CN108608449A - A kind of adjustable manipulator of intelligence workshop spacing - Google Patents
A kind of adjustable manipulator of intelligence workshop spacing Download PDFInfo
- Publication number
- CN108608449A CN108608449A CN201810408026.8A CN201810408026A CN108608449A CN 108608449 A CN108608449 A CN 108608449A CN 201810408026 A CN201810408026 A CN 201810408026A CN 108608449 A CN108608449 A CN 108608449A
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- CN
- China
- Prior art keywords
- fixed
- plate
- mounting
- fixed plate
- mounting plate
- 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.)
- Withdrawn
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
Abstract
The invention discloses a kind of adjustable manipulators of intelligent workshop spacing, including connecting plate, the bottom of connecting plate is welded with symmetrically arranged first fixed plate and the second fixed plate, and first the opposite side of fixed plate and the second fixed plate be welded with mounting plate and guide rod, driving structure is equipped at the top of the mounting plate, and mounting plate is located at the top of guide rod, it is characterised in that, threaded rod is equipped between the mounting plate and guide rod, and the both ends of threaded rod are fixed with symmetrically arranged Rotational Cylindrical.The present invention passes through joystick, threaded rod, Rotational Cylindrical, guide cylinder, guide rod and mounting blocks, only joystick need to be rotated can adjust the distance between two clamping plates as needed, so as to be used to that different size of object be clamped as needed, universal performance is good, without the manipulator for needing to change different size, so as to save replacing construction, and then production efficiency is improved, then disclosure satisfy that different production needs.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of adjustable machineries of intelligent workshop spacing
Hand.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
It is fixed that the hand of manipulator used at present, which grabs spacing, it has limitation when in use thus, is only used for
The object of clamping crawl fixed size needs replacing the machine of corresponding specification once encountering the object of special requirement can not use
Tool hand so that waste replacing construction, to reduce production efficiency, a kind of adjustable manipulator is needed to meet production thus
It needs.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of intelligent workshop proposed is used
The adjustable manipulator of spacing.
To achieve the goals above, present invention employs following technical solutions：
A kind of intelligence workshop spacing adjustable manipulator, including connecting plate, the bottom of connecting plate are welded with pair
Claim setting the first fixed plate and the second fixed plate, and the opposite side of the first fixed plate and the second fixed plate be welded with mounting plate and
Guide rod, the mounting plate top is equipped with driving structure, and mounting plate is located at the top of guide rod, which is characterized in that the peace
Threaded rod is equipped between loading board and guide rod, and the both ends of threaded rod are fixed with symmetrically arranged Rotational Cylindrical, Rotational Cylindrical respectively with
Corresponding first fixed plate and the second fixed plate are rotatablely connected, and symmetrically arranged mounting blocks are socketed on the outside of the threaded rod,
And two mounting blocks are respectively equipped with the opposite threaded hole of thread rotary orientation, threaded rod screw thread is socketed in threaded hole, the mounting blocks
Top be fixed with conducting wire block, and the side of mounting blocks is fixed with the guide cylinder being slidably socketed on the outside of guide rod, the guiding
The lower section of cylinder is equipped with the fixed column for being fixed on mounting blocks side, and the outside rotation of fixed column is socketed with linking arm, the connection
One end of arm is fixed with spring, and spring is fixed close to one end of guide cylinder with guide cylinder, the linking arm far from spring one
End is fixed with symmetrically arranged clamping plate.
Preferably, the driving structure includes the driving motor that screw is fixed at the top of mounting plate, and driving motor is defeated
Shaft is fixed with the winding wheel below mounting plate, and symmetrically arranged traction rope, and traction rope are fixed on the outside of winding wheel
One end far from winding wheel is fixed through conducting wire block and with corresponding linking arm.
Preferably, the traction rope and spring are located at the both sides of fixed column, and traction rope is arranged close to clamping plate, and lead
Line block is equipped with threading hole, and traction rope is set in threading hole.
Preferably, the mounting plate is equipped with the mounting hole that is adapted to the output shaft size of driving motor, and driving motor
Output shaft rotation is socketed in mounting hole.
Preferably, first fixed plate and the second fixed plate are vertical with connecting plate, and mounting plate and guide rod with
First fixed plate is vertical, and the first fixed plate and the second fixed plate are equipped with the through-hole being adapted to Rotational Cylindrical size, corresponding turn
Dynamic column rotation is socketed in through-hole.
Preferably, the side of first fixed plate far from mounting plate be equipped with joystick, and one end of joystick with it is corresponding
Rotational Cylindrical welding.
Preferably, the connecting plate is equipped with screw fixed hole, and the opposite side of clamping plate is equipped with equally distributed anti-slip tank, and
Threaded rod is fixedly attached restraining position ring block on the outside of one end of Rotational Cylindrical.
