CN216067510U - One-to-two manipulator - Google Patents
One-to-two manipulator Download PDFInfo
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- CN216067510U CN216067510U CN202122542066.1U CN202122542066U CN216067510U CN 216067510 U CN216067510 U CN 216067510U CN 202122542066 U CN202122542066 U CN 202122542066U CN 216067510 U CN216067510 U CN 216067510U
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Abstract
The utility model discloses a one-to-two manipulator, belonging to the technical field of manipulators, which comprises two groups of manipulator mechanisms, wherein the two groups of manipulator mechanisms are detachably connected with a driving mechanism; the manipulator mechanism comprises a rectangular frame, the two ends of the bottom of the rectangular frame are rotatably connected with a grabbing plate, the inner wall of the grabbing plate is fixedly connected with a second fixed block, and the second fixed block is rotatably connected with a pull rod through a pin shaft, and the manipulator mechanism has the beneficial effects that: under the elastic force effect of spring, it is soft tight to press from both sides tight article, can not produce the damage to article, owing to set up the shovel board in grabbing the board bottom, consequently when going up and down to article, the shovel board supports article, and not only relies on the clamp plate to press from both sides article tightly, can effectively avoid the article landing, through setting up actuating mechanism, can control two manipulator mechanisms in step, simple structure, convenient operation.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a one-to-two manipulator.
Background
The manipulator is an automatic operation device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; the robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
In the existing one-to-two mechanical arm, two mechanical arms are arranged on one mechanical arm and are controlled by different structures, the action synchronism of the two mechanical arms is difficult to ensure, and the structure is complex; and the manipulator has a complex structure and poor stability.
SUMMERY OF THE UTILITY MODEL
The utility model provides a double-drag manipulator, which solves the problems of the prior double-drag manipulator.
Therefore, the utility model aims to provide the one-to-two manipulator, and the two groups of manipulator mechanisms are arranged, so that the synchronous control of the two groups of manipulator mechanisms can be simultaneously realized by utilizing the driving mechanism, the structure is simple, the structure of the manipulator mechanism is stable, the problems that the two manipulators are arranged on one mechanical arm and are controlled by different structures, the action synchronism of the two manipulators is difficult to ensure, and the structure is complex are solved; and the structure of the manipulator is complex, and the stability is poor.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions:
the two-by-one manipulator comprises two manipulator mechanisms, and the two manipulator mechanisms are detachably connected with a driving mechanism;
the manipulator mechanism comprises a rectangular frame, both ends of the bottom of the rectangular frame are rotatably connected with a grabbing plate, the inner wall of the grabbing plate is fixedly connected with a second fixed block, the second fixed block is rotatably connected with a pull rod through a pin shaft, one end, far away from the second fixed block, of the pull rod is rotatably connected with a third fixed block through a pin shaft, the top end of the third fixed block is welded with the pulling plate, the top end of the pulling plate is fixedly connected with a first pull rod, one end, far away from the pulling plate, of the first pull rod is fixedly connected with a traction plate, both ends of the traction plate are slidably connected with the rectangular frame, the top end of the traction plate is fixedly connected with a first sleeve, the inner wall of the first sleeve is spliced with a second pull rod, the outer walls of the second pull rod and the first pull rod are slidably connected with the rectangular frame, the first sleeve and the second sleeve are fixed through bolts, and the bottom end of the grabbing plate is fixedly connected with a shovel plate, one end of the shovel plate is an inclined plane, the outer wall of the grabbing plate is provided with a spring connecting plate through a bolt, one end of the spring connecting plate is fixedly connected with a spring, and one end of the spring, far away from the spring connecting plate, is fixedly connected with a pressing plate;
the driving mechanism comprises a side plate, the bottom of the side plate is connected with a connecting plate through a bolt, the top end of the side plate is connected with a top plate through a bolt, the bottom end of the top plate is fixedly connected with a second sleeve, an electric telescopic rod is inserted into the inner wall of the second sleeve, a third sleeve is inserted into the bottom end of the electric telescopic rod, the bottom end of the third sleeve is fixedly connected with a lifting plate, two ends of the lifting plate are slidably connected with the side plate, and the bottom end of the lifting plate is fixedly connected with a fourth sleeve.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: first fixed blocks are welded at two ends of the bottom of the rectangular frame and are rotatably connected with the grabbing plate through pin shafts.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: the two ends of the traction plate are provided with first sliding blocks, the inner wall of the rectangular frame is provided with a first sliding groove, and the inner wall of the first sliding groove is connected with the first sliding blocks in a sliding mode.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: the bottom end of the rectangular frame is provided with a first through hole, the first traction rod penetrates through the first through hole, and the inner wall of the first through hole is connected with the first traction rod in a sliding mode.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: the top end of the rectangular frame is provided with a second through hole, the second traction rod penetrates through the second through hole, and the inner wall of the second through hole is connected with the second traction rod in a sliding mode.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: the side plate is provided with a first sliding block and a first sliding groove, and the side plate is provided with a first sliding block.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: the cover fishplate bar is provided with a sleeve hole and a first internal thread hole, the sleeve hole is provided with two groups, two groups of sleeve holes are respectively sleeved on the inner wall of the sleeve hole, the rectangular frame is provided with a second internal thread hole, and the cover fishplate bar and the rectangular frame are fixed through bolts.
