CN212763517U

CN212763517U - Connecting rod type manipulator

Info

Publication number: CN212763517U
Application number: CN202021407893.9U
Authority: CN
Inventors: 邓积权; 邓茗月; 李剑强; 杨正友; 侯荣富
Original assignee: Dongguan Jieda Machinery Technology Co ltd
Current assignee: Dongguan Jieda Machinery Technology Co ltd
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2021-03-23
Anticipated expiration: 2030-07-16

Abstract

The utility model belongs to the technical field of the machining equipment technique and specifically relates to indicate a connecting rod formula manipulator, press from both sides and get mechanism, gear drive and power supply including pressing from both sides, this power supply is pressed from both sides through gear drive and is got the mechanism clamp and get or loosen the work piece, still includes locking mechanism, and this locking mechanism includes magnetism and inhales the piece cooperation and use and produce the electro-magnet of magnetic force when the circular telegram with magnetism, when pressing from both sides the mechanism clamp and get the work piece, the electro-magnet circular telegram produces magnetic force and magnetism and inhales a magnetism and inhale the clamping position. The design of locking mechanism, when the power supply presss from both sides through gear drive mechanism drive clamp and gets the mechanism and press from both sides the time-out work piece, the electro-magnet can be switched on and produce magnetic force and inhale a cooperation magnetism and inhale to press from both sides the present clamping position of mechanism and fix, realized promptly like this and got the locking of subassembly clamping position to avoiding the work piece to take place not hard up at aversion in-process gear drive mechanism and lead to the work piece pine to take off the phenomenon emergence that drops the damage.

Description

Connecting rod type manipulator

Technical Field

The utility model belongs to the technical field of the machining equipment technique and specifically relates to indicate a connecting rod formula manipulator.

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 robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

The connecting rod formula manipulator generally adopts the driven mode of gear engagement to realize pressing from both sides and get mechanism centre gripping or loosen the work piece at present, when pressing from both sides the mechanism and getting the work piece, the power supply can only drive and press from both sides the mechanism and apply appropriate clamping-force to the work piece, otherwise press from both sides the work piece easily, consequently, lead to the work piece when shifting, because press from both sides the mechanism and need add the weight of work piece self, lead to gear engagement department to produce not hard up easily, cause the work piece to get from pressing from both sides and get the mechanism and loosen and take off, produce the collision with ground or equipment and cause wearing and tearing, can.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a connecting rod formula manipulator, get the mechanism through locking mechanism to pressing from both sides and lock the centre gripping position of work piece to avoid the work piece when shifting, gear drive takes place not hard up to lead to the work piece to press from both sides the phenomenon emergence that the subassembly pine takes off from getting.

In order to solve the technical problem, the utility model discloses a following technical scheme: connecting rod formula manipulator is got mechanism, gear drive and power supply including pressing from both sides, and this power supply is got the mechanism through gear drive clamp and is got or loosen the work piece, still includes locking mechanism, and this locking mechanism includes magnetism to inhale the piece and inhale the piece cooperation with magnetism and use and the electro-magnet that produces magnetic force when the circular telegram when getting the mechanism clamp and get the work piece, the electro-magnet circular telegram produces magnetic force and magnetism to inhale the piece magnetism and inhale the clamping position locking of getting the mechanism to pressing from both sides.

Preferably, the clamping mechanism comprises a first clamping assembly and a second clamping assembly which are matched with each other, and the first clamping assembly and the second clamping assembly both comprise an installation seat and a clamping plate arranged on the installation seat.

Preferably, a buffer piece is arranged between the mounting seat and the clamping plate.

Preferably, the buffer member is a spring, and two ends of the spring are respectively abutted against the mounting seat and the clamping plate.

Preferably, the gear transmission mechanism comprises a mounting bracket, a first connecting rod, a second connecting rod, a transmission gear and a rack, wherein two ends of the first connecting rod are respectively hinged with the mounting seat and the mounting bracket, one end of the second connecting rod is hinged with the clamping plate, the other end of the second connecting rod is hinged with the transmission gear, the transmission gear is hinged with the mounting bracket, the rack is meshed with the transmission gear, and the electromagnet is fixedly connected with the mounting bracket.

