CN107263461A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN107263461A CN107263461A CN201710640234.6A CN201710640234A CN107263461A CN 107263461 A CN107263461 A CN 107263461A CN 201710640234 A CN201710640234 A CN 201710640234A CN 107263461 A CN107263461 A CN 107263461A
- Authority
- CN
- China
- Prior art keywords
- rack
- support frame
- bottom plate
- stepper motor
- sliding block
- 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
Links
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator, including bottom plate, retainer ring of the top surface edge of the bottom plate provided with six rectangular distributions, the upper surface middle part of the bottom plate is provided with chute, the inside of chute is provided with mobile device, the upper end of mobile device is provided with support frame, support frame is fixedly connected with the sliding block of mobile device, the side of support frame is provided with switches set, the input of switches set is electrically connected with the output end of external power source, the upper end of support frame is provided with spacing collar, the inside of spacing collar is provided with rack, rack is slidably connected with spacing collar, provided with two symmetrically arranged gears in the middle part of the side of rack, rack and pinion is engaged, the side of gear is interspersed with electric expansion bar, the fixing end connection of gear and electric expansion bar.The manipulator, it is simple in construction, it can adjust, it is convenient to fix, sheet-like workpiece can be carried out quickly gripping and conveying, prevent workpiece from coming off, it is simple to operate, it is easy to use, it is practical.
Description
Technical field
The present invention relates to manipulator technical field, specially a kind of manipulator.
Background technology
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the maximum area of arm for having the mankind
It is not that flexibility ratio and resistance to dynamics, that is, the sharpest edges of manipulator recursive do same action in mechanical positive reason
It will not always feel tired under condition, can be that the application of mechanical arm also will more and more extensively, manipulator is recent decades development
The ability fulfiled assignment in a kind of high-tech automatic producing device got up, the accuracy and environment of operation, industrial machinery mobile phone
The important branch of device people, existing manipulator is when sheet-like workpiece is fixed, and crawl is inconvenient, and workpiece easily takes off
Fall, it is inconvenient.
The content of the invention
The technical problem to be solved in the present invention is to overcome existing defect there is provided a kind of manipulator, can fold carrying, knot
Structure is simple, can adjust, convenient to fix, and sheet-like workpiece can be carried out quickly gripping and conveying, prevent workpiece from coming off, operation letter
It is single, easy to use, practical, the problem of effectively can solving in background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of manipulator, including bottom plate, the bottom plate
Retainer ring of the top surface edge provided with six rectangular distributions, the upper surface middle part of the bottom plate is provided with chute, the chute
Inside is provided with mobile device, and the upper end of the mobile device is provided with support frame, and support frame and the sliding block of mobile device are fixed and connected
Connect, the side of support frame as described above is provided with switches set, and the input of the switches set is electrically connected with the output end of external power source, described
The upper end of support frame is provided with spacing collar, and the inside of spacing collar is provided with rack, and the rack is slidably connected with spacing collar,
Provided with two symmetrically arranged gears in the middle part of the side of the rack, and rack and pinion is engaged, and the side of the gear is interted
There is an electric expansion bar, and a fixing end connection of gear and electric expansion bar, the fixing end of the electric expansion bar and support frame
Junction is provided with clutch shaft bearing, and the telescopic end of the electric expansion bar is provided with U-shaped bar, and the input of the electric expansion bar is with opening
The output end electrical connection of pass group.
As a preferred technical solution of the present invention, the mobile device includes sliding block, the sliding block and slide
Connection, the side of the sliding block is provided with screw, and sliding block is threadedly coupled by screw with stud, and the right-hand member of the stud passes through the
One shaft coupling is fixedly connected with the output shaft of the first stepper motor, and first stepper motor is fixed by mounting seat and bottom plate to be connected
Connect, and the input of the first stepper motor is electrically connected with the output end of switches set.
As a preferred technical solution of the present invention, the junction of the stud and bottom plate is provided with second bearing, and spiral shell
Post is fixedly connected with the inner ring of second bearing.
