CN210233066U - Special manipulator telescopic machanism - Google Patents
Special manipulator telescopic machanism Download PDFInfo
- Publication number
- CN210233066U CN210233066U CN201921212755.2U CN201921212755U CN210233066U CN 210233066 U CN210233066 U CN 210233066U CN 201921212755 U CN201921212755 U CN 201921212755U CN 210233066 U CN210233066 U CN 210233066U
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- Prior art keywords
- telescopic rod
- rod
- telescopic
- shaft
- special manipulator
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- 238000009434 installation Methods 0.000 claims abstract 3
- 230000000087 stabilizing effect Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 abstract description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a special manipulator telescopic machanism, including outrigger range finding structure and gripper mounting structure, the internally mounted of outrigger range finding structure has the connecting axle, and the front end of connecting axle installs first telescopic link, the right-hand member of first telescopic link is provided with connects the pivot, and connects the right side of pivot and be connected with the third telescopic link, the right side of head rod is connected with the connection hinge, and the below of head rod is provided with the second connecting rod, gripper mounting structure installs in the right side of connecting the hinge. The ultrasonic distance measuring sensor of this kind of telescopic machanism setting can conveniently measure the flexible distance of extending structure to this can the person of facilitating the use understand the flexible length of extending structure, and the connection pivot of installation and the connection between each telescopic link are swing joint, with this can conveniently increase telescopic link quantity, thereby can change the current flexible degree of extending structure, avoid being injectd by the flexible distance of extending structure self.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is a special manipulator telescopic machanism.
Background
A mechanical arm: an automatic operating device capable of simulating certain motion functions of human hands and arms for grasping, carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
Traditional manipulator telescopic machanism can't measure flexible distance when using to be difficult for reequiping to extending structure's overall structure, thereby just cause extending structure's flexible length to be restricted, have the inconvenient problem of assembly simultaneously between extending structure and the mechanical gripper, for this reason, we provide a manipulator telescopic machanism that the practicality is higher.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a special manipulator telescopic machanism to solve traditional manipulator telescopic machanism that proposes in the above-mentioned background art and can't measure flexible distance when using, and be difficult for reequiping to extending structure's overall structure, thereby just cause extending structure's flexible length to be restricted, have the inconvenient problem of assembly between extending structure and the mechanical gripper simultaneously.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a special manipulator telescopic machanism, includes outrigger range finding structure and gripper mounting structure, the internally mounted of outrigger range finding structure has the connecting axle, and the front end of connecting axle installs first telescopic link, the second telescopic link is installed to the rear end of connecting axle, and the connecting trepanning has all been seted up with the left side end of first telescopic link to the second telescopic link, the right-hand member of first telescopic link is provided with the connection pivot, and connects the right side of pivot and be connected with the third telescopic link, the right side of second telescopic link is provided with the fourth telescopic link, and the right side of fourth telescopic link is connected with the head rod, the right side of head rod is connected with the connection hinge, and the below of head rod is provided with the second connecting rod, gripper mounting structure installs on the right side of connecting the hinge.
Preferably, the distance measuring structure is stably supported and is included stable branch, unable adjustment base, connection shaft hole and supersound distance measuring sensor, and the left side of stable branch is fixed with unable adjustment base, the connection shaft hole has been seted up to the inboard on stable branch top, and the top of stable branch installs supersound distance measuring sensor.
Preferably, the connecting shaft penetrates through the inside of the stabilizing support rod through the connecting shaft hole, and the first telescopic rod and the second telescopic rod form a rotating structure between the connecting shaft and the stabilizing support rod.
Preferably, the first telescopic rod is movably connected with the third telescopic rod through a connecting rotating shaft, the second telescopic rod is movably connected with the fourth telescopic rod through a connecting rotating shaft, and the third telescopic rod forms a rotating structure with the fourth telescopic rod through a connecting shaft.
Preferably, the mechanical gripper mounting structure comprises a mounting base, a connecting screw rod and a connecting nut, the connecting screw rod penetrates through the inside of the mounting base, and the connecting nut is mounted on the outer side of the top end of the connecting screw rod.
Preferably, the connecting screw and the connecting nut are provided with two groups, and the mounting base forms a rotating structure with the first connecting rod and the second connecting rod through the connecting hinge.
Compared with the prior art, the beneficial effects of the utility model are that:
the special manipulator telescopic mechanism can improve the stability of the telescopic structure in use through the stable supporting distance measuring structure, can facilitate the rotation among telescopic rods through the arrangement of the connecting shaft, and can conveniently measure the telescopic distance of the telescopic structure through the arranged ultrasonic distance measuring sensor, so that a user can conveniently know the telescopic length of the telescopic structure;
the connection between the installed connecting rotating shaft and each telescopic rod is movable connection, so that the number of the telescopic rods can be conveniently increased, the existing telescopic degree of the telescopic structure can be changed, and the telescopic distance of the telescopic structure is prevented from being limited;
simultaneously can conveniently dismantle the mechanical gripper of assembling different models through the mechanical gripper mounting structure who sets up to this can conveniently change the use to the mechanical gripper of different models, so can improve mechanical gripper mounting structure's application scope, improved this kind of special manipulator telescopic machanism's practicality greatly.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the top view structure of the stable supporting distance measuring structure of the present invention;
fig. 3 is a schematic side view of the mounting structure of the mechanical gripper of the present invention.
