CN107214693A - Novel universal manipulator - Google Patents
Novel universal manipulator Download PDFInfo
- Publication number
- CN107214693A CN107214693A CN201710468049.3A CN201710468049A CN107214693A CN 107214693 A CN107214693 A CN 107214693A CN 201710468049 A CN201710468049 A CN 201710468049A CN 107214693 A CN107214693 A CN 107214693A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- extension arm
- arm
- drum
- novel universal
- Prior art date
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of novel universal manipulator, one end of extension arm is removably fixed in the top of pedestal, and mechanical arm one end is formed with universal ball end, and universal ball end activity is embedded the other end in extension arm, also, the junction of extension arm and universal ball end is fixed by fastening bolt；The rotation dish of projection is formed with base interior bottom face, drum is set in the rotary shaft in rotation dish, pulls line one ends wound on drum, the other end sequentially passes through pedestal, extension arm, universal ball end and mechanical arm and is connected with gripper；When drum rotate drive pull line and tighten up when, the other end of the root retraction mechanical arm of two pawl bars and head is close to each other；When drum, which reversely transfers drive pulling line, to be loosened, the root of two pawl bars stretches out the other end of mechanical arm and head is located remotely from each other.The novel universal robot manipulator structure is simple, easy to use, can fast clamp and transport article, adjustable range is wide, applicability is high, significantly reduces the labor intensity of operator.
Description
Technical field
The present invention relates to the equipment of industrial product, in particular it relates to a kind of novel universal manipulator.
Background technology
In field of industrial production, production process or the process such as following process, packaging can all use it is various each
The instrument or assembly of sample.For example, in working of plastics process for making, often manufacturing a product, operator can need
The operation for picking and placeing working of plastics is repeated once, the physical fatigue of operating personnel and so on can be repeatedly caused, speed is reduced gradually, shadow
The production efficiency of product is rung.Meanwhile, some processing assembly or machining tool are placed on from operating personnel remote position,
And operating personnel need remote operation when taking, waste time and energy.
Therefore, operating personnel are usually by some aids, such as long rod of ladder, buckle etc..But, these instruments
Function is single, and structure is lack of standardization, use action it is more clumsy on the contrary, run counter to desire.
Therefore, urgent need will provide a kind of simple in construction, easy to use, can fast clamp and transport the novel mechanical of article
Hand.
The content of the invention
It is an object of the invention to provide a kind of novel universal manipulator, the novel universal robot manipulator structure is simple, user
Just, it can fast clamp and transport article, adjustable range is wide, applicability is high, significantly reduces the labor intensity of operator.
To achieve these goals, the invention provides a kind of novel universal manipulator, the novel universal manipulator includes
Hollow pedestal, hollow extension arm, hollow mechanical arm, pulling line, drum and gripper；Wherein,
One end of extension arm is removably fixed in the top of pedestal, and mechanical arm one end is formed with universal ball end, multi-directional ball
Head activity is embedded the other end in extension arm, also, the junction of extension arm and universal ball end is fixed by fastening bolt；
The rotation dish of projection is formed with base interior bottom face, drum is set in the rotary shaft in rotation dish, pulled
Line one ends wound is on drum, and the other end sequentially passes through pedestal, extension arm, universal ball end and mechanical arm and along the length of mechanical arm
The gripper that direction extends to the outside with being placed in the mechanical arm other end is connected；
Gripper includes at least two pawl bars, and two pawl bars are the V-arrangement of stage casing outwardly convex, and V-arrangement angle is 135 °；
The root of two pawl bars is connected on the other end for pulling line, and middle part is connected by spring so that proper drum rotates drive
Line is pulled when tightening up, the other end of the root retraction mechanical arm of two pawl bars and head is close to each other；When the reverse conveying belt of drum
When dynamic pulling line loosens, the root of two pawl bars stretches out the other end of mechanical arm and head is located remotely from each other.