As a preferred technical solution of the present invention, the upper surface of the rack is provided with through hole, the inside of the through hole
Provided with screw thread, and rack is connected by screw thread with screw flight, and screw rod is located at the lower end of rack, and the lower end of the screw rod passes through
Second shaft coupling is fixedly connected with the output shaft of the second stepper motor, and second stepper motor is fixedly connected with a slide block, and the
The input of two stepping motor is electrically connected with the output end of switches set.
As a preferred technical solution of the present invention, the side of the U-shaped bar is socketed with leather sheath.
Compared with prior art, the beneficial effects of the invention are as follows：This manipulator, is easy to convey workpiece, improves work
Make efficiency；It is easy to the rotation of electric expansion bar and U-shaped bar, improves the accuracy of manipulator；It is easy to be clamped fixation to workpiece,
Simple to operate, easy to use, accuracy is high；The frictional force of U-shaped bar is improved, is easy to that workpiece is fixed；Whole manipulator knot
Structure is simple, can adjust, convenient to fix, and sheet-like workpiece can be carried out quickly gripping and conveying, prevent workpiece from coming off, operation letter
It is single, it is easy to use, it is practical.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure：1 bottom plate, 2 retainer rings, 3 chutes, 4 mobile devices, 41 studs, 42 first shaft couplings, 43 first steppings electricity
Machine, 44 mounting seats, 45 sliding blocks, 5 support frames, 6 second stepper motors, 7 second shaft couplings, 8 screw rods, 9 racks, 91 through holes, 10 teeth
Wheel, 11 electric expansion bars, 12 clutch shaft bearings, 13 U-shaped bars, 14 leather sheaths, 15 second bearings, 16 switches sets.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, the present invention provides a kind of technical scheme：A kind of manipulator, including bottom plate 1, the upper surface side of bottom plate 1
Retainer ring 2 of the edge provided with six rectangular distributions, is fixed by 2 pairs of whole manipulators of retainer ring, in the upper surface of bottom plate 1
Portion is provided with chute 3, and the inside of chute 3 is provided with mobile device 4, and mobile device 4 includes sliding block 45, and sliding block 45 is slided with chute 3 to be connected
Connect, the side of sliding block 45 is provided with screw, and sliding block 45 is threadedly coupled by screw with stud 41, and the right-hand member of stud 41 passes through first
Shaft coupling 42 is fixedly connected with the output shaft of the first stepper motor 43, and the first stepper motor 43 is consolidated by mounting seat 44 and bottom plate 1
Connect calmly, and the input of the first stepper motor 43 is electrically connected with the output end of switches set 16, is easy to convey workpiece, is carried
High workload efficiency, controls the first stepper motor 43 to work, the first stepper motor 43 passes through first shaft coupling 42 by switches set 16
Stud 41 is driven to rotate, stud 41 is moved with movable slider 45 along chute 3, sliding block 45 drives support frame 5 to move, so as to complete workpiece
Gripping and movement, the junction of stud 41 and bottom plate 1 is provided with second bearing 15, and stud 41 and the inner ring of second bearing 15 are consolidated
Fixed connection, is easy to the rotation of electric expansion bar 11 and U-shaped bar 13, improves the accuracy of manipulator, the upper end of mobile device 4 is provided with
Support frame 5, and support frame 5 is fixedly connected with the sliding block 45 of mobile device 4, the side of support frame 5 is provided with switches set 16, switches set
16 input is electrically connected with the output end of external power source, and the upper end of support frame 5 is provided with spacing collar, and the inside of spacing collar
Provided with rack 9, rack 9 is slidably connected with spacing collar, and the upper surface of rack 9 is provided with through hole 91, and the inside of through hole 91 is provided with spiral shell
Line, and rack 9 is threadedly coupled by screw thread with screw rod 8, and screw rod 8 is located at the lower end of rack 9, the lower end of screw rod 8 passes through second
Shaft coupling 7 is fixedly connected with the output shaft of the second stepper motor 6, and the second stepper motor 6 is fixedly connected with sliding block 45, and second step
The input of stepper motor 6 is electrically connected with the output end of switches set 16, is easy to be clamped fixation to workpiece, simple to operate, is used
