CN107718033A - A kind of manipulator of hardware production and application - Google Patents
A kind of manipulator of hardware production and application Download PDFInfo
- Publication number
- CN107718033A CN107718033A CN201711167060.2A CN201711167060A CN107718033A CN 107718033 A CN107718033 A CN 107718033A CN 201711167060 A CN201711167060 A CN 201711167060A CN 107718033 A CN107718033 A CN 107718033A
- Authority
- CN
- China
- Prior art keywords
- handgrip
- electromagnet
- manipulator
- connection strap
- finger tip
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator of hardware production and application, including handgrip, transmission mechanism, electric supply installation, drive link, position-limit mechanism, electromagnet, finger tip, finger joint, connection strap, tensile bars, limitation rail, sliding block, conductive pole, receiving pipe, relay box and insulated column.The beneficial effects of the invention are as follows：Handgrip is all connected with above and below connection strap, and several electromagnet that two handgrip sides are set are distributed in mutual dislocation, the auxiliary that electromagnet can be comprehensive attracts fixed hardware；Several electromagnet of finger tip side are electrically connected with relay box, and several electromagnet, between each other to be connected in parallel, each electromagnet can work independently, even if an electromagnet damage nor affects on the normal work of device；Conductive pole is located inside relay box during the finger tip spacing minimum of two handgrips, and electromagnet is just started working after handgrip catches part, avoids holding unwanted part.
Description
Technical field
The present invention relates to a kind of manipulator, specially a kind of manipulator of hardware production and application, belong to five metalworkings
Apparatus field.
Background technology
Hardware refers to traditional hardware, also referred to as " hardware ", including five kinds of gold, silver, copper, iron, tin metals.These gold
The arts work such as knife, sword or metal device can be made through artificial in category；The hardware of modern society is more extensive, such as five metal working
Tool, hardware parts, haberdashery and hardware, architectural hardware and security protection articles for use etc..The manipulator of existing hardware production is big
All only there is the function of a crawl, and due to hardware different in itself so that handgrip can not all enter all hardware
The stable crawl of row, causes no small trouble.
The content of the invention
The purpose of the present invention is that to solve the above problems and provides a kind of manipulator of hardware production and application.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of manipulator of hardware production and application, bag
Handgrip, transmission mechanism, position-limit mechanism, electric supply installation and drive link are included, transmission mechanism, the driver are installed in described handgrip one end
Structure one end connects position-limit mechanism, and the position-limit mechanism side sets electric supply installation, drive link is installed inside the electric supply installation；
The handgrip is made up of finger tip and finger joint, and described finger joint one end is provided with the finger tip, if the finger tip side is provided with
Dry electromagnet；
The transmission mechanism is made up of connection strap and tensile bars, and the handgrip is connected below described tensile bars one end, described
The connection strap is installed below handgrip one end；
The drive link is made up of insulated column and conductive pole, and described insulated column one end sets the conductive pole；
The position-limit mechanism is made up of limitation rail and sliding block, and described limitation rail one end connects the electric supply installation, and is told
Limit and the sliding block is installed on the inside of rail, described sliding block one end is provided with the drive link；
The electric supply installation is formed by accommodating pipe and relay box, sets the relay box inside the receiving pipe, it is described after
The drive link is installed inside electric box.
Preferably, in order that electromagnet can comprehensive auxiliary attract fixed hardware, the top of the connection strap and
Lower section is all connected with handgrip, and several electromagnet that two handgrip sides are set are distributed in mutual dislocation.
Preferably, in order that each electromagnet can work independently, even if an electromagnet damage nor affects on device
Normal work, several electromagnet of the finger tip side are electrically connected with relay box, and several described electromagnet mutually it
Between to be connected in parallel.
Preferably, in order that electromagnet is just started working after handgrip catches part, avoid holding unwanted part, institute
Conductive pole is located inside relay box when stating the finger tip spacing minimum of two handgrips.
Preferably, in order that transmission mechanism can be kept balancing with handgrip after mounting, structural stability, the stretching are increased
Bar and connection strap are respectively positioned at position above and below handgrip finger joint.
Preferably, be not in situation about blocking in order that the stretching contractive effect of device is more easily implemented, the handgrip
It is to be flexibly connected between tensile bars and connection strap, and is flexible connection between the tensile bars and sliding block.
Preferably, in order that handgrip remains stabilization, two stretchings that the transmission mechanism includes in motion process
Bar and a connection strap connect and compose triangular structure.
