CN106426261B - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN106426261B CN106426261B CN201610989958.7A CN201610989958A CN106426261B CN 106426261 B CN106426261 B CN 106426261B CN 201610989958 A CN201610989958 A CN 201610989958A CN 106426261 B CN106426261 B CN 106426261B
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- CN
- China
- Prior art keywords
- pedestal
- manipulator
- screw
- mechanical paw
- roller guide
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of manipulator, feature includes pedestal, bottom cover, mechanical paw arm, pinion gear, motor, gear wheel, idler wheel, roller guide-screw；With motor driven bull gear drive, and several pinion fits is driven to rotate, roller guide-screw is moved up and down, and row's idler wheel is driven to move in sliding slot, so that mechanical paw arm can be rotated around fixed link, and realizes grasping movement.The present invention can solve in common current techniques the problems such as structure is complicated, and crawl stationarity is lower, to improve the crawl precision of manipulator, reduce the complexity of manipulator.
Description
Technical field
The present invention relates to mechanical equipment design fields, especially design a kind of manipulator.
Background technique
With the development of the society, development of manufacturing is swift and violent, automation, mechanization require higher and higher.In industrial production system
In making, the development of manipulator is especially rapid.Manipulator is mainly used for carrying, loading and unloading, the functions such as power-assisted.Currently, all kinds of machinery
The invention of hand is very much, but structure is complicated compared with multi-robot, and stationarity is general when crawl, high for some required precisions
The crawl of instrument, instrument is also lacking.
Summary of the invention
The present invention is in place of overcoming the shortcomings of the prior art, to provide a kind of manipulator, common current to can solve
The problems such as structure is complicated in technology, and crawl stationarity is lower, to improve the crawl precision of manipulator, reduces the complexity of manipulator
Degree.
To achieve the above object of the invention, the present invention adopts the following technical scheme:
A kind of the characteristics of manipulator of the invention includes: pedestal, bottom cover, mechanical paw arm；In the center of the pedestal
Place is provided with motor, is provided with gear wheel on the axis of the motor, and above the pedestal；In the gear wheel
Surrounding is provided with meshed several pinion gears and ring flange II, and the ring flange II and pinion gear are integrated knot
Structure, and be fixed on the pedestal；The inner ring helicitic texture of several pinion gears is connected with roller guide-screw respectively, and institute
Roller guide-screw is stated through the pedestal；Roller guide-screw side below the pedestal is provided with row's idler wheel；Described one
Row's idler wheel is matched with the sliding slot of the mechanical paw arm one side；The mechanical paw arm another side setting fixed pedestal II and
Fixed link；The bottom of the bottom cover is provided with through slot, a pair of bearing and fixed pedestal I；The mechanical paw arm passes through institute
Through slot is stated, and forms crawl structure in the lower section of the bottom cover；The fixed link is fixed on the pair of bearing block, and in institute
The both ends for stating fixed link are provided with bearing；Limit spring is provided between the fixed pedestal II and the fixed pedestal I；
The manipulator is with bull gear drive described in the motor driven, and described several pinion fits turn of drive
It is dynamic, the roller guide-screw is moved up and down, and the row idler wheel is driven to move in the sliding slot, so that described
Mechanical paw arm can be rotated around the fixed link, and realize grasping movement.
A kind of the characteristics of manipulator of the present invention, lies also in, the outer tangent line difference of each idler wheel in the row idler wheel
It is parallel with the motion profile in face where the mechanical paw arm upper hopper chute.
A top cover is provided on the pedestal, the inner cavity of the top cover is provided with several circular holes, and respectively with it is described
Roller guide-screw matches；Ring flange I is provided on the top cover；The manipulator is by the ring flange I and external machine
Body is connected.
Compared with the prior art, the beneficial effects of the present invention are embodied in:
1, the present invention is mainly formed with four groups of grasping mechanisms and transmission mechanism, and being equipped with a driving motor can operate；It is whole
Body is simple and compact for structure, reduces the quality of manipulator, decreases energy consumption, meanwhile, when the reduction of material is processed, is assembled more
It is convenient；
2, in transmission mechanism of the invention, gear drive and roller guide-screw transmission are the high drive mechanism of stability,
Roller guide-screw bottom has the roller structure of aligned transfer, so that mechanical paw arm is in the course of rotation, the sliding slot of one side
It is preferably tangent with idler wheel, avoid the mutation of power in transmission process；In addition, the circular hole of top cover setting limits roller guide-screw and removes
Other freedom degrees outside Y-axis movement, rotation finally cooperate limitation of the limit spring to mechanical paw arm, complete manipulator
Stability with higher when grasping movement；
3, driving device of the present invention is relatively fewer, it is only necessary to which a motor driven gear rotation reduces and needs multiple motors
Issuable gripper does the asynchronism of grasping movement when drive collaborative work.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of internal drive and gripping portion after concealing shell of the invention；
Fig. 3 is the structural schematic diagram of the pinion portion and roller guide-screw in drive mechanism of the invention；
Fig. 4 is drive mechanism lower half portion structural schematic diagram of the invention；
Fig. 5 is the structural schematic diagram of part on mechanical paw arm of the invention；
Fig. 6 is the structural schematic diagram of top cover of the invention.
