CN221248862U - Simulation manipulator based on controllable stroke cylinder - Google Patents
Simulation manipulator based on controllable stroke cylinder Download PDFInfo
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- CN221248862U CN221248862U CN202323136623.5U CN202323136623U CN221248862U CN 221248862 U CN221248862 U CN 221248862U CN 202323136623 U CN202323136623 U CN 202323136623U CN 221248862 U CN221248862 U CN 221248862U
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- 238000004088 simulation Methods 0.000 title claims abstract description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 37
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a simulation manipulator based on a controllable stroke cylinder, which belongs to the technical field of manipulators and comprises a mounting seat, wherein a connecting frame is arranged below the mounting seat, a grabbing mechanism capable of grabbing straight-face and curved-face objects is arranged below the connecting frame, and the grabbing mechanism comprises a manipulator mounting frame, a cylinder B, a connecting column, a servo motor, a connecting rod A, a clamping plate B, a connecting rod B and a clamping plate C. According to the utility model, through the grabbing mechanism, when a straight object is needed to be grabbed, the two servo motors respectively drive the connecting rod A and the connecting rod B to rotate, so that the two straight clamping plates A correspond to each other to clamp the object, and when a curved object is needed to be grabbed, the two servo motors respectively drive the connecting rod A and the connecting rod B to rotate, so that the clamping plates B and the clamping plates C which are arranged in an arc shape correspond to each other to clamp the curved object, so that the curved object is more flexible to use.
Description
Technical Field
The utility model belongs to the technical field of manipulators, and particularly relates to a simulation manipulator based on a controllable stroke cylinder.
Background
The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, can replace heavy labor of a human to realize mechanization and automation of production, and can be operated under a harmful environment to protect personal safety.
According to the searching discovery, the application number is CN202223011773. X, a manipulator is disclosed, the manipulator comprises a shell and a pneumatic component, the pneumatic component comprises a cylinder arranged in the shell, the cylinder is powered off suddenly, namely when the air pressure is reduced, a locking function is provided between a screw rod and a sliding plate, so that the clamping block can still stably clamp an article, the condition that the article is loose and falls does not exist, and the safety of clamping the article is higher.
But it is found through research that: the grip block of the device is flat setting, when needing to press from both sides and get curved surface object, this flat grip block is less with curved surface object area of contact, and the centre gripping is not firm enough, consequently is difficult to press from both sides and get curved surface object, and two grip blocks only can carry out the centre gripping to two directions of object and snatch, when the object weight is great, the pressure that two grip blocks were applyed is not enough to cause the object to drop easily, snatchs the effect and is not good enough, and can't adjust snatching height, snatch direction and snatch the angle voluntarily, and it is not convenient enough to use.
Disclosure of utility model
The utility model aims at: in order to solve the problems that the curved object is difficult to clamp, the grabbing effect is not good enough and the use is not convenient enough, the simulation manipulator based on the controllable stroke cylinder is provided.
The technical scheme adopted by the utility model is as follows: a simulation manipulator based on a controllable stroke cylinder comprises a mounting seat, wherein a connecting frame is arranged below the mounting seat;
And a grabbing mechanism capable of grabbing straight-face and curved-face objects is arranged below the connecting frame.
The utility model provides a robot hand, including the mechanism that snatchs, including manipulator mounting bracket, cylinder B, spliced pole, servo motor, connecting rod A, splint B, connecting rod B and splint C, connecting bracket below both sides have the manipulator mounting bracket through slide rail symmetry sliding connection, cylinder B is installed to connecting bracket below both sides symmetry, and the cylinder B end is connected with the manipulator mounting bracket, the connecting column is connected with through the pivot turning to in the manipulator mounting bracket below, servo motor is installed in the embedding of spliced pole bottom, two connecting rod A and connecting rod B are installed respectively to servo motor output shaft end, connecting rod A one end and connecting rod B one end all fixed mounting have splint A, connecting rod A other end fixed mounting has splint B, connecting rod B other end fixed mounting has splint C, splint B and splint C all are the arc setting, manipulator mounting bracket one side is connected with cylinder C through the pivot, and the cylinder C other end is connected with the spliced pole rotation, servo turntable is installed to the mount pad below, connecting plate A is installed to the cylinder below, and connecting plate A end and connecting bracket connection.
