CN210850333U - Manipulator with multistage flexible function - Google Patents
Manipulator with multistage flexible function Download PDFInfo
- Publication number
- CN210850333U CN210850333U CN201921287840.5U CN201921287840U CN210850333U CN 210850333 U CN210850333 U CN 210850333U CN 201921287840 U CN201921287840 U CN 201921287840U CN 210850333 U CN210850333 U CN 210850333U
- Authority
- CN
- China
- Prior art keywords
- rod
- fixed
- arm
- hinged
- connecting rod
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000004904 shortening Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a manipulator with multistage flexible function, the on-line screen storage device comprises a base, be connected with first hydraulic stem and first armed lever through the round pin axle is articulated on the base respectively, still be fixed with the mount on the base, the piston rod tip of first hydraulic stem is on connecting first armed lever through the round pin axle is articulated, the middle part of connecting the second armed lever through the round pin axle is articulated on the top of first armed lever, the top of mount is connected with the pull rod through the round pin axle is articulated, the pull rod is through the one end of the articulated second armed lever of connecting of round pin axle, the other end of second armed lever is fixed with the fixing base, be fixed with the motor on the fixing base, the main shaft end fixed connection axostylus axostyle of motor, the tip of axostylus axostyle passes through guiding mechanism and connects the second hydraulic stem, the piston rod end of second hydraulic stem is fixed with the slide, be fixed with the third armed lever on the slide, be. This kind of manipulator with multistage flexible function improves the snatch scope and the nimble degree of manipulator.
Description
Technical Field
The utility model relates to a mechanical fixture field specifically is a manipulator with multistage flexible function.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate 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. In the existing manipulator structure, the manipulator structure generally does not have multi-stage stretching and multi-stage stretching functions, so that the manipulator is not flexible to use, and the grabbing and lifting range is small.
To solve the above problem, a manipulator having a multi-stage telescopic function is proposed.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome prior art's defect, provide a manipulator with multistage flexible function, in order to solve above-mentioned technical problem, the utility model provides a following technical scheme:
the utility model relates to a manipulator with multistage flexible function, which comprises a base, a first hydraulic rod and a first arm rod are respectively hinged on the base through a pin shaft, a triangular fixing frame is also fixed on the base, the first arm rod is in a triangular structure, the end part of a piston rod of the first hydraulic rod is hinged on the first arm rod through a pin shaft, the top end of the first arm rod is hinged on the middle part of a second arm rod through a pin shaft, the top end of the fixing frame is hinged with a pull rod through a pin shaft, the pull rod is hinged on one end of the second arm rod through a pin shaft, the other end of the second arm rod is fixed with a fixing base, a motor is fixed on the fixing base, a spindle end of the motor is fixedly connected with a shaft rod, the end part of the shaft rod is connected with a second hydraulic rod through a guide mechanism, a sliding plate is fixed on the piston rod end of the second hydraulic rod, a third arm rod is fixed on, the end part of the third arm rod is hinged with a grabbing and lifting mechanism through a pin shaft, and the end part of a piston rod of the third hydraulic rod is hinged with the grabbing and lifting mechanism through a pin shaft.
Preferably, the guide mechanism comprises a rotary table fixed at the end part of the shaft rod, a guide rod parallel to the central axis is fixed at the edge of the rotary table, and the sliding plate is slidably connected to the guide rod.
Preferably, the grabbing mechanism comprises two clamping jaws with the same structure, the two clamping jaws are symmetrically connected to a third arm rod in a hinged mode through a pin shaft, the third arm rod is overlapped with the central axis of the second arm rod, and the piston rod end of the third hydraulic rod is connected with the clamping jaws in a hinged mode through a third connecting rod and the pin shaft.
Preferably, a counterweight mechanism is arranged between the first arm rod and the fixing frame, and the counterweight mechanism comprises a first connecting rod, a second connecting rod and a counterweight ball.