Convenient, accuracy is high, provided with two symmetrically arranged gears 10 in the middle part of the side of rack 9, and rack 9 is engaged with gear 10, is led to
Crossing switches set 16 controls the second stepper motor 6 to work, and the second stepper motor 6 drives screw rod 8 to rotate by second shaft coupling 7, spiral shell
Bar 8 is moved up and down with carry-over bar 9, and rack 9 is rotated with moving gear 10, and the side of gear 10 is interspersed with electric expansion bar 11, and tooth
Wheel 10 is connected with the fixing end of electric expansion bar 11, and the fixing end of electric expansion bar 11 is provided with first with the junction of support frame 5
Bearing 12, the telescopic end of electric expansion bar 11 is provided with U-shaped bar 13, controls electric expansion bar 11 to extend by switches set 16, electronic
Expansion link 11 drives U-shaped bar 13 to move, and sheet-like workpiece is located inside the U-lag of U-shaped bar 13, and gear 10 passes through electric expansion
Bar 11 drives U-shaped bar 13 to rotate, so that U-shaped bar 13 clamps workpiece, then controls electric expansion bar 11 to contract by switches set 16
Short, the side of U-shaped bar 13 is socketed with leather sheath 14, improves the frictional force of U-shaped bar 13, is easy to that workpiece is fixed, electric expansion
The input of bar 11 is electrically connected with the output end of switches set 16, and switches set 16 is provided with and the first stepper motor 43, the second stepping
Motor 6 and the corresponding control button of electric expansion bar 11, whole robot manipulator structure are simple, can adjust, convenient to fix, can be right
Sheet-like workpiece quickly grip and convey, and prevents workpiece from coming off, simple to operate, easy to use, practical.
When in use：Electric expansion bar 11 is controlled to extend by switches set 16, electric expansion bar 11 drives U-shaped bar 13 to move
It is dynamic, and sheet-like workpiece is located inside the U-lag of U-shaped bar 13, control the second stepper motor 6 to work by switches set 16, second
Stepper motor 6 drives screw rod 8 to rotate by second shaft coupling 7, and screw rod 8 is moved up and down with carry-over bar 9, and rack 9 is with moving gear 10
Rotate, gear 10 drives U-shaped bar 13 to rotate by electric expansion bar 11, so that U-shaped bar 13 clamps workpiece, then pass through switch
Group 16 controls electric expansion bar 11 to shorten, and controls the first stepper motor 43 to work by switches set 16, and the first stepper motor 43 leads to
Cross first shaft coupling 42 drive stud 41 rotate, stud 41 is moved with movable slider 45 along chute 3, thus complete workpiece gripping and
It is mobile.
The present invention is easy to convey workpiece, improves operating efficiency；It is easy to turn of electric expansion bar 11 and U-shaped bar 13
It is dynamic, improve the accuracy of manipulator；It is easy to be clamped fixation to workpiece, simple to operate, easy to use, accuracy is high；Improve U
The frictional force of shape bar 13, is easy to that workpiece is fixed；Whole robot manipulator structure is simple, can adjust, convenient to fix, can be right
Sheet-like workpiece quickly grip and convey, and prevents workpiece from coming off, simple to operate, easy to use, practical.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of manipulator, including bottom plate（1）, it is characterised in that：The bottom plate（1）Top surface edge provided with six it is rectangular
The retainer ring of distribution（2）, the bottom plate（1）Upper surface middle part be provided with chute（3）, the chute（3）Inside provided with movement
Device（4）, the mobile device（4）Upper end be provided with support frame（5）, and support frame（5）With mobile device（4）Sliding block（45）
It is fixedly connected, support frame as described above（5）Side be provided with switches set（16）, the switches set（16）Input and external power source
Output end is electrically connected, support frame as described above（5）Upper end be provided with spacing collar, and spacing collar inside be provided with rack（9）, it is described
Rack（9）It is slidably connected with spacing collar, the rack（9）Side in the middle part of provided with two symmetrically arranged gears（10）, and
Rack（9）With gear（10）Engagement, the gear（10）Side be interspersed with electric expansion bar（11）, and gear（10）With it is electronic
Expansion link（11）Fixing end connection, the electric expansion bar（11）Fixing end and support frame（5）Junction be provided with first
Bearing（12）, the electric expansion bar（11）Telescopic end be provided with U-shaped bar（13）, the electric expansion bar（11）Input with
Switches set（16）Output end electrical connection.
