention.
Fig. 3 is an assembly schematic diagram of the middle distance adjusting mechanism and the connecting plate of the present invention.
The reference numerals in the figures denote: 1-base, 11-locating pin, 2-rotating cylinder, 21-first fixed end, 22-rotating end, 23-first wire groove, 3-spacing adjustment mechanism, 31-second fixed end, 32-first moving end, 33-second moving end, 4-first pneumatic finger, 41-third fixed end, 42-first finger end, 43-second wire groove, 5-second pneumatic finger, 51-fourth fixed end, 52-second finger end, 53-third wire groove, 6-first proximity switch, 7-second proximity switch, 8-left paw hand, 9-right paw hand, 10-connecting plate, 101-guide rail.
[ detailed description ] embodiments
Referring to fig. 1 to 3, a rotary two-jaw robot includes a base 1, a rotary cylinder 2, a space adjusting mechanism 3, and a first pneumatic finger 4, the rotating cylinder 2 comprises a first fixed end 21 and a rotating end 22, the spacing adjusting mechanism 3 comprises a second fixed end 31 and a first movable end 32, the first pneumatic finger 4 comprises a third fixed end 41 and a first finger end 42, the first fixed end 21 is fixedly connected with the lower side surface of the base 1, the rotating end 22 is fixedly connected with the second fixing end 31, the first moving end 32 is fixedly connected with the third fixing end 41, and the pneumatic finger device further comprises a second pneumatic finger 5, the second pneumatic finger 5 comprises a fourth fixed end 51 and a second finger end 52, the distance adjusting mechanism 3 further comprises a second moving end 33, and the fourth fixed end 51 is fixedly connected with the second moving end 33. The reciprocating movement of the first moving end 32 and the second moving end 33 of the distance adjusting mechanism 3 adjusts the distance between the first pneumatic finger 4 and the second pneumatic finger 5, so that corresponding distance adjustment can be performed according to the specification of clamping goods, and the application range of the manipulator is expanded; the base 1 is installed on the mobile device, and the manipulator snatchs the goods through first pneumatic finger 4 and second pneumatic finger 5, makes the rotation as required, then moves the goods to appointed position.
Still include first proximity switch 6 and second proximity switch 7, first proximity switch 6 with third stiff end 41 fixed connection, second proximity switch 7 with fourth stiff end 51 fixed connection. Two of the first finger tips 42 and two of the second finger tips 52, the first proximity switch 6 is located between the two first finger tips 42, and the second proximity switch 7 is located between the two second finger tips 52. When snatching the goods, if object and manipulator surpassed safe distance, proximity switch will send alarm signal for the control system of manipulator, and control system control manipulator stops to remove, has just so avoided colliding with the goods to the loss goods.
The rotating cylinder 2 further includes a rotation to position indicator (not shown) and a first position sensor (not shown), the first fixing end 21 defines a first wire slot 23, the rotation to position indicator (not shown) is fixedly disposed in the first wire slot 23, and the first position sensor (not shown) is configured to detect the rotating end 22 and is further electrically connected to the rotation to position indicator (not shown). The first position sensor (not shown) controls the brightness of the rotating to-position indicator lamp (not shown) according to the in-position condition of the rotating end 22 of the rotating cylinder 2, so that the worker can conveniently observe and judge; for example, when the rotation is in place, the color "green" is lightened, and when the rotation is not in place, the color "red" is lightened.
The first pneumatic finger 4 further includes a first in-place gripping indicator (not shown) and a second position sensor (not shown), and the second pneumatic finger 5 further includes a second in-place gripping indicator (not shown) and a third position sensor (not shown); the third fixing end 41 is provided with a second slot 43, the first clamping in-place indicator lamp (not shown) is fixedly arranged in the second slot 43, and the second position sensor (not shown) is used for detecting the finger end of the first pneumatic finger 4 and is also electrically connected with the first clamping in-place indicator lamp (not shown); the second position sensor (not shown) controls the brightness of the first in-place gripping indicator (not shown) according to the in-place gripping condition of the first finger end 42, so that the worker can conveniently observe and judge.
The fourth fixing end 51 is provided with a third wire groove 53, the second clamping position indicator lamp is fixedly arranged in the third wire groove 53, and the third position sensor (not shown) is used for detecting the finger end of the second pneumatic finger 5 and is also electrically connected with the second clamping position indicator lamp (not shown). The third position sensor (not shown) controls the brightness of the second in-place clamping indicator lamp (not shown) according to the in-place clamping condition of the second finger end 52 of the second pneumatic finger 5, so that the worker can conveniently observe and judge.
The two first finger ends 42 of the first pneumatic finger 4 are respectively provided with a left paw hand 8 and a right paw hand 9,
the left and right claws 8 and 9 are respectively mounted at the two second finger ends 52 of the second pneumatic finger 5.
Still include locating pin 11, locating pin 11 with the side fixed connection on the base 1. This facilitates the positioning of the base 1 in cooperation with the mobile device.
The interval adjusting mechanism 3 comprises a first telescopic cylinder and a second telescopic cylinder, the first telescopic cylinder comprises a first cylinder body and a first moving end 32, the second telescopic cylinder comprises a second cylinder body and a second moving end 33, and a second fixed end 31 is formed by the first cylinder body and the second cylinder body. The telescopic movement of the telescopic cylinder changes the position of the pneumatic finger, so that the aim of adjusting the distance between the two pneumatic fingers is fulfilled.
Still include connecting plate 10, the last side of connecting plate 10 with rotatory end 22 fixed connection, the downside of connecting plate 10 with first cylinder body second cylinder body fixed connection, the downside of connecting plate 10 still is equipped with guide rail 101, third stiff end 41 with fourth stiff end 51 respectively sliding connection in guide rail 101. Thus, the distance between the first pneumatic finger 4 and the second pneumatic finger 5 is adjusted more stably.
Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.