Preferably, rotation dish be provided with loop, loop extend upwardly to it is coaxial with rotation dish, pulling the line other end from
Coil is pulled out and passed through sequentially passes through pedestal, extension arm, universal ball end and mechanical arm again after loop.
Preferably, the mechanical arm other end is provided with two directive wheels, and two directive wheels are born against in the outer of two pawl bars
On wall.
Preferably, partly cave inward the orienting roll for being formed with and being engaged with two directive wheels on the outer wall of two pawl bars
Groove.
Preferably, pedestal includes base and the lifting platform being arranged on base, and one end of extension arm is removably fixed in
The top of lifting platform.
Preferably, the top of lifting platform is provided with rotating shaft, and one end of extension arm in perpendicular in being hinged in rotating shaft and turn
Axle can drive extension arm around the center axis thereof of lifting platform.
Preferably, rotating shaft is connected with retractable support lever with extension arm stage casing.
Preferably, it is respectively equipped with rubber clamp bar at the head contact of two pawl bars.
Preferably, the surface of rubber clamp bar is formed with concavo-convex sawtooth.
According to above-mentioned technical proposal, one end of extension arm is removably fixed in the top of pedestal, the other end by the present invention
The outside of mechanical arm one end is set in, and is fixed by fastening bolt；So, by unclamping and rotational lock fastening bolt again
The total length after extension arm is assembled with mechanical arm can be adjusted, in order to neatly adjust the pickup model of manipulator as needed
Enclose.The rotation dish of projection is formed with base interior bottom face, drum is set in the rotary shaft in rotation dish, pulls line one
End be wrapped on drum, the other end sequentially pass through pedestal, extension arm and mechanical arm and along mechanical arm length direction extend to
The gripper for being placed in the outside of the mechanical arm other end is connected；And gripper includes at least two pawl bars, two pawl bars are stage casing
The V-arrangement of outwardly convex, and V-arrangement angle is 135 °；The root of two pawl bars is connected on the other end for pulling line, middle part
Connected by spring, so, when drum, which is rotated, drives pulling line to tighten up, the root of two pawl bars and the wall phase interaction of mechanical arm
With and the other end of retraction mechanical arm, and the head of the two is close to each other, can so realize crawl article；Likewise, working as line
Disk reversely transfers drive and pulls line when loosening, and the spring of extruding is in order to which the outside applying power that restores to the original state is so that the root of two pawl bars
The other end of mechanical arm is stretched out, and the head of the two is located remotely from each other, and so can just realize the article for unclamping crawl.Wherein, machine
Tool arm one end is formed with universal ball end, and universal ball end activity is embedded the other end in extension arm, so, even if not adjusting extension arm
Angle, only by unclamp fastening bolt rotate universal ball end can be to form any folder between mechanical arm and extension arm
Angle, and gripper is fetched and delivered scope and will greatly expanded.As can be seen here, the novel universal robot manipulator structure is simple, easy to use,
It can fast clamp and transport article, adjustable range is wide, applicability is high, significantly reduces the labor intensity of operator.
Other features and advantages of the present invention will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation of the novel universal manipulator in a kind of embodiment of the invention provided.
Description of reference numerals
1- extension arm 2- mechanical arms
3- pulls line 4- fastening bolts
5- pawl bar 6- bases
7- lifting platform 8- rubber clamp bars
9- spring 10- drums
11- loop 12- directive wheels
13- retractable support lever 14- universal ball ends
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In the present invention, in the case where not making opposite explanation, the noun of locality included in term such as " top, bottom, inside and outside "
Only represent orientation of the term under normal service condition, or be skilled artisan understands that be commonly called as, and be not construed as pair
The limitation of the term.
