CN216830954U - Adjustable connecting rod type grabbing manipulator - Google Patents
Adjustable connecting rod type grabbing manipulator Download PDFInfo
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- CN216830954U CN216830954U CN202220564477.2U CN202220564477U CN216830954U CN 216830954 U CN216830954 U CN 216830954U CN 202220564477 U CN202220564477 U CN 202220564477U CN 216830954 U CN216830954 U CN 216830954U
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- connecting rod
- finger
- rotatably connected
- adjusting ring
- ring
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- 230000000149 penetrating effect Effects 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Abstract
The utility model discloses an adjustable connecting rod type grabbing manipulator, which belongs to the technical field of manipulators and comprises a first connecting rod and a paw, wherein the center of the first connecting rod is provided with an adjusting ring which is slidably connected with the first connecting rod, the two ends of the first connecting rod are respectively provided with the paw and a second connecting rod, one end of the second connecting rod is rotatably connected with one end of the first connecting rod, the paw comprises a first finger and a second finger, one end of the first finger is rotatably connected with one end of the first connecting rod, and the other end of the first finger is rotatably connected with one end of the second finger; a third connecting rod with one end rotatably connected with the first finger is arranged on the first finger, a fourth connecting rod is arranged on the third connecting rod, two ends of the fourth connecting rod are respectively rotatably connected with the second connecting rod and the third connecting rod, and one end of the third connecting rod is rotatably connected with the adjusting ring; the second finger is provided with a fifth connecting rod, a straight rod which is connected with the adjusting ring in a sliding manner is arranged in the adjusting ring, two ends of the fifth connecting rod are respectively connected with the second finger, one end of the straight rod is rotatably connected, and the paw is adjusted by adjusting the first finger and the second finger.
Description
Technical Field
The utility model relates to a sampling device technical field specifically is an adjustable connecting rod formula snatchs manipulator.
Background
The manipulator is an automatic operation device which can imitate some action functions of human arms and is used for grabbing, carrying objects or completing other specific operations according to a fixed program to realize industrial production.
The hand of manipulator accomplishes the work of snatching through the finger of imitative people, and the hand of manipulator can divide into two according to finger quantity and indicates, three fingers, four fingers etc. wherein use two fingers the most, and in the actual operation, the finger often needs to be equipped with the chuck of multiple shape and size according to the shape and the size of centre gripping object to in the needs prior art of adaptation operation, the improvement of adjustable manipulator mostly concentrates on the improvement to the arm of force part of manipulator and the improvement of hand is less, in the prior art, few can change the finger shape and get the scheme, and the finger application scope of prefabricated special shape is narrow.
SUMMERY OF THE UTILITY MODEL
The technique that exists is not enough to the aforesaid, the utility model aims at providing an adjustable connecting rod formula snatchs manipulator to need change the condition of prefabricated manipulator according to the use scene of difference among the reduction prior art.
In order to solve the technical problem, the utility model adopts the following technical scheme: the utility model provides an adjustable connecting rod type grabbing manipulator, which is characterized in that the manipulator comprises a first connecting rod and a paw, wherein the center of the first connecting rod is provided with an adjusting ring which is slidably connected with the first connecting rod, two ends of the first connecting rod are respectively provided with the paw and a second connecting rod which are parallel to the adjusting ring, one end of the second connecting rod is rotatably connected with one end of the first connecting rod, the paw comprises a first finger and a second finger, one end of the first finger is rotatably connected with one end of the first connecting rod, and the other end of the first finger is rotatably connected with one end of the second finger; a third connecting rod with one end rotatably connected with the first finger is arranged on the first finger, a fourth connecting rod is arranged on the third connecting rod, two ends of the fourth connecting rod are respectively rotatably connected with one end of the second connecting rod, which is far away from the first connecting rod, and the middle part of the third connecting rod, and one end of the third connecting rod, which is far away from the first finger, is rotatably connected with the adjusting ring; the second finger is provided with a fifth connecting rod, a straight rod slidably connected with the adjusting ring is arranged in the adjusting ring, two ends of the fifth connecting rod are respectively connected with the second finger, and one end of the straight rod is rotatably connected.
Preferably, a positioning ring is arranged on the first connecting rod, a first positioning hole penetrating through the outer wall of the positioning ring is formed in the positioning ring, and a second positioning hole matched with the first positioning hole is formed in the adjusting ring.
Preferably, the straight rod is provided with a limiting block.
Preferably, one end of the straight rod, which is far away from the fifth connecting rod, is connected with the output end of the telescopic cylinder.
Preferably, the anti-skid part is arranged on the opposite side of the second finger.
Preferably, the first connecting rod is provided with a connecting part coaxial with the positioning ring.