In the present invention, pass through driving motor, connecting plate, winding wheel, traction rope, linking arm, fixed column, mounting blocks and bullet
Spring so that two clamping plates can mutually be drawn close or separate, easy to use so as to carry out free-grabbing to object；Pass through hand
Rocking bar, threaded rod, Rotational Cylindrical, guide cylinder, guide rod and mounting blocks, only need to rotate joystick can adjust two folders as needed
The distance between plate, so as to be used to that different size of object be clamped as needed, universal performance is good, and nothing needs to change different rule
The manipulator of lattice so as to save replacing construction, and then improves production efficiency, then disclosure satisfy that different production needs.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the adjustable manipulator of intelligent workshop spacing proposed by the present invention；
Fig. 2 is a kind of mounting blocks side view signal of the adjustable manipulator of intelligent workshop spacing proposed by the present invention
Figure；
Fig. 3 is a kind of clamping plate side view signal of the adjustable manipulator of intelligent workshop spacing proposed by the present invention
Figure.
In figure：1 connecting plate, 2 first fixed plates, 3 second fixed plates, 4 mounting plates, 5 guide rods, 6 joysticks, 7 threaded rods,
8 Rotational Cylindricals, 9 mounting blocks, 10 conducting wire blocks, 11 linking arms, 12 traction ropes, 13 driving motors, 14 winding wheels, 15 guide cylinders, 16 bullets
Spring, 17 fixed columns, 18 clamping plates.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3, the adjustable manipulator of a kind of intelligent workshop spacing, including connecting plate 1, connecting plate 1
Bottom is welded with 2 and second fixed plate 3 of symmetrically arranged first fixed plate, and the first fixed plate 2 and the second fixed plate 3 is opposite
Side is welded with mounting plate 4 and guide rod 5, and 4 top of mounting plate is equipped with driving structure, and mounting plate 4 is located at the top of guide rod 5,
It is characterized in that, threaded rod 7 is equipped between mounting plate 4 and guide rod 5, and the both ends of threaded rod 7 are fixed with symmetrically arranged turn
Dynamic column 8, Rotational Cylindrical 8 are rotatablely connected with 2 and second fixed plate 3 of corresponding first fixed plate respectively, and the outside of threaded rod 7 is socketed with
Symmetrically arranged mounting blocks 9, and two mounting blocks 9 are respectively equipped with the opposite threaded hole of thread rotary orientation, 7 screw thread of threaded rod is socketed in
In threaded hole, the top of mounting blocks 9 is fixed with conducting wire block 10, and the side of mounting blocks 9 is fixed with and is slidably socketed outside guide rod 5
The guide cylinder 15 of side, the lower section of guide cylinder 15 is equipped with the fixed column 17 for being fixed on 9 side of mounting blocks, and the outside of fixed column 17 turns
Dynamic to be socketed with linking arm 11, one end of linking arm 11 is fixed with spring 16, and spring 16 is close to one end of guide cylinder 15 and guiding
Cylinder 15 is fixed, and the one end of linking arm 11 far from spring 16 is fixed with symmetrically arranged clamping plate 18, and driving structure includes that screw is fixed
Driving motor 13 at 4 top of mounting plate, and the output shaft of driving motor 13 is fixed with the winding wheel positioned at 4 lower section of mounting plate
14, the outside of winding wheel 14 is fixed with symmetrically arranged traction rope 12, and the one end of traction rope 12 far from winding wheel 14 is through leading
Line block 10 is simultaneously fixed with corresponding linking arm 11, and traction rope 12 and spring 16 are located at the both sides of fixed column 17, and traction rope
12 are arranged close to clamping plate 18, and conducting wire block 10 is equipped with threading hole, and traction rope 12 is set in threading hole, mounting plate 4 be equipped with
The mounting hole of the output shaft size adaptation of driving motor 13, and the output shaft rotation of driving motor 13 is socketed in mounting hole, the
One fixed plate 2 and the second fixed plate 3 are vertical with connecting plate 1, and mounting plate 4 and guide rod 5 are vertical with the first fixed plate 2,
And first fixed plate 2 and the second fixed plate 3 be equipped with the through-hole being adapted to 8 size of Rotational Cylindrical, the rotation socket of corresponding Rotational Cylindrical 8
In through-hole, the first side of the fixed plate 2 far from mounting plate 4 is equipped with joystick 6, and one end of joystick 6 and corresponding rotation
Column 8 welds, and connecting plate 1 is equipped with screw fixed hole, and the opposite side of clamping plate 18 is equipped with equally distributed anti-slip tank, and threaded rod 7
It is fixedly attached restraining position ring block on the outside of one end of Rotational Cylindrical 8.