The beneficial effects of the invention are as follows：It is all connected with handgrip above and below connection strap, and two handgrip sides are set
Several electromagnet are distributed in mutual dislocation, and the auxiliary that electromagnet can be comprehensive attracts fixed hardware；If finger tip side
A dry electromagnet is electrically connected with relay box, and several electromagnet, between each other to be connected in parallel, each electromagnet can be only
Vertical work, even if an electromagnet damage nor affects on the normal work of device；It is conductive during the finger tip spacing minimum of two handgrips
Post is located inside relay box, and electromagnet is just started working after handgrip catches part, avoids holding unwanted part；Tensile bars
It can keep balancing with handgrip, increase after mounting positioned at position above and below handgrip finger joint, transmission mechanism respectively with connection strap
Add structural stability；It is to be flexibly connected between handgrip and tensile bars and connection strap, and is that activity connects between tensile bars and sliding block
Connect, the stretching contractive effect of device is more easily implemented, and is not in situation about blocking；Two tensile bars that transmission mechanism includes and
One connection strap connects and composes triangular structure, and handgrip remains stable in motion process.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is transmission mechanism structural representation of the present invention.
Fig. 3 is electric supply installation structural representation of the present invention.
In figure：1st, handgrip；2nd, transmission mechanism；3rd, electric supply installation；4th, drive link；5th, position-limit mechanism；6th, electromagnet；7th, refer to
Point；8th, finger joint；9th, connection strap；10th, tensile bars；11st, rail is limited；12nd, sliding block；13rd, conductive pole；14th, pipe is accommodated；15th, relay box；
16th, insulated column.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to shown in Fig. 1-3, a kind of manipulator of hardware production and application, including it is handgrip 1, transmission mechanism 2, spacing
Mechanism 5, electric supply installation 3 and drive link 4, the one end of handgrip 1 installation transmission mechanism 2, the one end of transmission mechanism 2 connection position-limit mechanism 5, limit
Mechanism 5 side in position sets electric supply installation 3, the inside of electric supply installation 3 installation drive link 4；
Handgrip 1 is made up of finger tip 7 and finger joint 8, and the one end of finger joint 8 is provided with finger tip 7, and the side of finger tip 7 is provided with several electromagnet
6；
Transmission mechanism 2 is made up of connection strap 9 and tensile bars 10, connection handgrip 1, the one end of handgrip 1 below the one end of tensile bars 10
Lower section is installed by connection strap 9；
Drive link 4 is made up of insulated column 16 and conductive pole 13, and the one end of insulated column 16 sets conductive pole 13；
Position-limit mechanism 5 is made up of limitation rail 11 and sliding block 12, limitation rail 11 one end connection electric supply installation 3, and tells limitation
The inner side of rail 11 installation sliding block 12, the one end of sliding block 12 is provided with drive link 4；
Electric supply installation 3 is made up of receiving pipe 14 and relay box 15, accommodates and relay box 15 is set inside pipe 14, in relay box 15
Portion is installed by drive link 4.
Handgrip 1 is all connected with above and below connection strap 9, and several electromagnet 6 that two sides of handgrip 1 are set are in phase
Mutually it is dislocatedly distributed, the auxiliary that electromagnet 6 can be comprehensive attracts fixed hardware.
Several electromagnet 6 of the side of finger tip 7 are electrically connected with relay box 15, and several electromagnet 6 are between each other
It is connected in parallel, each electromagnet 6 can work independently, even if an electromagnet 6 damages the normal work for nor affecting on device.
Conductive pole 13 is located inside relay box 15 during the 7 spacing minimum of finger tip of two handgrips 1, and electromagnet 6 is caught in handgrip 1
Just started working after part, avoid holding unwanted part.
Tensile bars 10 and connection strap 9 are respectively positioned at position above and below the finger joint of handgrip 1, and transmission mechanism 2 is after mounting
Balance can be kept with handgrip 1, increase structural stability.
It is to be flexibly connected between handgrip 1 and tensile bars 10 and connection strap 9, and is activity between tensile bars 10 and sliding block 12
Connection, the stretching contractive effect of device is more easily implemented, and is not in situation about blocking.
Two tensile bars 10 and a connection strap 9 that transmission mechanism 2 includes connect and compose triangular structure, and handgrip 1 is being transported
Remain stable during dynamic.