As a preferable aspect of the one-drag-two robot according to the present invention, wherein: the four sleeve pipes are provided with two groups, and the inner walls of the two groups of the fourth sleeve pipes are respectively inserted with the second traction rods.
Compared with the prior art:
1. the second traction rod is pulled to drive the grabbing plate to tighten, so that the structure is simple and the use is convenient; the article is clamped through the two pressing plates, and under the elastic force action of the spring, the article is clamped in a soft mode, so that the article cannot be damaged;
2. the shovel plate is arranged at the bottom of the grabbing plate, so that when the object is lifted, the shovel plate supports the object, the object is clamped by the pressing plate, and the object can be effectively prevented from sliding off;
3. through setting up actuating mechanism, can control two manipulator mechanisms in step, simple structure, convenient operation.
Drawings
FIG. 1 is a schematic structural view provided by the present invention;
FIG. 2 is a schematic view of a robot mechanism provided by the present invention;
FIG. 3 is an enlarged view taken at A in FIG. 2 according to the present invention;
fig. 4 is a top view of the socket plate provided by the present invention.
In the figure: the manipulator mechanism 100, the grasping plate 101, the second fixed block 1011, the rectangular frame 102, the second internal threaded hole 1021, the first sliding chute 1022, the second through hole 1023, the first through hole 1024, the second traction rod 103, the pulling plate 104, the third fixed block 1041, the first traction rod 105, the traction plate 106, the first slider 107, the first bushing 108, the first fixed block 109, the pulling rod 110, the shovel plate 111, the spring connecting plate 112, the pressing plate 113, the spring 114, the driving mechanism 200, the side plate 201, the second sliding chute 2011, the lifting plate 202, the top plate 203, the electric telescopic rod 204, the second bushing 205, the third bushing 206, the second slider 207, the socket plate 208, the socket 2081, the first internal threaded hole 2082, and the fourth bushing 210.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The utility model provides a one-to-two manipulator, please refer to fig. 1-4, comprising two groups of manipulator mechanisms 100, wherein the two groups of manipulator mechanisms 100 are detachably connected with a driving mechanism 200;
the manipulator mechanism 100 comprises a rectangular frame 102, both ends of the bottom of the rectangular frame 102 are rotatably connected with a grabbing plate 101, the inner wall of the grabbing plate 101 is fixedly connected with a second fixed block 1011, the second fixed block 1011 is rotatably connected with a pull rod 110 through a pin shaft, one end of the pull rod 110 far away from the second fixed block 1011 is rotatably connected with a third fixed block 1041 through a pin shaft, the top end of the third fixed block 1041 is welded with a pull plate 104, the top end of the pull plate 104 is fixedly connected with a first pull rod 105, one end of the first pull rod 105 far away from the pull plate 104 is fixedly connected with a pull plate 106, both ends of the pull plate 106 are slidably connected with the rectangular frame 102, the top end of the pull plate 106 is fixedly connected with a first sleeve 108, the inner wall of the first sleeve 108 is inserted with a second pull rod 103, the outer walls of the second pull rod 103 and the first pull rod 105 are slidably connected with the rectangular frame 102, the first sleeve 108 and the second pull rod 103 are fixed through bolts, the bottom end of the grabbing plate 101 is fixedly connected with a shovel plate 111, one end of the shovel plate 111 is an inclined plane, the outer wall of the grabbing plate 101 is provided with a spring connecting plate 112 through a bolt, one end of the spring connecting plate 112 is fixedly connected with a spring 114, one end of the