Referring to Fig. 1, the present invention provides a kind of novel universal manipulator, the novel universal manipulator include hollow pedestal,
Hollow extension arm 1, hollow mechanical arm 2, pulling line 3, drum 10 and gripper；Wherein,
One end of extension arm 1 is removably fixed in the top of pedestal, and the one end of mechanical arm 2 is formed with universal ball end 14, ten thousand
Be embedded the other end in extension arm 1 to the activity of bulb 14, also, extension arm 1 and universal ball end 14 junction by fastening spiral shell
Bolt 4 is fixed；
The rotation dish of projection is formed with base interior bottom face, drum 10 is set in the rotary shaft in rotation dish, drawn
The one ends wound of line 3 is dragged on drum 10, the other end sequentially passes through pedestal, extension arm 1, universal ball end 14 and mechanical arm 2 and along machine
The gripper that the length direction of tool arm 2 extends to the outside with being placed in the other end of mechanical arm 2 is connected；
Gripper includes at least two pawl bars 5, and two pawl bars 5 are the V-arrangement of stage casing outwardly convex, and V-arrangement angle is
135°；The root of two pawl bars 5 is connected on the other end for pulling line 3, and middle part is connected by spring 9 so that proper drum
10 rotate to drive and pull lines 3 when tightening up, the other end of the root retraction mechanical arm 2 of two pawl bars 5 and head is close to each other；Work as line
When the reverse transfer drive pulling line 3 of disk 10 loosens, the root of two pawl bars 5 stretches out the other end of mechanical arm 2 and head is mutually remote
From.
By above-mentioned technical proposal, one end of extension arm 1 is removably fixed in the top of pedestal, the other end is set in
The outside of the one end of mechanical arm 2, and fixed by fastening bolt 4；So, by unclamping and again rotational lock fastening bolt 4 can
To adjust the total length after extension arm 1 is assembled with mechanical arm 2, in order to neatly adjust the pickup model of manipulator as needed
Enclose.The rotation dish of projection is formed with base interior bottom face, drum 10 is set in the rotary shaft in rotation dish, pulls line
3 one ends wounds are on drum 10, and the other end sequentially passes through pedestal, extension arm 1 and mechanical arm 2 and along the length direction of mechanical arm 2
The gripper for extending to the outside with being placed in the other end of mechanical arm 2 is connected；And gripper includes at least two pawl bars 5, two
Pawl bar 5 is the V-arrangement of stage casing outwardly convex, and V-arrangement angle is 135 °；The root of two pawl bars 5, which is connected to, pulls line 3
On the other end, middle part is connected by spring 9, so, when drum 10, which is rotated, drives pulling line 3 to tighten up, the root of two pawl bars 5
Interacted and the other end of retraction mechanical arm 2 with the wall of mechanical arm 2, and the head of the two is close to each other, can so realize
Capture article；Likewise, when drum 10 reversely transfers and drives pulling line 3 to loosen, the spring 9 of extruding is outside in order to restore to the original state
Applying power causes the root of two pawl bars 5 to stretch out the other end of mechanical arm 2, and the head of the two is located remotely from each other, so just can be with
Realize the article for unclamping crawl.Wherein, the one end of mechanical arm 2 is formed with universal ball end 14, and the activity of universal ball end 14 is embedded in extension
The other end of arm 1, so, even if not adjusting the angle of extension arm 1, universal ball end 14 is rotated only by fastening bolt 4 is unclamped
Can be to be formed any angle between mechanical arm 2 and extension arm 1, and gripper is fetched and delivered scope and will greatly expanded.By
This is visible, and the novel universal robot manipulator structure is simple, easy to use, can fast clamp and transport article, adjustable range is wide, suitable
It is high with property, significantly reduce the labor intensity of operator.
In the present embodiment, the direction of travel of line 3 is pulled for the ease of constraint, prevents it from deviateing preset direction and causing
Pull difficult, it is preferable that rotation dish is provided with loop 11, loop 11 extends upwardly to coaxial with rotation dish, and pulling line 3 is another
One end pulls out and passed through from coil sequentially passes through pedestal, extension arm 1, universal ball end 14 and mechanical arm 2 again after loop 11.