In the use of the present invention, first, by the drive link 4 of the device be connected to it is external mechanically, then mobile device and outer
The tool that picks makes device be located at hardware to be processed, and opens external machinery；Then, external machine work drives drive link
4 pull back, and so as to drive the tensile bars 10 being attached thereto by sliding block 12 to move backward, will pass through connection strap in motion process
Two handgrips 1 of 9 connections, which are driven to inner side, to be extruded, so as to realize that finger tip 7 and finger joint 8 catch the effect of hardware, due to passing
Lever 4 is provided with conductive pole 13 at the side of handgrip 1, and conductive pole 13 when drive link 4 is moved at relay box 15 with making relay
Box 15 is powered, and so as to several electromagnet being interspersed 6 supplied electricity at finger tip 7, electromagnet 6 is produced magnetic, holds five
Metal parts, increase the fixed effect of handgrip 1；Then, external Mechanical course whole device is moved to machining location, completion to be moved
Afterwards, external machinery promotes drive link 4 to the left, the reverse operation in the manner described above of drive link 4, finally drive two handgrips 1 to
Outside struts, and because the insulated column 16 of the side of drive link 4 is now placed at relay box 15, and conductive pole 13 leaves relay box 15,
Electromagnet 6 now disconnects power supply, and hardware can under gravity drop, conveniently be processed；Finally, according to above-mentioned
Method, which carries out multi-pass operation, to be processed process by different part crawls, and the device also can be in a part multiplexing
Sequence uses when processing.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (7)
1. a kind of manipulator of hardware production and application, including handgrip (1), transmission mechanism (2), position-limit mechanism (5), power supply dress
Put (3) and drive link (4), it is characterised in that：Handgrip (1) one end installation transmission mechanism (2), the transmission mechanism (2) one
End connection position-limit mechanism (5), position-limit mechanism (5) side set electric supply installation (3), installed inside the electric supply installation (3)
Drive link (4)；
The handgrip (1) is made up of finger tip (7) and finger joint (8), and described finger joint (8) one end is provided with the finger tip (7), the finger tip
(7) side is provided with several electromagnet (6)；
The transmission mechanism (2) is made up of connection strap (9) and tensile bars (10), below described tensile bars (10) one end described in connection
The connection strap (9) is installed in handgrip (1), handgrip (1) one end lower section；
The drive link (4) is made up of insulated column (16) and conductive pole (13), and described insulated column (16) one end sets the conduction
Post (13)；
The position-limit mechanism (5) is made up of limitation rail (11) and sliding block (12), and described limitation rail (11) one end connects the power supply
Device (3), and tell and the sliding block (12) is installed on the inside of limitation rail (11), described sliding block (12) one end is provided with the drive link
(4)；
The electric supply installation (3) is formed by accommodating pipe (14) and relay box (15), it is described accommodate described in the internal setting of pipe (14) after
Electric box (15), the relay box (15) is internal to install the drive link (4).
A kind of 2. manipulator of hardware production and application according to claim 1, it is characterised in that：The connection strap
(9) handgrip (1) is all connected with above and below, and several electromagnet (6) that two handgrip (1) sides are set are in mutual
It is dislocatedly distributed.
A kind of 3. manipulator of hardware production and application according to claim 1, it is characterised in that：The finger tip (7)
Several electromagnet (6) of side are electrically connected with relay box (15), and several described electromagnet (6) are between each other parallel connection
Connection.
A kind of 4. manipulator of hardware production and application according to claim 1, it is characterised in that：Described two handgrips
(1) it is internal to be located at relay box (15) for conductive pole (13) during finger tip (7) spacing minimum.
A kind of 5. manipulator of hardware production and application according to claim 1, it is characterised in that：The tensile bars
(10) and connection strap (9) is respectively positioned at position above and below handgrip (1) finger joint.
A kind of 6. manipulator of hardware production and application according to claim 1, it is characterised in that：The handgrip (1)
It is to be flexibly connected between tensile bars (10) and connection strap (9), and is activity between the tensile bars (10) and sliding block (12)
Connection.
A kind of 7. manipulator of hardware production and application according to claim 1, it is characterised in that：The transmission mechanism
(2) two tensile bars (10) and a connection strap (9) included connect and compose triangular structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711167060.2A CN107718033A (en) | 2017-11-21 | 2017-11-21 | A kind of manipulator of hardware production and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711167060.2A CN107718033A (en) | 2017-11-21 | 2017-11-21 | A kind of manipulator of hardware production and application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107718033A true CN107718033A (en) | 2018-02-23 |
Family
ID=61217855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711167060.2A Pending CN107718033A (en) | 2017-11-21 | 2017-11-21 | A kind of manipulator of hardware production and application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107718033A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129528A (en) * | 2018-09-05 | 2019-01-04 | 杭州游闻网络科技有限公司 | A kind of tube conveyor tool hand |
| CN109895129A (en) * | 2019-04-26 | 2019-06-18 | 湖北工程职业学院 | A kind of industrial robot disassembly robot |
| CN110962042A (en) * | 2019-12-05 | 2020-04-07 | 珞石（山东）智能科技有限公司 | Robot gripper |
| CN112326309A (en) * | 2020-09-17 | 2021-02-05 | 温州多唯信息科技发展有限公司 | Energy-concerving and environment-protective type soil collector based on magnetism is inhaled |
-
2017
- 2017-11-21 CN CN201711167060.2A patent/CN107718033A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129528A (en) * | 2018-09-05 | 2019-01-04 | 杭州游闻网络科技有限公司 | A kind of tube conveyor tool hand |
| CN109895129A (en) * | 2019-04-26 | 2019-06-18 | 湖北工程职业学院 | A kind of industrial robot disassembly robot |
| CN110962042A (en) * | 2019-12-05 | 2020-04-07 | 珞石（山东）智能科技有限公司 | Robot gripper |
| CN110962042B (en) * | 2019-12-05 | 2021-12-03 | 珞石（山东）智能科技有限公司 | Robot gripper |
| CN112326309A (en) * | 2020-09-17 | 2021-02-05 | 温州多唯信息科技发展有限公司 | Energy-concerving and environment-protective type soil collector based on magnetism is inhaled |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180223 |
|
| WD01 | Invention patent application deemed withdrawn after publication |