spring 114, which is far away from the spring connecting plate 112, is fixedly connected with a pressing plate 113, two ends of the bottom of the rectangular frame 102 are welded with first fixing blocks 109, the first fixing blocks 109 are rotatably connected with the grabbing plate 101 through pin shafts, two ends of the traction plate 106 are provided with first sliding blocks 107, the inner wall of the rectangular frame 102 is provided with first sliding grooves 1022, the inner wall of the first sliding grooves 1022 is slidably connected with the first sliding blocks 107, so that the second traction rod 103 and the first traction rod 105 can move more stably, the bottom end of the rectangular frame 102 is provided with first through holes 1024, the first traction rod 105 penetrates through the first through holes 1024, the inner wall of the first through holes 1024 is slidably connected with the first traction rod 105, the top end of the rectangular frame 102 is provided with second through holes 1023, the second traction rod 103 penetrates through the second through holes 1023, and the inner wall of the second through holes 1023 is slidably connected with the second traction rod 103;
the driving mechanism 200 comprises a side plate 201, the bottom of the side plate 201 is connected with a connecting plate 208 through a bolt, the top end of the side plate 201 is connected with a top plate 203 through a bolt, the bottom end of the top plate 203 is fixedly connected with a second sleeve 205, the inner wall of the second sleeve 205 is connected with an electric telescopic rod 204 in an inserting mode, the bottom end of the electric telescopic rod 204 is connected with a third sleeve 206 in an inserting mode, the bottom end of the third sleeve 206 is fixedly connected with a lifting plate 202, two ends of the lifting plate 202 are connected with the side plate 201 in a sliding mode, the bottom end of the lifting plate 202 is fixedly connected with a fourth sleeve 210, two ends of the side plate 201 are provided with second sliding blocks 207, a second sliding groove 2011 is formed in the side plate 201, and the inner wall of the second sliding groove 2011 is connected with the second sliding blocks 207; the lifting plate 202 is enabled to move more stably, the sleeve hole 2081 and the first internal threaded hole 2082 are formed in the sleeving plate 208, the sleeve hole 2081 is provided with two sets, the inner walls of the two sets of sleeve holes 2081 are respectively sleeved with the two sets of rectangular frames 102, the rectangular frames 102 are provided with the second internal threaded holes 1021, the sleeving plate 208 and the rectangular frames 102 are fixed through bolts, the fourth sleeve 210 is provided with two sets, and the inner walls of the two sets of fourth sleeves 210 are respectively connected with the second traction rod 103 in an inserting mode.
When the lifting plate is used specifically, the top plate 203 is installed on a mechanical arm, when two articles need to be grabbed, the electric telescopic rod 204 contracts to drive the lifting plate 202 to move upwards, the lifting plate 202 drives the second traction rod 103 to move upwards, the second traction rod 103 drives the traction plate 106 to move upwards, the traction plate 106 drives the first traction rod 105 to move upwards, the first traction rod 105 drives the pulling plate 104 to move upwards, the pulling rod 110 drives the grabbing plate 101 to rotate to tighten, the shoveling plate 111 shovels into the bottom of the articles, and the two pressing plates 113 clamp the articles along with tightening of the two grabbing plates 101.
While the utility model has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the various features of the disclosed embodiments of the utility model may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the utility model not be limited to the particular embodiments disclosed, but that the utility model will include all embodiments falling within the scope of the appended claims.