In the frequently inside and outside motion of pawl bar 5, it repeatedly can be contacted repeatedly with the other end of mechanical arm 2, in order to avoid the two
Between rub that excessive part is impaired or the inside and outside motion of pawl bar 5 has some setbacks, influence operating efficiency, it is preferable that the other end of mechanical arm 2
Provided with two directive wheels 12, two directive wheels 12 are born against on the outer wall of two pawl bars 5.
Likewise, losing original function to prevent directive wheel 12 from deviateing preset direction, it is preferable that two pawl bars 5
Outer wall on partly cave inward the guiding slot rolling for being formed with and being engaged with two directive wheels 12.
In order to further expand the range size that the Simple manipulator can be touched in perpendicular, improve it and fit
With property, it is preferable that pedestal includes base 6 and the lifting platform 7 being arranged on base 6, and one end of extension arm 1 is removably fixed in
The top of lifting platform 7.
Likewise, in order to further expand the range size that the Simple manipulator can be touched in horizontal plane,
Improve its applicability, it is preferable that the top of lifting platform 7 is provided with rotating shaft, one end of extension arm 1 is in being hinged on rotating shaft in perpendicular
Go up and rotating shaft can drive extension arm 1 around the center axis thereof of lifting platform 7.
In order to further increase the flexibility ratio in the manipulator running, while ensureing extension arm before and after regulation
1 stability maintenance, it is preferable that rotating shaft is connected with retractable support lever 13 with the stage casing of extension arm 1.
In the present embodiment, rubber clamp bar 8 is respectively equipped with the head contact of preferably two pawl bars 5, meanwhile, rubber folder
The surface of bar 8 is formed with concavo-convex sawtooth.
It is so designed that can increase two pawl bars 5 increases extruding force and frictional force when clamping object to its surface, effectively
Preventing claw bar 5 catches the article for coming off and causing after article to damage, and production cost is saved from another point of view, improves production effect
Rate.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (9)
1. a kind of novel universal manipulator, it is characterised in that the novel universal manipulator includes hollow pedestal, hollow prolonged
Long-armed (1), hollow mechanical arm (2), pulling line (3), drum (10) and gripper；Wherein,
One end of the extension arm (1) is removably fixed in the top of the pedestal, and described mechanical arm (2) one end is formed with ten thousand
To bulb (14), universal ball end (14) activity is embedded the other end in the extension arm (1), also, the extension arm (1)
Junction with universal ball end (14) is fixed by fastening bolt (4)；
The rotation dish of projection is formed with the base interior bottom face, the drum (10) is set in turning in the rotation dish
On moving axis, pulling line (3) one ends wound is on the drum (10), and the other end sequentially passes through the pedestal, extension arm
(1), universal ball end (14) and mechanical arm (2) and extend to and be placed in the mechanical arm along the length direction of the mechanical arm (2)
(2) gripper of the outside of the other end is connected；
The gripper includes at least two pawl bars (5), and two pawl bars (5) are the V-arrangement of stage casing outwardly convex, and V-arrangement
Angle is 135 °；The root of two pawl bars (5) is connected on the other end of the pulling line (3), and middle part passes through bullet
When spring (9) is connected so that the proper drum (10) rotation drive pulling line (3) is tightened up, the root contracting of two pawl bars (5)
Enter the other end of the mechanical arm (2) and head is close to each other；The pulling line (3) is driven when the drum (10) reversely transfers
When loosening, the root of two pawl bars (5) stretches out the other end of the mechanical arm (2) and head is located remotely from each other.
2. novel universal manipulator according to claim 1, it is characterised in that the rotation dish is provided with loop
(11), the loop (11) extend upwardly to it is coaxial with the rotation dish, it is described pulling line (3) other end drawn from the coil
Go out and pass through and sequentially pass through the pedestal, extension arm (1), universal ball end (14) and mechanical arm (2) after the loop (11) again.
3. novel universal manipulator according to claim 1, it is characterised in that mechanical arm (2) other end is provided with
Two directive wheels (12), described two directive wheels (12) are born against on the outer wall of two pawl bars (5).