Preferably, the shape of piece is inhaled to magnetism is the cylinder type, the power supply is for installing in the actuating cylinder that drives of installing support, the one end and the rack fixed connection of piece are inhaled to magnetism, and the other end of piece is inhaled with the piston rod fixed connection that drives actuating cylinder to magnetism, the electro-magnet cover is located magnetism and is inhaled the piece and inhale a sliding connection with magnetism.

Preferably, the magnetic attraction piece is a magnet or a metal piece.

The beneficial effects of the utility model reside in that: the utility model provides a connecting rod formula manipulator, locking mechanism's design, when the power supply gets the mechanism and gets the work piece and press from both sides through gear drive mechanism drive clamp, the electro-magnet can be switched on and produce magnetic force and inhale a cooperation magnetism and inhale to press from both sides and get the present clamping position of mechanism and fix, has realized promptly like this and has got the locking of subassembly clamping position to pressing from both sides to avoid the work piece to take place not hard up and lead to the work piece pine to take off the phenomenon emergence that drops the damage in aversion in-process gear drive mechanism.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Detailed Description

In order to facilitate the understanding of those skilled in the art, the present invention will be further described with reference to the following examples, which are not intended to limit the scope of the present invention.

As shown in fig. 1, the link type manipulator includes a clamping mechanism 1, a gear transmission mechanism 2 and a power source 3, the power source 3 drives the clamping mechanism 1 to clamp or loosen a workpiece through the gear transmission mechanism 2, and the locking mechanism 4 includes a magnetic attraction member 40 and an electromagnet 41 cooperating with the magnetic attraction member 40 and generating magnetic force when being powered on, when the clamping mechanism 1 clamps the workpiece, the electromagnet 41 is powered on to generate magnetic force and the magnetic attraction member 40 magnetically attracts to lock a clamping position of the clamping mechanism 1.

Locking mechanism 4's design, when power supply 3 gets mechanism 1 through gear drive 2 drive clamp and gets the work piece and press from both sides when getting, electro-magnet 41 can be switched on and produce magnetic force and inhale 40 cooperation magnetism and inhale to press from both sides and get the current clamping position of mechanism 1 and fix, realized promptly like this and got the locking of subassembly clamping position to the clamp to avoid the work piece to take place not hard up and lead to the work piece pine to take off the phenomenon emergence that drops the damage at aversion in-process gear drive 2.

In this embodiment, the clamping mechanism 1 includes a first clamping component 10 and a second clamping component 11, which are used in cooperation, and the first clamping component 10 and the second clamping component 11 both include an installation base 12 and a clamping plate 13 disposed on the installation base 12. In practical application, the clamping surface of the clamping plate 13 can adopt the design of anti-slip lines or anti-slip grooves to improve the friction force between the workpiece and the clamping plate 13, so as to improve the stability of clamping the workpiece.

In this embodiment, a buffer 14 is disposed between the mounting base 12 and the clamping plate 13. The design of the buffer piece 14 allows a certain position error to exist in the grabbing process of the clamping plate or the workpiece, self-adaptive adjustment can be performed, grabbing time is reduced, and working efficiency is improved.

In this embodiment, the buffer 14 is a spring, and both ends of the spring are respectively abutted against the mounting seat 12 and the clamping plate 13. The spring is strong in deformable performance, if the clamping plate or the workpiece has a certain position error in the grabbing process, the spring can deform in a self-adaptive mode, so that the position of the clamping plate 13 is adjusted in a self-adaptive mode, and various production situations can be met.

In this embodiment, the gear transmission mechanism 2 includes a mounting bracket 50, a first connecting rod 51 whose two ends are respectively hinged to the mounting base 12 and the mounting bracket 50, a second connecting rod 52 whose one end is hinged to the gripping plate 13, a transmission gear 53 which is hinged to the other end of the second connecting rod 52 and is hinged to the mounting bracket 50, and a rack 54 which is engaged with the transmission gear 53, and the electromagnet 41 is fixedly connected to the mounting bracket 50. The rack 54 is meshed with the transmission gear 53 to ensure the accuracy of the clamping position of the clamping mechanism 1, and in practical application, the second connecting rod 52 is a transmission rod which is hinged with the transmission gear 53 and drives the clamping plate to move through the transmission of the second connecting rod 52, and the first connecting rod 51 plays a role in reinforcing the clamping mechanism.

In this embodiment, the magnetic element 40 is cylindrical, the power source 3 is a driving cylinder installed on the mounting bracket 50, one end of the magnetic element 40 is fixedly connected to the rack 54, the other end of the magnetic element 40 is fixedly connected to the piston rod 30 of the driving cylinder, and the electromagnet 41 is sleeved on the magnetic element 40 and slidably connected to the magnetic element 40. When a workpiece needs to be clamped, the driving cylinder drives the rack 54 to slide downwards to a set position, the first clamping mechanism 1 and the second clamping mechanism 1 are far away from each other and are respectively arranged on two sides of the workpiece through the cooperation of the gear, the first connecting rod 51 and the second connecting rod 52, the electromagnet 41 is not electrified and the magnetic attraction piece 40 slides in the electromagnet 41, then the driving cylinder drives the rack 54 to slide upwards, the first clamping mechanism 1 and the second clamping mechanism 1 clamp the workpiece through the cooperation of the gear, the first connecting rod 51 and the second connecting rod 52, the electromagnet 41 is electrified to generate magnetic force and is matched with the magnetic attraction piece 40 to fix the clamping positions of the first clamping mechanism 1 and the second clamping mechanism 1, and therefore the phenomenon that the workpiece is loosened from the clamping assembly due to the fact that the gear transmission mechanism 2 loosens in the workpiece shifting process is avoided.

In this embodiment, the magnetic attraction member 40 is a magnet or a metal member. Magnet and metalwork homoenergetic and the electro-magnet 41 under the on-state produce magnetic attraction, and preferred magnetism is inhaled piece 40 and is the magnet, and the magnetic attraction that magnet and the electro-magnet 41 under the on-state produced is great, and the steadiness is inhaled to magnetism is strong.

In the description of the present invention, it should be noted that, for the orientation words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected", if any, are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

The above-mentioned embodiments only express a plurality of embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. Connecting rod formula manipulator gets mechanism (1), gear drive (2) and power supply (3) including pressing from both sides, and this power supply (3) are got mechanism (1) clamp through gear drive (2) drive and are got or loosen the work piece, its characterized in that: the clamping mechanism comprises a clamping mechanism body (1) and a locking mechanism body (4), wherein the locking mechanism body (4) comprises a magnetic piece (40) and an electromagnet (41) which is matched with the magnetic piece (40) for use and generates magnetic force when being electrified, when the clamping mechanism body (1) clamps a workpiece, the electromagnet (41) is electrified to generate magnetic force and the magnetic piece (40) is magnetically attracted to lock the clamping position of the clamping mechanism body (1).

2. The link robot of claim 1, wherein: the clamping mechanism (1) comprises a first clamping assembly (10) and a second clamping assembly (11) which are matched with each other, and the first clamping assembly (10) and the second clamping assembly (11) both comprise an installation base (12) and a clamping plate (13) arranged on the installation base (12).

3. The link manipulator according to claim 2, wherein: and a buffer (14) is arranged between the mounting seat (12) and the clamping plate (13).

4. The link manipulator according to claim 3, wherein: the buffer piece (14) is a spring, and two ends of the spring are respectively abutted against the mounting seat (12) and the clamping plate (13).

5. The link manipulator according to claim 2, wherein: the gear transmission mechanism (2) comprises a mounting support (50), a first connecting rod (51) with two ends respectively hinged with the mounting base (12) and the mounting support (50), a second connecting rod (52) with one end hinged with the clamping plate (13), a transmission gear (53) hinged with the other end of the second connecting rod (52) and the mounting support (50), and a rack (54) meshed with the transmission gear (53), wherein the two ends of the first connecting rod (51) are connected with the mounting base (12) and the mounting support (50) in a hinged mode, and the electromagnet (41) is fixedly connected with the mounting support (50).

6. The link robot of claim 5, wherein: the shape of piece (40) is inhaled to magnetism is the cylinder type, power supply (3) are for installing in the actuating cylinder that drives of installing support (50), the one end and rack (54) fixed connection of piece (40) are inhaled to magnetism, and the other end of piece (40) is inhaled with piston rod (30) fixed connection who drives actuating cylinder to magnetism, electromagnet (41) cover is located magnetism and is inhaled piece (40) and inhale piece (40) sliding connection with magnetism.

7. The link robot according to any one of claims 1 to 6, wherein: the magnetic attraction piece (40) is a magnet or a metal piece.