Figure label are as follows: 1: pedestal, 2: top cover, 3: ring flange I, 4: bottom cover, 5: mechanical paw arm, 6: roller guide-screw, 7:
Pinion gear, 8: ring flange II, 9: screw, 10: gear wheel, 11: motor, 12: idler wheel, 13: fixed pedestal I, 14: bearing block, 15:
Through slot, 16: sliding slot, 17: limit spring, 18: fixed pedestal II, 19: fixed link, 20: bearing, 21: circular hole.
Specific embodiment
With reference to the accompanying drawing, the present invention is further explained by embodiment.
Referring to Fig. 1, a kind of manipulator of the present embodiment, comprising: pedestal 1, top cover 2, ring flange I 3, bottom cover 4, mechanical paw
Arm 5；Totally 4 primary structures are top cover 2 on pedestal 1, and lower pedestal 1 is bottom cover 4 and mechanical paw part.It is provided on pedestal 1
Multiple threaded holes and light-operated, to be attached fixation with other component.
Referring to fig. 2, Fig. 3, a kind of manipulator of the present embodiment are provided with motor 11, motor in the center position of pedestal 1
11 position is located at 1 lower section of pedestal；The axis of motor 11 passes through pedestal 1, and on its axis, and the top in pedestal 1 is provided with greatly
Gear 10；Meshed several pinion gears 7 and ring flange II 8, and ring flange II are provided with around gear wheel 10
8 are structure as a whole with pinion gear 7, this structure is fixed on pedestal 1 by screw 9 by several threaded holes on ring flange II 8
On；Note that guarantee the accuracy of big pinion gear engagement during installing big pinion gear, gear wheel 10 is first installed, then according to
Secondary installation pinion gear 7.The inner ring helicitic texture of several pinion gears 7 is connected with roller guide-screw 6 respectively, and roller guide-screw 6 passes through
Pedestal 1 is worn, needs roller guide-screw 6 and the sliding slot 16 of 5 side of mechanical paw arm avoiding installation error to just during installation herein
Caused by rub, reduce grasp stability；6 side of roller guide-screw below pedestal 1 is provided with row's idler wheel 12；One row
Idler wheel 12 is matched with the sliding slot 16 of 5 one side of mechanical paw arm；In one row's idler wheel 12 the outer tangent line of each idler wheel respectively with machinery
The motion profile in 5 upper hopper chute of gripper arm, 16 place face is parallel.
Referring to fig. 4, Fig. 5, a kind of manipulator of this example, mechanical paw arm 5 another side setting fixed pedestal II 18 and
Fixed link 19；The bottom of bottom cover 4 is provided with through slot 15, a pair of bearing 14 and fixed pedestal I 13；Mechanical paw arm 5 passes through
Through slot 15, and crawl structure is formed in the lower section of bottom cover 4；Fixed link 19 is fixed in a pair of bearing 14, and in fixed link 19
Both ends be provided with bearing 20；Limit spring 17 is provided between fixed pedestal II 18 and fixed pedestal I 13；Limit spring 17
It is more steady when rotating around bearing block 14 that setting can make mechanical paw arm 5, while spring holds mechanical paw arm 5, also functions to
Position-limiting action.
Referring to Fig. 6, a kind of manipulator of this example, the top cover 2 being arranged on pedestal 1, the inner cavity of top cover 2 is provided with several
Circular hole 21, and matched respectively with roller guide-screw 6；Ring flange I 3 is provided on top cover 2；Manipulator is by ring flange I 3
It is connected with external engine body.