In the figure: 1. stably supporting the ranging structure; 101. a stabilizing strut; 102. a fixed base; 103. connecting the shaft hole; 104. an ultrasonic ranging sensor; 2. a connecting shaft; 3. a first telescopic rod; 4. a second telescopic rod; 5. connecting sleeve holes; 6. a third telescopic rod; 7. a fourth telescopic rod; 8. a first connecting rod; 9. a second connecting rod; 10. a connecting hinge; 11. a mechanical gripper mounting structure; 111. installing a base; 112. connecting a screw rod; 113. a connecting nut; 12. is connected with the rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a special manipulator telescoping mechanism comprises a stable support ranging structure 1, a stable support rod 101, a fixed base 102, a connecting shaft hole 103, an ultrasonic ranging sensor 104, a connecting shaft 2, a first telescopic rod 3, a second telescopic rod 4, a connecting sleeve hole 5, a third telescopic rod 6, a fourth telescopic rod 7, a first connecting rod 8, a second connecting rod 9, a connecting hinge 10, a manipulator claw mounting structure 11, a mounting base 111, a connecting screw rod 112, a connecting nut 113 and a connecting rotating shaft 12, wherein the connecting shaft 2 is mounted inside the stable support ranging structure 1, the first telescopic rod 3 is mounted at the front end of the connecting shaft 2, the second telescopic rod 4 is mounted at the rear end of the connecting shaft 2, the connecting sleeve holes 5 are formed in the left end of the second telescopic rod 4 and the left end of the first telescopic rod 3, the stable support ranging structure 1 comprises the stable support rod 101, the fixed base 102, the connecting shaft hole 103 and the ultrasonic ranging sensor 104, a fixed base 102 is fixed on the left side of the stabilizing support rod 101, a connecting shaft hole 103 is formed in the inner side of the top end of the stabilizing support rod 101, an ultrasonic ranging sensor 104 is installed at the top end of the stabilizing support rod 101, a connecting shaft 2 penetrates through the inside of the stabilizing support rod 101 through the connecting shaft hole 103, a rotating structure is formed between the first telescopic rod 3 and the second telescopic rod 4 through the connecting shaft 2 and the stabilizing support rod 101, the stability of the telescopic structure in use can be improved through the arranged stabilizing support ranging structure 1, the rotation between the telescopic rods can be facilitated through the arrangement of the connecting shaft 2, and meanwhile, the telescopic distance of the telescopic structure can be conveniently measured through the arranged ultrasonic ranging sensor 104, so that a user can conveniently know the telescopic length of the telescopic structure;
the right end of the first telescopic rod 3 is provided with a connecting rotating shaft 12, the right side of the connecting rotating shaft 12 is connected with a third telescopic rod 6, the right side of the second telescopic rod 4 is provided with a fourth telescopic rod 7, the right side of the fourth telescopic rod 7 is connected with a first connecting rod 8, the first telescopic rod 3 is movably connected with the third telescopic rod 6 through the connecting rotating shaft 12, the second telescopic rod 4 is movably connected with the fourth telescopic rod 7 through the connecting rotating shaft 12, the third telescopic rod 6 forms a rotating structure through the connecting shaft 2 and the fourth telescopic rod 7, the connection between the installed connecting rotating shaft 12 and each telescopic rod is movably connected, so that the number of telescopic rods can be conveniently increased, the existing telescopic degree of the telescopic structure can be changed, and the limitation of the telescopic distance of the telescopic structure is avoided;
the right side of the first connecting rod 8 is connected with a connecting hinge 10, a second connecting rod 9 is arranged below the first connecting rod 8, a gripper mounting structure 11 is mounted on the right side of the connecting hinge 10, the gripper mounting structure 11 comprises a mounting base 111, a connecting screw rod 112 and a connecting screw nut 113, the connecting screw rod 112 penetrates through the inside of the mounting base 111, the connecting screw nut 113 is mounted on the outer side of the top end of the connecting screw rod 112, two sets of the connecting screw rod 112 and the connecting screw nut 113 are arranged, the mounting base 111 forms a rotating structure with the first connecting rod 8 and the second connecting rod 9 through the connecting hinge 10, and gripper jaws of different models can be conveniently disassembled and assembled through the arranged gripper mounting structure 11, so that gripper jaws of different models can be conveniently exchanged for use, and the application range of the gripper mounting structure 11 can be improved, the practicability of the special manipulator telescopic mechanism is greatly improved.