Preferably, one end of the connecting rod is hinged to the joint of the first hydraulic rod and the first arm rod, the other end of the connecting rod is hinged to one end of the second connecting rod through a pin shaft, the other end of the second connecting rod is fixedly connected with the counterweight ball, and the second connecting rod is hinged to the top end of the fixing frame through a pin shaft near the joint of the second connecting rod and the first connecting rod.
Compared with the prior art, the utility model discloses the beneficial effect who reaches is:
1. in the embodiment, the first hydraulic rod controls the first arm rod and the second arm rod to swing, and the second hydraulic rod controls the third arm rod to extend and shorten, so that the length of the grabbing distance is controlled, and the grabbing range of the manipulator is improved;
2. in this embodiment, rotate through the motor and drive the axostylus axostyle and rotate certain angle to the control snatchs the plane of lifting of mechanism, adjusts according to the form of article and snatchs the position, or is overturning article, improves the nimble degree of manipulator.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of an assembly structure of a manipulator with multi-stage telescopic function according to the present invention.
In the figure: 1-a base; 2-a fixing frame; 3-a first hydraulic lever; 4-a first arm; 5, connecting rod one; 6-connecting rod two; 7-a counterweight ball; 8-a pull rod; 9-a second arm; 10-a fixed seat; 11-a motor; 12-an axle rod; 13-a turntable; 14-a guide rod; 15-a second hydraulic rod; 16-a slide plate; 17-a third arm; 18-a third hydraulic lever; 19-link three; 20-claw.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Examples
As shown in fig. 1, a manipulator with multi-stage telescopic function comprises a base 1, a first hydraulic rod 3 and a first arm rod 4 are respectively hinged on the base 1 through a pin shaft, a triangular fixing frame 2 is further fixed on the base 1, the first arm rod 4 is in a triangular structure, the end part of a piston rod of the first hydraulic rod 3 is hinged on the first arm rod 4 through a pin shaft, the top end of the first arm rod 4 is hinged on the middle part of a second arm rod 9 through a pin shaft, the top end of the fixing frame 2 is hinged on a pull rod 8 through a pin shaft, the pull rod 8 is hinged on one end of the second arm rod 9 through a pin shaft, a fixing seat 10 is fixed on the other end of the second arm rod 9, a motor 11 is fixed on the fixing seat 10, the motor 11 adopts a stepping motor, the main shaft end of the motor 11 is fixedly connected with a shaft rod 12, the end part of the shaft rod 12 is connected with a second hydraulic rod 15 through a guide mechanism, the, the edge of carousel 13 is fixed with the guide bar 14 parallel with the central axis, slide 16 sliding connection is on guide bar 14, the piston rod end of second hydraulic stem 15 is fixed with slide 16, be fixed with third arm 17 on the slide 16, be fixed with third hydraulic stem 18 on the third arm 17, two jack catch 20 symmetries formula are connected on third arm 17 through the round pin axle is articulated, third arm 17 and the coincidence of second arm 9 central axis, the piston rod end of third hydraulic stem 18 is through connecting rod three 19 and round pin axle articulated connection jack catch 20.
In this embodiment, the working process of the manipulator is as follows:
the extension or shortening of the first hydraulic rod 3 drives the first arm lever 4 to rotate around the hinged point of the first arm lever 4 and the base 1, because a four-bar linkage is formed among the first arm lever 4, the second arm lever 9, the pull rod 8 and the base 1, the swinging of the first arm lever 4 enables the pull rod 8 to apply pulling force or pushing force to the second arm lever 9, enables the second arm lever 9 to swing around the hinged point of the second arm lever 9 and the first arm lever 4 around a shaft, so as to drive the fixed seat 10 to swing, the third arm lever 17 and the guide mechanism are connected on the shaft lever 12, so as to swing synchronously with the fixed seat 10, the extension or shortening of the second hydraulic rod 15 pushes the third arm lever 17 to move linearly, so as to control the working range of the jaws 20, the extension or shortening of the third hydraulic rod 18 applies pushing force or pulling force to the jaws 20 through the connecting rod three 19, so as to enable the two jaws 20 to rotate around the hinged point of the jaws 20 and the third arm lever 17, i.e. the two jaws 20 open or close, to grip the object.