The beneficial effects of the utility model reside in that: the device realizes the basic grabbing function by arranging the fifth connecting rod and the second hand to be matched, on the basis of realizing the paw grabbing function, the third connecting rod is additionally arranged on the first finger and matched with the adjusting ring, the adjusting ring moves up and down in the first connecting rod to drive the third connecting rod to move, and the angle between the first finger and the second finger is adjusted, so that the shape of the paw is changed, the paw can be suitable for clamping workpieces with different sizes and shapes, different workpieces can be clamped by one paw, and different chucks can be prevented from being replaced; the third connecting rod on the first finger, in case the cooperation adjustable ring is adjusted the hand claw after, but the adjustable ring first connecting rod relative position is fixed, and the straight-bar slides in the adjustable ring, and the adjustable ring does not influence telescopic cylinder drive hand claw centre gripping work piece to the regulation of hand claw.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a structural front view of an adjustable connecting rod type grabbing manipulator provided by the embodiment of the present invention.
Fig. 2 is a three-dimensional structure top view of the adjustable connecting rod type grabbing manipulator provided by the embodiment of the utility model.
Fig. 3 is a perspective bottom view of the adjustable connecting rod type grabbing manipulator provided by the embodiment of the present invention.
Fig. 4 is a rear elevation view of the adjustable link type grabbing manipulator according to the embodiment of the present invention.
Description of reference numerals: a first link 1; a paw 2; an adjusting ring 3; a second link 4; a first finger 5; a second finger 6; a third link 7; a fourth link 8; a fifth link 9; a straight rod 10; a positioning ring 11; a first positioning hole 12; a second positioning hole 13; a stopper 14; a slip prevention portion 15; a connecting portion 16.
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.
Example (b): as shown in fig. 1 to 4, the present invention provides an adjustable connecting rod type grabbing manipulator, which comprises a first connecting rod 1 and a claw 2, wherein an adjusting ring 3 slidably connected with the first connecting rod 1 is arranged at the center of the first connecting rod 1, the adjusting ring 3 can slide up and down along the first connecting rod 1, the adjusting ring 3 and the first connecting rod 1 are matched to realize the adjustment of the finger part of the manipulator of the present invention, the claw 2 and a second connecting rod 4 parallel to the adjusting ring 3 are respectively arranged at both ends of the first connecting rod 1, one end of the second connecting rod 4 is rotatably connected with one end of the first connecting rod 1, the claw 2 comprises a first finger 5 and a second finger 6, one end of the first finger 5 is rotatably connected with one end of the first connecting rod 1, the other end is rotatably connected with one end of the second finger 6, one end of the first finger 5 and one end of the second connecting rod 4 close to the first connecting rod 1 are rotatably connected with one end of the first connecting rod 1, the second connecting rod 4 can not drive the first finger 5 to rotate; a third connecting rod 7 with one end rotatably connected with the first finger 5 is arranged on the first finger 5, a fourth connecting rod 8 is arranged on the third connecting rod 7, the third connecting rod 7 is matched with the fourth connecting rod 8 to drive the first finger 5 to rotate, two ends of the fourth connecting rod 8 are respectively rotatably connected with one end of the second connecting rod 4 far away from the first connecting rod 1 and the middle part of the third connecting rod 7, the second connecting rod 4 limits the third connecting rod 7, the rotation amplitude of the fourth connecting rod 8, when the second connecting rod 4 enables one end of the third connecting rod 7 far away from the first finger 5 to be independently rotated, namely, the end connected with the adjusting ring 3, the third connecting rod 7 can drive the first finger 5 to rotate, so as to adjust the shape of the paw 2, the end of the third connecting rod 7 far away from the first finger 5 is rotatably connected with the adjusting ring 3, the adjusting ring 3 drives the third connecting rod 7 to rotate, so as to adjust the angle between the first finger 5 and the second finger 6, so as to adjust the shape of the paw 2; a fifth connecting rod 9 is arranged on the second finger 6, the fifth connecting rod 9 drives the second finger 6 to open and close to realize grabbing action, a straight rod 10 which is slidably connected with the adjusting ring 3 is arranged in the adjusting ring 3, the straight rod 10 slides in the adjusting ring 3, and the adjusting of the adjusting ring 3 on the paw 2 does not influence the telescopic cylinder to drive the paw 2 to clamp a workpiece; two ends of the fifth connecting rod 9 are respectively connected with the middle part of the second finger 6, one end of the straight rod 10 is rotatably connected, and the straight rod 10 slides to drive the second finger 6 to open and close, so that the grabbing action is realized.
Furthermore, the first connecting rod 1 is provided with a positioning ring 11, the positioning ring 11 is used for fixing the adjusting ring 3 and limiting the relative position of the adjusting ring 3 and the first connecting rod 1, the positioning ring 11 can be an unclosed ring body, when the positioning ring 11 is an unclosed ring body, a position-limiting hoop (not shown in the figure) can be added outside the positioning ring 11, so that the positioning ring 11 is tightly attached to the outer wall of the adjusting ring 3, thereby fixed adjusting ring 3, the fine setting of the shape of hand claw 2 can be realized this moment, holding ring 11 can be unclosed or closed ring body, be equipped with the first locating hole 12 that runs through holding ring 11 outer wall on holding ring 11, adjusting ring 3 is equipped with the second locating hole 13 with first locating hole 12 complex, can attach the restriction pole (not drawn in the figure) outside holding ring 11 this moment, the restriction pole passes first locating hole 12 and second locating hole 13 simultaneously, fixed adjusting ring 3, the relative position of restriction adjusting ring 3 and first connecting rod 1.