The connecting frame is characterized in that L-shaped connecting rods are symmetrically and fixedly arranged on two sides of the connecting frame, an air cylinder D is arranged below the L-shaped connecting rods through a connecting block, a reinforcing frame A and a reinforcing frame B are fixedly arranged at the tail end of the air cylinder D respectively, the reinforcing frame A and the reinforcing frame B are all in L-shaped arrangement, and reinforcing plates are elastically connected to one side of the reinforcing frame A and one side of the reinforcing frame B through springs.
In summary, due to the adoption of the technical scheme, the beneficial effects of the utility model are as follows:
1. According to the utility model, through the grabbing mechanism, when a straight object is needed to be grabbed, the two servo motors respectively drive the connecting rod A and the connecting rod B to rotate, so that the two straight clamping plates A correspond to each other to clamp the object, and when a curved object is needed to be grabbed, the two servo motors respectively drive the connecting rod A and the connecting rod B to rotate, so that the clamping plates B and the clamping plates C which are arranged in an arc shape correspond to each other to clamp the curved object, so that the curved object is more flexible to use.
2. According to the utility model, the cylinder A stretches and contracts to automatically control the grabbing height, the servo turntable works to control the grabbing direction, the cylinder C stretches and contracts to drive the connecting column to rotate, and then the clamping angle is adjusted, so that the use is more convenient.
3. According to the utility model, after the object is clamped by the two clamping plates A or B and the clamping plate C, the air cylinder D stretches to drive the reinforcing frame A and the reinforcing frame B to be close to each other, so that the reinforcing plate on one side of the reinforcing frame A and the reinforcing plate on one side of the reinforcing frame B are respectively clamped on the other two sides of the object and are matched with the two clamping plates A or B and the clamping plate C, the object is fixed in four directions, the object is clamped more firmly, and the grabbing effect is better.
Drawings
FIG. 1 is a schematic diagram of the overall three-dimensional structure of the present utility model;
FIG. 2 is a schematic illustration of a portion of a three-dimensional structure of the present utility model;
FIG. 3 is a schematic illustration of a partial side cross-sectional configuration of the present utility model;
FIG. 4 is a schematic and simplified schematic illustration of the partial three-dimensional structure of the clamping plates B and C in the utility model;
FIG. 5 is a schematic diagram showing a partial side sectional structure of a reinforcing frame A and a reinforcing frame B according to the present utility model;
fig. 6 is a schematic diagram of the circuit configuration in the present utility model.
The marks in the figure: 1. a mounting base; 101. a servo turntable; 1011. a connecting plate; 102. a cylinder A; 2. a connecting frame; 201. a manipulator mounting rack; 2011. a cylinder B; 2012. a cylinder C; 2013. a connecting column; 2014. a servo motor; 202. a connecting rod A; 2021. a clamping plate A; 2022. a clamping plate B; 203. a connecting rod B; 2031. a clamping plate C; 204. an L-shaped connecting rod; 2041. a cylinder D; 205. a reinforcing frame A; 2051. a reinforcing plate; 206. and a reinforcing frame B.
Description of the embodiments
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the utility model, the following components are added:
Referring to fig. 1-6, a simulation manipulator based on a controllable stroke cylinder comprises a mounting seat 1, wherein a connecting frame 2 is arranged below the mounting seat 1;
a grabbing mechanism capable of grabbing straight-face and curved-face objects is arranged below the connecting frame 2.