In this embodiment, when there is the requirement or need overturn the article to the position of snatching of article, drive axostylus axostyle 12 through the corotation of starter motor 11 or reversal and rotate certain angle, the rotation of axostylus axostyle 12 drives guiding mechanism and third arm 17 and rotates in step to change the snatching plane at jack catch 20 place, improve the degree of flexibility of manipulator.
In this embodiment, a counterweight mechanism is disposed between the first arm 4 and the fixing frame 2, the counterweight mechanism includes a first connecting rod 5, a second connecting rod 6 and a counterweight ball 7, one end of the first connecting rod 5 is hinged to the joint between the first hydraulic rod 3 and the first arm 4, the other end is hinged to one end of the second connecting rod 6 through a pin shaft, the other end of the second connecting rod 6 is fixedly connected to the counterweight ball 7, the joint on the second connecting rod 6, which is close to the second connecting rod 6 and the first connecting rod 5, is hinged to the top end of the fixing frame 2 through a pin shaft, the counterweight mechanism plays a role of balancing, when the claw 20 needs to grab and lift a far object, the first hydraulic rod 3 extends, the included angle between the first connecting rod 5 and the second connecting rod 6 increases, at this time, the second connecting rod 6 rotates counterclockwise around the hinge point between the second connecting rod 6 and the fixing frame 2, the rotation of the second connecting rod 6 drives the, thereby the moment of balanced jack catch 20 department, jack catch 20 snatch when the nearer article of distance, first hydraulic stem 3 shortens, the contained angle between connecting rod 5 and the connecting rod two 6 diminishes, connecting rod two 6 is around the pin joint clockwise rotation of connecting rod two 6 and mount 2 this moment, the synchronous revolution of connecting rod two 6 rotatory drive counterweight ball 7, counterweight ball 7 shortens in the reverse moment of level to the moment of balanced jack catch 20 department keeps the stability of manipulator during operation.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a manipulator with multistage flexible function, includes base (1), its characterized in that: a first hydraulic rod (3) and a first arm rod (4) are respectively hinged and connected to the base (1) through pin shafts, a triangular fixing frame (2) is further fixed to the base (1), the first arm rod (4) is of a triangular structure, the end portion of a piston rod of the first hydraulic rod (3) is hinged and connected to the first arm rod (4) through a pin shaft, the top end of the first arm rod (4) is hinged and connected to the middle portion of the second arm rod (9) through a pin shaft, the top end of the fixing frame (2) is hinged and connected with a pull rod (8) through a pin shaft, the pull rod (8) is hinged and connected to one end of the second arm rod (9) through a pin shaft, a fixing seat (10) is fixed to the other end of the second arm rod (9), a motor (11) is fixed to the fixing seat (10), a spindle end of the motor (11) is fixedly connected to a shaft lever (12), and the end of the shaft lever (12) is connected to the second hydraulic rod (, the piston rod end of second hydraulic stem (15) is fixed with slide (16), is fixed with third armed lever (17) on slide (16), and is fixed with third hydraulic stem (18) on third armed lever (17), the tip of third armed lever (17) is connected with through round pin axle hinge and grabs the mechanism of lifting, and the piston rod end of third hydraulic stem (18) is connected through round pin axle hinge and is grabbed the mechanism of lifting.
2. A manipulator with multi-stage telescopic function according to claim 1, wherein the guide mechanism comprises a rotary table (13) fixed at the end of the shaft (12), a guide rod (14) parallel to the central axis is fixed at the edge of the rotary table (13), and the slide plate (16) is slidably connected to the guide rod (14).
3. The manipulator with the multi-stage telescopic function as claimed in claim 1, wherein the grabbing and lifting mechanism comprises two jaws (20) with the same structure, the two jaws (20) are symmetrically hinged and connected to a third arm rod (17) through a pin shaft, the central axis of the third arm rod (17) is coincident with that of the second arm rod (9), and the piston rod end of the third hydraulic rod (18) is hinged and connected with the jaws (20) through a connecting rod III (19) and the pin shaft.