Furthermore, the straight rod 10 is provided with a limiting block 14, so that excessive adjustment of the paw 2 is avoided.
Furthermore, one end of the straight rod 10, far away from the fifth connecting rod 9, is connected with the output end of the telescopic cylinder, and the external telescopic cylinder drives the straight rod 10 to move.
Furthermore, the anti-slip parts 15 are arranged on the opposite side surfaces of the second finger 6, so that the friction force when the second finger 6 is used for clamping is increased.
Furthermore, the first connecting rod 1 is provided with a connecting portion 16 which is coaxial with the positioning ring 11, the connecting portion 16 is used for being connected with a workpiece adjusted in an external direction so as to adjust the rotation of the manipulator, the connecting portion 16 can be an open ring body, the opening portion of the connecting portion 16 coincides with the position of the second positioning hole 13, the connecting portion 16 is prevented from blocking the adjusting ring 3, and therefore the relative position of the adjusting ring 3 and the first connecting rod 1 can be adjusted conveniently.
When in use, as shown in fig. 1-3, the manipulator is assembled, the straight rod 10 is connected with the output end of the external telescopic cylinder, the external telescopic cylinder drives the straight rod 10 to move, and the straight rod 10 slides to drive the second finger 6 to open and close, so as to realize the grabbing action; when the shape of the paw 2 needs to be adjusted, the relative position of the first connecting rod 1 of the adjusting ring 3 is adjusted to the appropriate shape of the paw 2, and then the position limiting hoop is used to enable the positioning ring 11 to be tightly attached to the outer wall of the adjusting ring 3 or the limiting rod to pass through the first positioning hole 12 and the second positioning hole 13 so as to fix the adjusting ring 3, and the relative position of the adjusting ring 3 and the first connecting rod 1 is limited, so that the shape of the adjusted paw 2 is fixed.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. The adjustable connecting rod type grabbing manipulator is characterized by comprising a first connecting rod (1) and a paw (2), wherein an adjusting ring (3) which is connected with the first connecting rod (1) in a sliding mode is arranged at the center of the first connecting rod (1), the paw (2) and a second connecting rod (4) which are parallel to the adjusting ring (3) are arranged at two ends of the first connecting rod (1) respectively, one end of the second connecting rod (4) is rotatably connected with one end of the first connecting rod (1), the paw (2) comprises a first finger (5) and a second finger (6), one end of the first finger (5) is rotatably connected with one end of the first connecting rod (1), and the other end of the first finger is rotatably connected with one end of the second finger (6); a third connecting rod (7) with one end rotatably connected with the first finger (5) is arranged on the first finger (5), a fourth connecting rod (8) is arranged on the third connecting rod (7), two ends of the fourth connecting rod (8) are respectively rotatably connected with one end of the second connecting rod (4) far away from the first connecting rod (1) and the middle part of the third connecting rod (7), and one end of the third connecting rod (7) far away from the first finger (5) is rotatably connected with the adjusting ring (3); the novel finger-type adjustable finger is characterized in that a fifth connecting rod (9) is arranged on the second finger (6), a straight rod (10) which is connected with the adjusting ring (3) in a sliding mode is arranged in the adjusting ring (3), two ends of the fifth connecting rod (9) are respectively connected with the second finger (6) and one end of the straight rod (10) in a rotating mode.
2. The adjustable link type grabbing manipulator as claimed in claim 1, wherein said first link (1) is provided with a positioning ring (11), said positioning ring (11) is provided with a first positioning hole (12) penetrating through the outer wall of said positioning ring (11), and said adjusting ring (3) is provided with a second positioning hole (13) cooperating with said first positioning hole (12).
3. The adjustable link type grabbing manipulator according to claim 1, wherein the straight rod (10) is provided with a stopper (14).
4. The adjustable link type grabbing manipulator as claimed in claim 1, wherein the end of the straight rod (10) remote from the fifth link (9) is connected to the output end of the telescopic cylinder.
5. An adjustable link gripper robot according to claim 1, characterized in that the second finger (6) is provided with non-slip means (15) on the opposite side.
6. The adjustable link gripper robot according to claim 1, wherein the first link (1) is provided with a connecting portion (16) coaxial with the positioning ring (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220564477.2U CN216830954U (en) | 2022-03-14 | 2022-03-14 | Adjustable connecting rod type grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220564477.2U CN216830954U (en) | 2022-03-14 | 2022-03-14 | Adjustable connecting rod type grabbing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216830954U true CN216830954U (en) | 2022-06-28 |
Family
ID=82095769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220564477.2U Expired - Fee Related CN216830954U (en) | 2022-03-14 | 2022-03-14 | Adjustable connecting rod type grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216830954U (en) |
-
2022
- 2022-03-14 CN CN202220564477.2U patent/CN216830954U/en not_active Expired - Fee Related
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Legal Events
| 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: 20220628 |