2. a kind of manipulator according to claim 1, it is characterised in that：The mobile device（4）Including sliding block（45）, institute
State sliding block（45）With chute（3）It is slidably connected, the sliding block（45）Side be provided with screw, and sliding block（45）Pass through screw and spiral shell
Post（41）Threaded connection, the stud（41）Right-hand member pass through first shaft coupling（42）With the first stepper motor（43）Output shaft
It is fixedly connected, first stepper motor（43）Pass through mounting seat（44）With bottom plate（1）It is fixedly connected, and the first stepper motor
（43）Input and switches set（16）Output end electrical connection.
3. a kind of manipulator according to claim 2, it is characterised in that：The stud（41）With bottom plate（1）Junction
Provided with second bearing（15）, and stud（41）With second bearing（15）Inner ring be fixedly connected.
4. a kind of manipulator according to claim 1, it is characterised in that：The rack（9）Upper surface be provided with through hole
（91）, the through hole（91）Be internally threaded, and rack（9）Pass through screw thread and screw rod（8）Threaded connection, and screw rod（8）
Positioned at rack（9）Lower end, the screw rod（8）Lower end pass through second shaft coupling（7）With the second stepper motor（6）Output shaft
It is fixedly connected, second stepper motor（6）With sliding block（45）It is fixedly connected, and the second stepper motor（6）Input with opening
Pass group（16）Output end electrical connection.
5. a kind of manipulator according to claim 1, it is characterised in that：The U-shaped bar（13）Side be socketed with leather sheath
（14）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710640234.6A CN107263461A (en) | 2017-07-31 | 2017-07-31 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710640234.6A CN107263461A (en) | 2017-07-31 | 2017-07-31 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263461A true CN107263461A (en) | 2017-10-20 |
Family
ID=60075238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710640234.6A Pending CN107263461A (en) | 2017-07-31 | 2017-07-31 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263461A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813289A (en) * | 2017-12-12 | 2018-03-20 | 无锡优耐特能源科技有限公司 | A kind of three axles movement heavy mechanical hand |
| CN108324380A (en) * | 2018-02-09 | 2018-07-27 | 崔德强 | A kind of department of general surgery's clinical assist devices |
| CN108340359A (en) * | 2018-04-27 | 2018-07-31 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of high stable machine tool mechanical arm |
| CN109048873A (en) * | 2018-08-29 | 2018-12-21 | 王振海 | A kind of automobile production adjustable mechanical arm |
| CN111994541A (en) * | 2020-09-16 | 2020-11-27 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
-
2017
- 2017-07-31 CN CN201710640234.6A patent/CN107263461A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813289A (en) * | 2017-12-12 | 2018-03-20 | 无锡优耐特能源科技有限公司 | A kind of three axles movement heavy mechanical hand |
| CN108324380A (en) * | 2018-02-09 | 2018-07-27 | 崔德强 | A kind of department of general surgery's clinical assist devices |
| CN108340359A (en) * | 2018-04-27 | 2018-07-31 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of high stable machine tool mechanical arm |
| CN109048873A (en) * | 2018-08-29 | 2018-12-21 | 王振海 | A kind of automobile production adjustable mechanical arm |
| CN111994541A (en) * | 2020-09-16 | 2020-11-27 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
| CN111994541B (en) * | 2020-09-16 | 2021-11-05 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171020 |