The workflow of the present embodiment is as follows:
Referring to fig. 2, Fig. 4, when needing to carry out crawl article, 11 main story of motor drives gear wheel 10 to rotate counterclockwise, and
Several pinion gears 7 are driven to rotate clockwise, 7 inner ring of pinion gear and roller guide-screw 6 cooperate, so that roller guide-screw 6 moves down,
One row's idler wheel 12 of the lower section of roller guide-screw 6 rolls in sliding slot 16 simultaneously, and generates downward thrust so that gripper arm 5 around
Bearing block 14 is rotated；When 5 top half of mechanical paw arm is perpendicular to pedestal, motor stalls, manipulator formation is grabbed
Take movement；When needing to place article, motor reversal, article can be placed by being reversed above-mentioned movement.
Claims (3)
1. a kind of manipulator, feature includes: pedestal (1), bottom cover (4), mechanical paw arm (5)；At the center of the pedestal (1)
It is provided with motor (11) at position, is provided with gear wheel on the axis of the motor (11), and above the pedestal (1)
(10)；Meshed several pinion gears (7) and ring flange II (8) are provided with around the gear wheel (10), and
The ring flange II (8) is structure as a whole with pinion gear (7), and is fixed on the pedestal (1)；Several described pinion gears
(7) inner ring helicitic texture is connected with roller guide-screw (6) respectively, and the roller guide-screw (6) runs through the pedestal (1)；?
Roller guide-screw (6) side below the pedestal (1) is provided with row's idler wheel (12)；The one row idler wheel (12) with it is described
The sliding slot (16) of mechanical paw arm (5) one side matches；Fixed pedestal II (18) are arranged in the another side of the mechanical paw arm (5)
And fixed link (19)；The bottom of the bottom cover (4) is provided with through slot (15), a pair of bearing (14) and fixed pedestal I (13)；
The mechanical paw arm (5) passes through the through slot (15), and forms crawl structure in the lower section of the bottom cover (4)；The fixation
Bar (19) is fixed on the pair of bearing block (14), and the both ends of the fixed link (19) are provided with bearing (20)；It is described
Limit spring (17) are provided between fixed pedestal II (18) and the fixed pedestal I (13)；
The manipulator is gear wheel (10) rotation to be driven with the motor (11), and drive several described pinion gears
(7) cooperation rotation, so that the roller guide-screw (6) can move up and down, and drives the row idler wheel (12) in the sliding slot
(16) it is moved in, so that the mechanical paw arm (5) can be rotated around the fixed link (19), and realizes grasping movement.
2. a kind of manipulator according to claim 1, characterized in that each idler wheel is circumscribed in the row idler wheel (12)
Line is parallel with the motion profile in face where mechanical paw arm (5) upper hopper chute (16) respectively.
3. a kind of manipulator according to claim 1, characterized in that a top cover (2) are provided on the pedestal (1),
The inner cavity of the top cover (2) is provided with several circular holes (21), and matches respectively with the roller guide-screw (6)；On the top
Ring flange I (3) is provided on lid (2)；The manipulator is to be connected by the ring flange I (3) with external engine body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989958.7A CN106426261B (en) | 2016-11-10 | 2016-11-10 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610989958.7A CN106426261B (en) | 2016-11-10 | 2016-11-10 | A kind of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426261A CN106426261A (en) | 2017-02-22 |
| CN106426261B true CN106426261B (en) | 2019-04-23 |
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ID=58207338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610989958.7A Active CN106426261B (en) | 2016-11-10 | 2016-11-10 | A kind of manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN106426261B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127637A (en) * | 2017-12-29 | 2018-06-08 | 信利（惠州）智能显示有限公司 | Manipulator |
| CN110466640A (en) * | 2019-09-25 | 2019-11-19 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of flexible disc type pawl thorn for climbing robot |
| CN113387178A (en) * | 2021-07-23 | 2021-09-14 | 力行亲和机器人科技(西安) 有限公司 | Mechanical arm tail end executing mechanism with self-locking mechanism |
| CN113681586B (en) * | 2021-09-28 | 2023-03-24 | 江苏电子信息职业学院 | Based on industrial robot anchor clamps of intelligent manufacturing |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011050112A2 (en) * | 2009-10-20 | 2011-04-28 | Nexus Biosystems, Inc. | Gripper apparatus and method for containers of different sizes |
| CN203003903U (en) * | 2012-11-29 | 2013-06-19 | 安徽惊天液压智控股份有限公司 | Hydraulic under-actuated claw |
| CN103963067A (en) * | 2014-05-06 | 2014-08-06 | 东华大学 | Flexible gripper for gripping cone yarn and working method thereof |
| CN105922281B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
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- 2016-11-10 CN CN201610989958.7A patent/CN106426261B/en active Active
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| Publication number | Publication date |
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| CN106426261A (en) | 2017-02-22 |
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