Claims (8)
1. One drags two manipulators, including manipulator mechanism (100), its characterized in that: the manipulator mechanisms (100) are provided with two groups, and the two groups of manipulator mechanisms (100) are detachably connected with the driving mechanism (200);
the manipulator mechanism (100) comprises a rectangular frame (102), both ends of the bottom of the rectangular frame (102) are rotatably connected with a grabbing plate (101), the inner wall of the grabbing plate (101) is fixedly connected with a second fixed block (1011), the second fixed block (1011) is rotatably connected with a pull rod (110) through a pin shaft, one end of the pull rod (110) far away from the second fixed block (1011) is rotatably connected with a third fixed block (1041) through a pin shaft, the top end of the third fixed block (1041) is connected with a pull plate (104) in a welding manner, the top end of the pull plate (104) is fixedly connected with a first pull rod (105), the first pull rod (105) is far away from one end of the pull plate (104) and is fixedly connected with a pull plate (106), both ends of the pull plate (106) are slidably connected with the rectangular frame (102), the top end of the pull plate (106) is fixedly connected with a first sleeve (108), and the inner wall of the first sleeve (108) is inserted with a second pull rod (103), the outer walls of the second traction rod (103) and the first traction rod (105) are both connected with the rectangular frame (102) in a sliding mode, the first sleeve (108) and the second traction rod (103) are fixed through bolts, the bottom end of the grabbing plate (101) is fixedly connected with a shovel plate (111), one end of the shovel plate (111) is an inclined plane, a spring connecting plate (112) is installed on the outer wall of the grabbing plate (101) through bolts, one end of the spring connecting plate (112) is fixedly connected with a spring (114), and one end, far away from the spring connecting plate (112), of the spring (114) is fixedly connected with a pressing plate (113);
actuating mechanism (200) includes curb plate (201), bolted connection fishplate bar (208) is passed through to curb plate (201) bottom, bolted connection roof (203) is passed through on curb plate (201) top, roof (203) bottom fixed connection second sleeve pipe (205), electric telescopic handle (204) are pegged graft to second sleeve pipe (205) inner wall, third sleeve pipe (206) are pegged graft to electric telescopic handle (204) bottom, third sleeve pipe (206) bottom fixed connection lifter plate (202), lifter plate (202) both ends sliding connection curb plate (201), lifter plate (202) bottom fixed connection fourth sleeve pipe (210).
2. The one-driven-two manipulator as claimed in claim 1, wherein first fixing blocks (109) are welded to both ends of the bottom of the rectangular frame (102), and the first fixing blocks (109) are rotatably connected to the grabbing plate (101) through pin shafts.
3. The one-driven-two manipulator as claimed in claim 1, wherein the two ends of the traction plate (106) are provided with first sliding blocks (107), the inner wall of the rectangular frame (102) is provided with first sliding grooves (1022), and the inner wall of the first sliding grooves (1022) is slidably connected with the first sliding blocks (107).
4. The one-drag-two manipulator according to claim 1, wherein a first through hole (1024) is formed at the bottom end of the rectangular frame (102), the first draw bar (105) passes through the first through hole (1024), and the inner wall of the first through hole (1024) is slidably connected with the first draw bar (105).
5. The robot according to claim 1, wherein a second through hole (1023) is opened at the top end of the rectangular frame (102), the second traction rod (103) passes through the second through hole (1023), and the inner wall of the second through hole (1023) is slidably connected with the second traction rod (103).
6. The one-drag-two manipulator according to claim 1, wherein two ends of the side plate (201) are provided with second sliding blocks (207), the side plate (201) is provided with second sliding grooves (2011), and the inner walls of the second sliding grooves (2011) are slidably connected with the second sliding blocks (207).
7. The one-drag-two manipulator according to claim 1, wherein the socket plate (208) is provided with two sets of holes (2081) and a first internal threaded hole (2082), the two sets of holes (2081) are provided, the two sets of rectangular frames (102) are respectively sleeved on the inner walls of the two sets of holes (2081), the rectangular frames (102) are provided with a second internal threaded hole (1021), and the socket plate (208) and the rectangular frames (102) are fixed by bolts.
8. The one-drag-two manipulator according to claim 1, wherein the fourth sleeves (210) are provided with two groups, and the inner walls of the two groups of the fourth sleeves (210) are respectively inserted with the second traction rods (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122542066.1U CN216067510U (en) | 2021-10-22 | 2021-10-22 | One-to-two manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122542066.1U CN216067510U (en) | 2021-10-22 | 2021-10-22 | One-to-two manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN216067510U true CN216067510U (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122542066.1U Active CN216067510U (en) | 2021-10-22 | 2021-10-22 | One-to-two manipulator |
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| CN (1) | CN216067510U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559464A (en) * | 2022-03-23 | 2022-05-31 | 广西大学 | Manipulator finger and manipulator |
| CN115781746A (en) * | 2022-11-30 | 2023-03-14 | 广州松兴电气股份有限公司 | Bolt gripper device with gasket |
-
2021
- 2021-10-22 CN CN202122542066.1U patent/CN216067510U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559464A (en) * | 2022-03-23 | 2022-05-31 | 广西大学 | Manipulator finger and manipulator |
| CN115781746A (en) * | 2022-11-30 | 2023-03-14 | 广州松兴电气股份有限公司 | Bolt gripper device with gasket |
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