Referring to fig. 1-4, in the present embodiment, a servo turntable 101 is embedded and installed below a mounting base 1, a connecting plate 1011 is installed below the servo turntable 101, a cylinder a102 is installed below the connecting plate 1011, the end of the cylinder a102 is connected with a connecting frame 2, a grabbing mechanism includes a manipulator mounting frame 201, a cylinder B2011, a connecting post 2013, a servo motor 2014, a connecting rod a202, a clamping plate a2021, a clamping plate B2022, a connecting rod B203 and a clamping plate C2031, two sides below the connecting frame 2 are symmetrically and slidingly connected with a manipulator mounting frame 201 through sliding rails, a cylinder B2011 is symmetrically installed below the connecting frame 2, the end of the cylinder B2011 is connected with the manipulator mounting frame 201, the lower part of the manipulator mounting frame 201 is connected with a connecting post 2013 through a rotating shaft, a servo motor 2014 is embedded and installed at the bottom of the connecting post 2013, two output shaft ends of the servo motor 2014 are respectively provided with a connecting rod a202 and a connecting rod B203, one end of the connecting rod a202 and one end of the connecting rod B203 are fixedly installed with a clamping plate a2021, the other end of the connecting rod a202 is fixedly installed with a clamping plate B2022, the other end of the connecting rod B203 is fixedly installed with the other end of the connecting rod B2021, the other end of the connecting rod C203 is fixedly installed with a clamping plate C2, and the other end of the connecting rod C2021 is in an arc-shaped configuration of the clamping plate 2031 is arranged;
The cylinder A102 stretches out and draws back, control the height of snatching, servo carousel 101 work, control the direction of snatching, when needing to snatch the object of straight face, two servo motor 2014 drive connecting rod A202 and connecting rod B203 respectively and rotate, make two splint A2021 correspond each other, afterwards cylinder B2011 shrink, pull two manipulator mounting bracket 201 and be close to each other, make two splint A2021 centre gripping respectively in the object both sides, pick up the object, when needing to snatch the curved surface object, two servo motor 2014 drive connecting rod A202 and connecting rod B203 respectively rotate, make splint B2022 and splint C2031 correspond each other, afterwards cylinder B2011 shrink, make splint B2022 and splint C2031 centre gripping respectively in curved surface object both sides, pick up the object.
Referring to fig. 1-3, in the present embodiment, one side of the manipulator mounting rack 201 is rotated to be connected with a cylinder C2012 by a rotating shaft, and the other end of the cylinder C2012 is rotatably connected with a connecting column 2013 by the rotating shaft;
the cylinder C2012 stretches out and draws back, drives the connecting column 2013 to rotate, and then adjusts the clamping angle.
Referring to fig. 1, 2 and 5, in this embodiment, L-shaped connecting rods 204 are symmetrically and fixedly installed on both sides of a connecting frame 2, an air cylinder D2041 is installed below the L-shaped connecting rods 204 through a connecting block, a reinforcing frame a205 and a reinforcing frame B206 are respectively and fixedly installed at the ends of the two air cylinders D2041, the reinforcing frame a205 and the reinforcing frame B206 are all L-shaped, and reinforcing plates 2051 are elastically connected to one side of the reinforcing frame a205 and one side of the reinforcing frame B206 through springs;
After the two clamping plates A2021 or B2022 and C2031 clamp the object, the cylinder D2041 stretches to drive the reinforcing frame A205 and the reinforcing frame B206 to approach each other, so that the reinforcing plate 2051 on one side of the reinforcing frame A205 and the reinforcing plate 2051 on one side of the reinforcing frame B206 are respectively clamped on the other two sides of the object, and are matched with the two clamping plates A2021 or B2022 and C2031 to fix the object from four directions, so that the object is clamped more firmly.
Referring to fig. 1, 2, 5 and 6, in the present embodiment, the solenoid valves are all matched with the cylinder a102, the cylinder B2011, the cylinder C2012 and the cylinder D2041, and the solenoid valve, the servo turntable 101 and the servo motor 2014 are all electrically connected with an external power supply through control switches.