Claims (8)

1. The utility model provides a rotation type two-jaw manipulator, includes base, revolving cylinder, interval adjustment mechanism and first pneumatic finger, revolving cylinder includes first stiff end and rotatory end, interval adjustment mechanism includes second stiff end and first removal end, first pneumatic finger includes third stiff end and first finger end, first stiff end with the downside fixed connection of base, rotatory end with second stiff end fixed connection, first removal end with third stiff end fixed connection, its characterized in that: still include the pneumatic finger of second, the pneumatic finger of second includes fourth stiff end and second finger end, interval adjustment mechanism still includes the second and removes the end, the fourth stiff end with second removal end fixed connection.
2. A rotary two-jaw robot as claimed in claim 1, wherein: the first proximity switch is fixedly connected with the third fixed end, and the second proximity switch is fixedly connected with the fourth fixed end.
3. A rotary two-jaw robot as claimed in claim 2, wherein: the number of the first finger ends is two, the number of the second finger ends is two, the first proximity switch is located between the two first finger ends, and the second proximity switch is located between the two second finger ends.
4. A rotary two-jaw robot as claimed in any one of claims 1 to 3, wherein: the rotary cylinder further comprises a rotary arrival indicating lamp and a first position sensor, a first wire slot is formed in the first fixed end, the rotary arrival indicating lamp is fixedly arranged in the first wire slot, and the first position sensor is used for detecting the rotary end and is also electrically connected with the rotary arrival indicating lamp.
5. A rotary two-jaw robot as claimed in claim 4, wherein: the first pneumatic finger further comprises a first clamping in-place indicator light and a second position sensor, and the second pneumatic finger further comprises a second clamping in-place indicator light and a third position sensor; the third fixing end is provided with a second wire slot, the first clamping in-place indicator lamp is fixedly arranged in the second wire slot, and the second position sensor is used for detecting the finger end of the first pneumatic finger and is also electrically connected with the first clamping in-place indicator lamp; the fourth fixed end is provided with a third wire slot, the second clamp is arranged in the third wire slot and fixedly arranged on the indicator lamp, and the third position sensor is used for detecting the finger end of the second pneumatic finger and is also electrically connected with the indicator lamp in place by the second clamp.
6. A rotary two-jaw robot as claimed in claim 5, wherein: still include the locating pin, the locating pin with the side fixed connection on the base.
7. A rotary two-jaw robot as claimed in claim 4, wherein: the interval adjustment mechanism comprises a first telescopic cylinder and a second telescopic cylinder, the first telescopic cylinder comprises a first cylinder body and a first movable end, the second telescopic cylinder comprises a second cylinder body and a second movable end, and the second fixed end is composed of the first cylinder body and the second cylinder body.
8. A rotary two-jaw robot as claimed in claim 7, wherein: still include the connecting plate, the last side of connecting plate with rotatory end fixed connection, the downside of connecting plate with first cylinder body second cylinder body fixed connection, the downside of connecting plate still is equipped with the guide rail, the third stiff end with fourth stiff end sliding connection respectively in the guide rail.
CN201920110931.5U 2019-01-23 2019-01-23 Rotary two-claw manipulator Active CN209868622U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920110931.5U CN209868622U (en) 2019-01-23 2019-01-23 Rotary two-claw manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920110931.5U CN209868622U (en) 2019-01-23 2019-01-23 Rotary two-claw manipulator

Publications (1)

Publication Number Publication Date
CN209868622U true CN209868622U (en) 2019-12-31

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920110931.5U Active CN209868622U (en) 2019-01-23 2019-01-23 Rotary two-claw manipulator

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111152264A (en) * 2020-01-03 2020-05-15 北京理工大学 Precision measurement module for detecting collision force and power of cooperative robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111152264A (en) * 2020-01-03 2020-05-15 北京理工大学 Precision measurement module for detecting collision force and power of cooperative robot

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