4. The manipulator with multi-stage telescopic function according to claim 1, wherein a counterweight mechanism is arranged between the first arm (4) and the fixed frame (2), and the counterweight mechanism comprises a first connecting rod (5), a second connecting rod (6) and a counterweight ball (7).
5. The manipulator with the multi-stage telescopic function according to claim 4, wherein one end of the first connecting rod (5) is hinged to the joint of the first hydraulic rod (3) and the first arm rod (4), the other end of the first connecting rod (5) is hinged to one end of the second connecting rod (6) through a pin shaft, the other end of the second connecting rod (6) is fixedly connected with the counterweight ball (7), and the second connecting rod (6) is hinged to the top end of the fixed frame (2) through a pin shaft, close to the joint of the second connecting rod (6) and the first connecting rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921287840.5U CN210850333U (en) | 2019-08-09 | 2019-08-09 | Manipulator with multistage flexible function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921287840.5U CN210850333U (en) | 2019-08-09 | 2019-08-09 | Manipulator with multistage flexible function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210850333U true CN210850333U (en) | 2020-06-26 |
Family
ID=71304010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921287840.5U Expired - Fee Related CN210850333U (en) | 2019-08-09 | 2019-08-09 | Manipulator with multistage flexible function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210850333U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
| JP7099658B1 (en) * | 2021-07-19 | 2022-07-12 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| WO2023002641A1 (en) * | 2021-07-19 | 2023-01-26 | 日本精工株式会社 | Robot mechanism and parallel link robot |
-
2019
- 2019-08-09 CN CN201921287840.5U patent/CN210850333U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
| JP7099658B1 (en) * | 2021-07-19 | 2022-07-12 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| WO2023002641A1 (en) * | 2021-07-19 | 2023-01-26 | 日本精工株式会社 | Robot mechanism and parallel link robot |
| US11872693B2 (en) | 2021-07-19 | 2024-01-16 | Nsk Ltd. | Robot mechanism and parallel link robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210850333U (en) | Manipulator with multistage flexible function | |
| CN207387637U (en) | A kind of FCL handling machinery arm | |
| JP2010253571A (en) | Chuck hand with tip movable claw | |
| CN212919457U (en) | Mechanical arm | |
| CN210704823U (en) | Double-rod type adjusting shaft structure of manipulator | |
| CN109850557B (en) | Manipulator transfer device and implementation method thereof | |
| CN110978028B (en) | Hand and foot combination device for walking robot | |
| CN209350262U (en) | A kind of stacking mechanical gripper | |
| CN104708616A (en) | Three-freedom-degree positioning mechanism and telescopic driving type multi-freedom-degree hybrid robot comprising same | |
| CN207953910U (en) | A kind of purely mechanic transmission three-finger paw of multi link | |
| CN207643129U (en) | Stamping mechanical arm | |
| CN210633700U (en) | Hydraulic drive formula biax swing arm manipulator device | |
| CN209491759U (en) | A kind of robot device of reliable clamping | |
| CN211056161U (en) | Novel manipulator snatchs device | |
| CN209319779U (en) | A kind of fetching device based on manipulator | |
| CN212736010U (en) | Connecting rod type manipulator | |
| CN209507035U (en) | A kind of rotation lifts component and manipulator is lifted in rotation | |
| CN208663785U (en) | Gravity mechanical hand | |
| CN108946444A (en) | The grabbing device of wheel rim | |
| CN211193944U (en) | A manipulator for intelligent manufacturing | |
| CN210709617U (en) | Clamping and lifting device | |
| CN107344356A (en) | A kind of anthropomorphic wrist refers to hybrid mechanism | |
| CN211440039U (en) | Gripper of truss manipulator for grabbing motor rotor | |
| CN210650658U (en) | Mobile stacking robot | |
| CN108818494B (en) | Gravity manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |