CN212887667U - Manipulator that can adjust in a flexible way - Google Patents
Manipulator that can adjust in a flexible way Download PDFInfo
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- CN212887667U CN212887667U CN202021547608.3U CN202021547608U CN212887667U CN 212887667 U CN212887667 U CN 212887667U CN 202021547608 U CN202021547608 U CN 202021547608U CN 212887667 U CN212887667 U CN 212887667U
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- driving motor
- grippers
- driven gear
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Abstract
A manipulator capable of being flexibly adjusted is characterized in that a first driving motor and a second driving motor are installed in a main body frame, the first driving motor rotates to control two grippers to be synchronously opened or closed, the main body frame further comprises two movable frames, the two movable frames can respectively clamp the grippers to move, the movable frames can push the grippers to move on a rotating shaft, nuts are arranged on the movable frames to be occluded with screws, the screws are connected with driven gears, the driven gears rotate to drive the nuts to do occluded motion with the screws as axes, so that the movable frames are controlled to move forwards or backwards, the movable frames move to drive the grippers to move, the second driving motor is arranged in the main body frame to control the distance between the two grippers to be adjusted, the first driving motor can synchronously control the two grippers to be grasped or opened, and the distance of the grippers can be adjusted, can be applicable to snatching of multiple different objects, the stability of snatching can be higher, and the flexibility is also stronger.
Description
Technical Field
The utility model relates to an automatic change quick-witted tongs technical field, it is specific to relate to a manipulator that can adjust in a flexible way.
Background
The manipulator all uses comparatively much on the assembly line of various production operations, but the area of snatching of the portion of snatching of these manipulators is all fixed, by the size decision of manipulator, the manipulator that the portion of snatching can automatically regulated distance has lacked in the market, and the manipulator can meet often in the use and need snatch different objects, if just need change the manipulator that can long distance snatch when snatching longer object, can cause inconvenience, just need the manipulator to possess the function of adjusting and snatching the distance, and this application provides a manipulator that can adjust in a flexible way, can be suitable for snatching of different objects, performance when grabbing the object is more stable, its low in manufacturing cost, use in a flexible way.
Disclosure of Invention
The utility model aims at solving foretell difficult problem, the utility model provides a manipulator that can adjust in a flexible way snatchs the portion and can adjust the distance, can be applicable to snatching of multiple different objects, and the stability can of snatching is higher, and the flexibility is also stronger, can snatch article more accurately, also can satisfy different user demands in the machine of difference.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a manipulator that can adjust in a flexible way, includes the main part frame, install in the main part frame first driving motor with second driving motor, install the tongs on first driving motor's the rotation axis, first driving motor rotates and can control the tongs and open or grab and close, the main part frame is still including being provided with the adjustable shelf, the tongs can be being centre gripping to the adjustable shelf, the adjustable shelf motion can promote the tongs and move on the rotation axis, be provided with nut and screw rod interlock on the adjustable shelf, the screw rod is connected with driven gear, and driven gear rotates and can drive the nut and use the screw rod as axle center interlock motion to control the adjustable shelf motion, the adjustable shelf motion just drives the tongs motion, realizes tongs adjusting distance.
Two screw rods are installed in the main body frame, the left tail ends of the two screw rods are respectively provided with a driven gear, the two driven gears arranged at the tail ends of the two screw rods are meshed with each other, and one screw rod can synchronously drive the other screw rod to rotate when rotating.
The inside of main part frame is provided with two adjustable shelves, nut on two adjustable shelves is respectively with the screw rod interlock, can drive two adjustable shelves opposite direction motion when two screw rods rotate in step and be close to each other/or reverse motion is kept away from each other.
The side of main part frame is provided with second driving motor, and second driving motor and driving gear connection, second driving motor rotate and can control the driving gear and rotate, driving gear and driven gear meshing, driven gear and another driven gear intermeshing, two driven gears are connected with the screw rod respectively separately, and driven gear rotates and can drive the screw rod and rotate.
Two grippers are installed in the main body frame, a driven claw and a driving claw are arranged between each independent gripper, the driven claw and the driving claw are connected through tooth occlusion, the driven claws of the two grippers are connected with the same connecting shaft, the driving claws of the two grippers are connected with a rotating shaft of a first driving motor, and the rotation of the rotating shaft of the first driving motor can control the two grippers to synchronously open or close.
Two movable frames are arranged in the main body frame, each movable frame is respectively connected with one gripper in a clamping mode, the grippers can open or close in the clamping portions of the movable frames, and the movable frames can push the grippers to move forwards or backwards in the rotating shafts and the connecting shafts.
The nuts of the two movable frames are respectively occluded with the screw rods, the driving gear is driven to rotate clockwise when the second driving motor rotates clockwise, the driving gear rotates clockwise to drive the driven gear to rotate anticlockwise, the driven gear rotates anticlockwise to drive the nut connected with the screw rod to move forward, the movable frames are driven to move forward, the driven gear rotates anticlockwise to drive the other driven gear to rotate clockwise, the other driven gear rotates clockwise to drive the nut connected with the screw rod to move backward, the movable frames move backward, the two movable frames mounted on the main frame move in opposite directions, the gripper in the clamping of the movable frames is pushed to move close, and the distance between the two grippers is adjusted and shortened.
When the first driving motor rotates anticlockwise, the two movable frames arranged on the main body frame move away in the opposite direction, the hand grips in the clamping of the movable frames are pushed to move away in the opposite direction, and the distance between the two hand grips is adjusted and extended.
The utility model has the advantages that the manipulator which can be flexibly adjusted is characterized in that a first driving motor and a second driving motor are arranged in a main body frame, a gripper is arranged on a rotating shaft of the first driving motor, the first driving motor can control two grippers to synchronously open or close by rotating, the main body frame also comprises two movable frames, the two movable frames can respectively clamp the grippers to move, the movable frames can push the grippers to move on the rotating shaft by moving, nuts and screw rods which are meshed are arranged on the movable frames, the screw rods are connected with driven gears, the driven gears can drive the nuts to be meshed by taking the screw rods as axes by rotating, thereby controlling the movable frames to move forwards or backwards, the movable frames can drive the grippers to move, the second driving motor is arranged in the main body frame to control the distance between the two grippers to be adjusted, first driving motor can two tongs of synchro control snatch or open, and the distance that has realized the tongs can be adjusted, can be applicable to the snatching of multiple different objects, and the stability ability of snatching is higher, and the flexibility is also stronger, can snatch article more accurately, also can satisfy different user demands in the machine of difference.
Drawings
FIG. 1 is a perspective view
Fig. 2 is an exploded view of a perspective view
FIG. 3 is a perspective view of two hand grips with reduced distance
In the figure: 1. the gripper comprises a gripper body, 2 a movable frame, 3 a first driving motor, 4 a rotating shaft, 5 a second driving motor, 6 a driving gear, 7 a nut, 8 a driven gear, 9 a screw rod, 10 a main body frame and 11 teeth.
Detailed Description
In the embodiment shown in fig. 1 and 2, the first driving motor 3 and the second driving motor 5 are installed on the main body frame 10, the gripper 1 is installed on a rotating shaft of the first driving motor 3, the first driving motor 3 rotates to control the gripper 1 to open or close, the main body frame 10 further comprises a movable frame 2, the movable frame 2 can clamp the gripper 1, the movable frame 2 moves to push the gripper 1 to move on the rotating shaft, a nut 7 is arranged on the movable frame 2 to be meshed with a screw 9, the screw 9 is connected with a driven gear 8, the driven gear 8 rotates to drive the nut 7 to perform meshing movement by taking the screw 9 as an axis, so that the movable frame 2 is controlled to move, the movable frame 2 moves to drive the gripper 1 to move, and the distance adjustment of the gripper 1 is realized.
Two screw rods 9 are installed in the main body frame 10, the left tail ends of the two screw rods 9 are respectively provided with a driven gear 8, the two driven gears 8 are meshed with each other, and one screw rod 9 can synchronously drive the other screw rod 9 to rotate when rotating.
The inside of main part frame is provided with two adjustable shelf 2, be provided with nut 7 on two adjustable shelf respectively with the interlock of screw rod 9, two screw rods 9 can drive two adjustable shelf 2 opposite direction motion when synchronous rotation and be close to each other or reverse motion is kept away from each other.
The side of main part frame 10 is provided with second driving motor 5, and second driving motor 5 is connected with driving gear 6, and second driving motor 5 rotates and can control driving gear 6 and rotate, and driving gear 6 meshes with driven gear 8, and driven gear 8 and another driven gear 8 intermeshing, two driven gear 8 are connected with screw rod 9 separately respectively, and driven gear 8 rotates and can drive screw rod 9 and rotate.
Two grippers 1 are installed in the main body frame 10, a driven claw and a driving claw are arranged between each single gripper 1, the driven claw and the driving claw are connected in an occluded mode through teeth 11, the driven claws of the two grippers 1 are connected with the same connecting shaft, the driving claw of the two grippers 1 is connected with a rotating shaft 4 of a first driving motor 3, and the rotating shaft 4 of the first driving motor 3 rotates to control the two grippers 1 to synchronously open or close.
Two movable frames 2 are installed in the main body frame 10, a nut 7 is installed and fixed at the upper end of each movable frame 2, a clamping portion is arranged at the lower end of each movable frame 2 and can clamp the corresponding hand grip 1, each movable frame 2 is respectively connected with one hand grip 1 in a clamping mode, the hand grips 1 can open or close in the clamping portions of the movable frames 2, and the movable frames 2 can move to push the hand grips 1 to move leftwards or rightwards in the rotating shaft 4 and the connecting shaft.
In the embodiment shown in fig. 3, the nuts 7 of the two movable frames 2 are respectively engaged with the screw rods 9, when the second driving motor 5 rotates clockwise, the driving gear 6 is driven to rotate clockwise, the driving gear 6 rotates clockwise, the driven gear 8 rotates counterclockwise, the nut 7 connected with the screw rod 9 is driven to move forward, the movable frame 2 is driven to move forward, the driven gear 8 rotates counterclockwise, the other driven gear 8 rotates clockwise, the nut 7 connected with the screw rod 9 is driven to move backward, the movable frames 2 move backward, the two movable frames 3 mounted on the main frame 10 move toward each other, the gripper 1 clamped by the movable frames 2 is pushed to move toward each other, and the distance between the two grippers 1 is adjusted and shortened, the two grippers 1 are close to the gripper combined into a whole, and the first driving motor 3 can control the grippers 1 to grip an object.
When the second driving motor 5 rotates anticlockwise, the two movable frames 2 arranged on the main body frame 10 move away from each other in the opposite direction, the hand grips 1 in the clamping of the movable frames 2 are pushed to move in the opposite direction, the distance between the two hand grips 1 is adjusted and extended, the distance between the two hand grips 1 for gripping an object is increased, and the object can be gripped more tightly and more stably.
The utility model discloses set up the second driving motor inside the main part frame and control the distance between two tongs and can adjust, first driving motor can two tongs of synchronous control snatch or open, realized that the distance of tongs can be adjusted, can be applicable to snatching of multiple different objects, the stability ability of snatching is higher, the flexibility is also stronger, can snatch article more accurately, also can satisfy different user demands in the machine of difference.
Claims (7)
1. The utility model provides a manipulator that can adjust in a flexible way, includes main part frame, adjustable shelf, its characterized in that: install first driving motor and second driving motor in the main part frame, install the tongs on first driving motor's the rotation axis, first driving motor rotates and can control the tongs and open or grab and close, the main part frame is still including being provided with the adjustable shelf, the tongs can be being held to the adjustable shelf, the adjustable shelf motion can promote the tongs and move on the rotation axis, be provided with nut and screw rod interlock on the adjustable shelf, the screw rod is connected with driven gear, and driven gear rotates and can drive the nut and use the screw rod as axle center interlock motion, controls the adjustable shelf motion, and the adjustable shelf motion just drives the tongs motion, realizes tongs adjusting distance motion.
2. The flexibly adjustable manipulator of claim 1, wherein: two screw rods are installed in the main body frame, the left tail ends of the two screw rods are respectively provided with a driven gear, and the two driven gears arranged at the tail ends of the two screw rods are meshed with each other.
3. A flexibly adjustable manipulator according to claim 1 or 2, wherein: two movable frames are arranged inside the main body frame, and nuts are arranged on the two movable frames and are respectively meshed with the screw rods.
4. The flexibly adjustable manipulator of claim 3, wherein: the side of main part frame is provided with second driving motor, and the second is refuted movable motor and is connected with the driving gear, and the driving gear meshes with driven gear, and driven gear and another driven gear intermeshing, driven gear rotation can drive the screw rod and rotate.
5. The flexibly adjustable manipulator of claim 1, wherein: two grippers are installed in the main body frame, a driven claw and a driving claw are arranged between each two independent grippers, and the driven claw and the driving claw are connected in an occluded mode through teeth.
6. The flexibly adjustable manipulator of claim 5, wherein: driven claws of two grippers inside the main body frame are connected with the same connecting shaft, driving claws of the two grippers are connected with a rotating shaft of a first driving motor, and the rotating shaft of the first driving motor rotates to control the two grippers to synchronously open or close.
7. The flexibly adjustable manipulator of claim 1, wherein: the two movable frames in the main body frame are respectively connected with the gripper in a clamping mode, the gripper can open or close in the clamping portion of the movable frame, and the movable frame can move to push the gripper to move forwards or backwards in the rotating shaft and the connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021547608.3U CN212887667U (en) | 2020-07-30 | 2020-07-30 | Manipulator that can adjust in a flexible way |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021547608.3U CN212887667U (en) | 2020-07-30 | 2020-07-30 | Manipulator that can adjust in a flexible way |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212887667U true CN212887667U (en) | 2021-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021547608.3U Active CN212887667U (en) | 2020-07-30 | 2020-07-30 | Manipulator that can adjust in a flexible way |
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| Country | Link |
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| CN (1) | CN212887667U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284373A (en) * | 2022-08-05 | 2022-11-04 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat pressing flat die-cutting machine |
| CN115284373B (en) * | 2022-08-05 | 2024-06-07 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat-pressing flat die cutting machine |
-
2020
- 2020-07-30 CN CN202021547608.3U patent/CN212887667U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284373A (en) * | 2022-08-05 | 2022-11-04 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat pressing flat die-cutting machine |
| CN115284373B (en) * | 2022-08-05 | 2024-06-07 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat-pressing flat die cutting machine |
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