4. novel universal manipulator according to claim 3, it is characterised in that the outer wall top of two pawl bars (5)
Divide the guiding slot rolling for caving inward and being formed with and being engaged with described two directive wheels (12).
5. novel universal manipulator according to claim 1, it is characterised in that the pedestal includes base (6) and set
Lifting platform (7) on the base (6), one end of the extension arm (1) is removably fixed in the top of the lifting platform (7)
End.
6. novel universal manipulator according to claim 5, it is characterised in that the top of the lifting platform (7), which is provided with, to be turned
Axle, one end of the extension arm (1) in perpendicular in being hinged in the rotating shaft and the rotating shaft can drive the extension
Center axis thereof of the arm (1) around the lifting platform (7).
7. novel universal manipulator according to claim 6, it is characterised in that the rotating shaft connects with extension arm (1) stage casing
It is connected to retractable support lever (13).
8. novel universal manipulator according to claim 1, it is characterised in that the head contact of two pawl bars (5)
Place is respectively equipped with rubber clamp bar (8).
9. novel universal manipulator according to claim 8, it is characterised in that the surface of the rubber clamp bar (8) is formed
There is concavo-convex sawtooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710468049.3A CN107214693A (en) | 2017-06-20 | 2017-06-20 | Novel universal manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710468049.3A CN107214693A (en) | 2017-06-20 | 2017-06-20 | Novel universal manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214693A true CN107214693A (en) | 2017-09-29 |
Family
ID=59950229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710468049.3A Pending CN107214693A (en) | 2017-06-20 | 2017-06-20 | Novel universal manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107214693A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340930A (en) * | 2018-04-02 | 2019-10-18 | 河北农业大学 | Lockable constant-force clamping manipulator end effector device |
| CN111667935A (en) * | 2020-06-19 | 2020-09-15 | 中国核动力研究设计院 | Integral dismounting device for inversion type driving mechanism of nuclear reactor |
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| US4246661A (en) * | 1979-03-15 | 1981-01-27 | The Boeing Company | Digitally-controlled artificial hand |
| US20090060699A1 (en) * | 2005-11-29 | 2009-03-05 | Roland Arnold | Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry |
| CN201633017U (en) * | 2009-04-02 | 2010-11-17 | 北方工业大学 | Deep-hole article pickup tool |
| CN203197812U (en) * | 2012-12-04 | 2013-09-18 | 河南省电力公司驻马店供电公司 | Novel universal-joint screwdriver special-purpose tool |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN203998779U (en) * | 2014-08-08 | 2014-12-10 | 吴晓辉 | A kind of mobile gripper type elevator |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
-
2017
- 2017-06-20 CN CN201710468049.3A patent/CN107214693A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4246661A (en) * | 1979-03-15 | 1981-01-27 | The Boeing Company | Digitally-controlled artificial hand |
| US20090060699A1 (en) * | 2005-11-29 | 2009-03-05 | Roland Arnold | Support arm for a clamping and centering element of a gripper frame for holding three-dimensional components in the motor vehicle industry |
| CN201633017U (en) * | 2009-04-02 | 2010-11-17 | 北方工业大学 | Deep-hole article pickup tool |
| CN203197812U (en) * | 2012-12-04 | 2013-09-18 | 河南省电力公司驻马店供电公司 | Novel universal-joint screwdriver special-purpose tool |
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN203998779U (en) * | 2014-08-08 | 2014-12-10 | 吴晓辉 | A kind of mobile gripper type elevator |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340930A (en) * | 2018-04-02 | 2019-10-18 | 河北农业大学 | Lockable constant-force clamping manipulator end effector device |
| CN111667935A (en) * | 2020-06-19 | 2020-09-15 | 中国核动力研究设计院 | Integral dismounting device for inversion type driving mechanism of nuclear reactor |
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Application publication date: 20170929 |
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