Working principle: firstly, when a straight object needs to be grabbed, the two servo motors 2014 respectively drive the connecting rod A202 and the connecting rod B203 to rotate, so that the two clamping plates A2021 respectively correspond to each other, when a curved object needs to be grabbed, the two servo motors 2014 respectively drive the connecting rod A202 and the connecting rod B203 to rotate, so that the clamping plates B2022 and the clamping plates C2031 correspond to each other, then the air cylinder A102 stretches and contracts, the grabbing height is controlled, the servo turntable 101 works, the grabbing direction is controlled, the air cylinder C2012 stretches and contracts, the connecting column 2013 is driven to rotate, the grabbing angle is adjusted, then the air cylinder B2011 contracts, the two manipulator mounting frames 201 are pulled to be close to each other, so that the two clamping plates A2021 respectively clamp two sides of the object, or the clamping plates B2022 and the clamping plates C2031 respectively clamp two sides of the curved object, finally the air cylinder D1 stretches, the reinforcing frame A205 and the reinforcing frame B206 are driven to be close to each other, the reinforcing plate 2051 on one side of the reinforcing frame A205 and the reinforcing plate 2051 respectively clamp two sides of the object, and the two clamping plates 2022 and the clamping plates C2 are matched with each other, so that the object can be firmly grabbed from four directions.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (5)
1. Simulation manipulator based on controllable stroke cylinder, including mount pad (1), its characterized in that: a connecting frame (2) is arranged below the mounting seat (1);
A grabbing mechanism capable of grabbing straight-face and curved-face objects is arranged below the connecting frame (2);
The grabbing mechanism comprises a manipulator mounting frame (201), a cylinder B (2011), a connecting column (2013), a servo motor (2014), a connecting rod A (202), a clamping plate A (2021), a clamping plate B (2022), a connecting rod B (203) and a clamping plate C (2031);
The utility model discloses a robot mounting rack, including link (2) below, connecting rod A (202) and connecting rod B (203), link (2) below both sides are through slide rail symmetry sliding connection, link (2) below both sides symmetry is installed cylinder B (2011), and cylinder B (2011) end is connected with robot mounting rack (201), be connected with spliced pole (2013) through the pivot turning to below robot mounting rack (201), servo motor (2014) are installed in embedding of spliced pole (2013) bottom, two connecting rod A (202) and connecting rod B (203) are installed respectively to servo motor (2014) output shaft end, connecting rod A (202) one end and connecting rod B (203) one end all fixed mounting have splint A (2021), connecting rod A (202) other end fixed mounting has splint B (2022), connecting rod B (203) other end fixed mounting has splint C (2031).
2. The simulation manipulator based on the controllable stroke cylinder as claimed in claim 1, wherein: the clamping plates B (2022) and C (2031) are arc-shaped.
3. The simulation manipulator based on the controllable stroke cylinder as claimed in claim 1, wherein: one side of the manipulator mounting frame (201) is rotated to be connected with a cylinder C (2012) through a rotating shaft, and the other end of the cylinder C (2012) is rotationally connected with the connecting column (2013) through the rotating shaft.
4. The simulation manipulator based on the controllable stroke cylinder as claimed in claim 1, wherein: the servo turntable (101) is installed under Fang Qianru of the installation seat (1), the connecting plate (1011) is installed below the servo turntable (101), the air cylinder A (102) is installed below the connecting plate (1011), and the tail end of the air cylinder A (102) is connected with the connecting frame (2).
5. The simulation manipulator based on the controllable stroke cylinder as claimed in claim 1, wherein: the connecting frame (2) both sides symmetry fixed mounting has L shape connecting rod (204), cylinder D (2041) are installed through the connecting block to L shape connecting rod (204) below, two fixed mounting respectively has enhancement frame A (205) and enhancement frame B (206) at cylinder D (2041) end, enhancement frame A (205) and enhancement frame B (206) all are L shape setting, enhancement frame A (205) one side and enhancement frame B (206) one side all have reinforcing plate (2051) through spring elastic connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323136623.5U CN221248862U (en) | 2023-11-21 | 2023-11-21 | Simulation manipulator based on controllable stroke cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323136623.5U CN221248862U (en) | 2023-11-21 | 2023-11-21 | Simulation manipulator based on controllable stroke cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221248862U true CN221248862U (en) | 2024-07-02 |
Family
ID=91654347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323136623.5U Active CN221248862U (en) | 2023-11-21 | 2023-11-21 | Simulation manipulator based on controllable stroke cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221248862U (en) |
-
2023
- 2023-11-21 CN CN202323136623.5U patent/CN221248862U/en active Active
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