The working principle is as follows: for the telescopic mechanism, firstly, the telescopic structure is fixed on a machine to be used through the stable support distance measuring structure 1, the stable support distance measuring structure 1 can be conveniently fixed through the arranged fixing base 102, each telescopic rod can be supported through the stable support rod 101, the first telescopic rod 3 and the second telescopic rod 4 can be connected with the power structure through the connecting sleeve hole 5 arranged on the left side, power can be provided for the telescopic structure to stretch, the first telescopic rod 3 and the second telescopic rod 4 can stretch through the power structure, the first telescopic rod 3 and the second telescopic rod 4 can rotate on the stable support rod 101 through the connecting shaft hole 103 and the connecting shaft 2, the first telescopic rod 3 and the second telescopic rod 4 can be respectively connected with the third telescopic rod 6 and the fourth telescopic rod 7 through the connecting rotating shaft 12, and the third telescopic rod 6 and the fourth telescopic rod 7 can be driven to rotate, meanwhile, the third telescopic rod 6 and the fourth telescopic rod 7 are respectively connected with the first connecting rod 8 and the second connecting rod 9 through the connecting rotating shaft 12, so that the first connecting rod 8 and the second connecting rod 9 can be driven to rotate, the integral extension and contraction of the telescopic structure can be realized through the rotation of each telescopic rod, the telescopic length of the telescopic structure can be measured by adopting an ultrasonic echo distance measuring principle through the installed ultrasonic distance measuring sensor 104 with the model of LM-200 plus 010-DAC, so that the extension and contraction distance of the telescopic structure can be conveniently connected, the mechanical paw mounting structure 11 can be connected with the connecting rods through the connecting hinges 10, so that the position of the mechanical paw mounting structure 11 can be adjusted, the installed mounting base 111 can support the installed mechanical paw, and the mechanical paws with different models can be conveniently disassembled and assembled through the threaded connection between the connecting screw rod 112 and the connecting nut 113, the use process of the whole telescopic mechanism is completed.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a special manipulator telescopic machanism, includes stable supporting range finding structure (1) and mechanical gripper mounting structure (11), its characterized in that: a connecting shaft (2) is arranged in the stable supporting ranging structure (1), a first telescopic rod (3) is arranged at the front end of the connecting shaft (2), a second telescopic rod (4) is arranged at the rear end of the connecting shaft (2), the left ends of the second telescopic rod (4) and the first telescopic rod (3) are both provided with a connecting sleeve hole (5), the right end of the first telescopic rod (3) is provided with a connecting rotating shaft (12), the right side of the connecting rotating shaft (12) is connected with a third telescopic rod (6), the right side of the second telescopic rod (4) is provided with a fourth telescopic rod (7), the right side of the fourth telescopic rod (7) is connected with a first connecting rod (8), the right side of the first connecting rod (8) is connected with a connecting hinge (10), and a second connecting rod (9) is arranged below the first connecting rod (8), and the mechanical paw mounting structure (11) is mounted on the right side of the connecting hinge (10).
2. The special manipulator telescoping mechanism of claim 1, wherein: stable supporting ranging structure (1) is including stabilizing branch (101), unable adjustment base (102), connecting shaft hole (103) and ultrasonic ranging sensor (104), and the left side of stabilizing branch (101) is fixed with unable adjustment base (102), connecting shaft hole (103) have been seted up to the inboard on stabilizing branch (101) top, and ultrasonic ranging sensor (104) are installed on the top of stabilizing branch (101).
3. The special manipulator telescoping mechanism of claim 2, wherein: the connecting shaft (2) penetrates through the inside of the stabilizing support rod (101) through the connecting shaft hole (103), and the first telescopic rod (3) and the second telescopic rod (4) form a rotating structure through the connecting shaft (2) and the stabilizing support rod (101).
4. The special manipulator telescoping mechanism of claim 1, wherein: the first telescopic rod (3) is movably connected with the third telescopic rod (6) through a connecting rotating shaft (12), the second telescopic rod (4) is movably connected with the fourth telescopic rod (7) through a connecting rotating shaft (12), and the third telescopic rod (6) forms a rotating structure with the fourth telescopic rod (7) through a connecting shaft (2).
5. The special manipulator telescoping mechanism of claim 1, wherein: mechanical gripper mounting structure (11) is including installation base (111), connecting screw (112) and connecting nut (113), and the inside of installation base (111) is run through and is had connecting screw (112) to connecting nut (113) are installed to the outside on connecting screw (112) top.
6. The special manipulator telescoping mechanism of claim 5, wherein: the connecting screw rods (112) and the connecting screw nuts (113) are arranged in two groups, and the mounting base (111) forms a rotating structure with the first connecting rod (8) and the second connecting rod (9) through the connecting hinge (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921212755.2U CN210233066U (en) | 2019-07-30 | 2019-07-30 | Special manipulator telescopic machanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921212755.2U CN210233066U (en) | 2019-07-30 | 2019-07-30 | Special manipulator telescopic machanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210233066U true CN210233066U (en) | 2020-04-03 |
Family
ID=69993353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921212755.2U Expired - Fee Related CN210233066U (en) | 2019-07-30 | 2019-07-30 | Special manipulator telescopic machanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210233066U (en) |
-
2019
- 2019-07-30 CN CN201921212755.2U patent/CN210233066U/en not_active Expired - Fee Related
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| 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: 20200403 |