Operation principle：In the use of the present invention, driving motor 13 is accessed to the control circuit of existing manipulator, and will connection
Plate 1 and the lever arm screw of existing manipulator are fixed, and winding wheel 14 can be driven to rotate by driving motor 13, and then to traction
Rope 12 is wound, and traction rope 12 will shorten at this time, and then linking arm 11 is pulled to be rotated around fixed column 17, at this point, two folders
Plate 18 is mutually drawn close, and then object is clamped, and the spring 16 being arranged at this time is in tensional state, when the reversion of winding wheel 14 is
Traction rope 12 can be unclamped, original position will be retracted linking arm 11 by being now in the spring 16 of tensional state, to unclamp object, clamping
It is convenient；Threaded rod 7 and Rotational Cylindrical 8 can be driven to rotate by rotating joystick 6, since guide cylinder 15 and guide rod 5 are to installation
The movement of block 9 has guide-localization effect, for this purpose, when threaded rod 7 rotates, two mounting blocks 9 of setting will do relative motion,
The distance between and then change two clamping plates 18, so as to be used to that different size of object, universal performance be clamped as needed
It is good, it disclosure satisfy that production needs.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of adjustable manipulator of intelligence workshop spacing, including connecting plate (1), the bottom welding of connecting plate (1)
There are symmetrically arranged first fixed plate (2) and the second fixed plate (3), and the first fixed plate (2) and the second fixed plate (3) is opposite
Side is welded with mounting plate (4) and guide rod (5), is equipped with driving structure at the top of the mounting plate (4), and mounting plate (4) is located at and leads
To the top of bar (5), which is characterized in that be equipped with threaded rod (7), and threaded rod between the mounting plate (4) and guide rod (5)
(7) both ends are fixed with symmetrically arranged Rotational Cylindrical (8), and Rotational Cylindrical (8) is solid with corresponding first fixed plate (2) and second respectively
Fixed board (3) is rotatablely connected, and symmetrically arranged mounting blocks (9), and two mounting blocks (9) are socketed on the outside of the threaded rod (7)
It is respectively equipped with the opposite threaded hole of thread rotary orientation, threaded rod (7) screw thread is socketed in threaded hole, the top of the mounting blocks (9)
It is fixed with conducting wire block (10), and the side of mounting blocks (9) is fixed with the guide cylinder (15) being slidably socketed on the outside of guide rod (5),
The lower section of the guide cylinder (15) is equipped with the fixed column (17) for being fixed on mounting blocks (9) side, and the outside of fixed column (17) turns
Dynamic to be socketed with linking arm (11), one end of the linking arm (11) is fixed with spring (16), and spring (16) is close to guide cylinder
(15) one end is fixed with guide cylinder (15), and the one end of the linking arm (11) far from spring (16) is fixed with symmetrically arranged folder
Plate (18).
2. a kind of adjustable manipulator of intelligent workshop spacing according to claim 1, which is characterized in that described
Driving structure includes the driving motor (13) that screw is fixed at the top of mounting plate (4), and the output shaft of driving motor (13) is fixed
There is the winding wheel (14) below mounting plate (4), symmetrically arranged traction rope (12) is fixed on the outside of winding wheel (14), and
The one end of traction rope (12) far from winding wheel (14) is through conducting wire block (10) and fixed with corresponding linking arm (11).
3. a kind of adjustable manipulator of intelligent workshop spacing according to claim 2, which is characterized in that described
Traction rope (12) and spring (16) are located at the both sides of fixed column (17), and traction rope (12) is arranged close to clamping plate (18), and
Conducting wire block (10) is equipped with threading hole, and traction rope (12) is set in threading hole.
4. a kind of adjustable manipulator of intelligent workshop spacing according to claim 2, which is characterized in that described
Mounting plate (4) is equipped with the mounting hole being adapted to the output shaft size of driving motor (13), and the output shaft rotation of driving motor (13)
It is dynamic to be socketed in mounting hole.
5. a kind of adjustable manipulator of intelligent workshop spacing according to claim 1, which is characterized in that described
First fixed plate (2) and the second fixed plate (3) are vertical with connecting plate (1), and mounting plate (4) and guide rod (5) are with first
Vertically, and the first fixed plate (2) and the second fixed plate (3) are equipped with the through-hole being adapted to Rotational Cylindrical (8) size to fixed plate (2),
Corresponding Rotational Cylindrical (8) rotation is socketed in through-hole.
6. a kind of adjustable manipulator of intelligent workshop spacing according to claim 1, which is characterized in that described
Side of first fixed plate (2) far from mounting plate (4) is equipped with joystick (6), and one end of joystick (6) and corresponding Rotational Cylindrical
(8) it welds.
7. a kind of adjustable manipulator of intelligent workshop spacing according to claim 1, which is characterized in that described
Connecting plate (1) is equipped with screw fixed hole, and the opposite side of clamping plate (18) is equipped with equally distributed anti-slip tank, and threaded rod (7) leans on
It is fixedly attached restraining position ring block on the outside of one end of nearly Rotational Cylindrical (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810408026.8A CN108608449A (en) | 2018-05-02 | 2018-05-02 | A kind of adjustable manipulator of intelligence workshop spacing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810408026.8A CN108608449A (en) | 2018-05-02 | 2018-05-02 | A kind of adjustable manipulator of intelligence workshop spacing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108608449A true CN108608449A (en) | 2018-10-02 |
Family
ID=63661337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810408026.8A Withdrawn CN108608449A (en) | 2018-05-02 | 2018-05-02 | A kind of adjustable manipulator of intelligence workshop spacing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608449A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573611A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of adjustable carrier robot grasper |
| CN109910049A (en) * | 2019-04-29 | 2019-06-21 | 上海交通大学 | The just soft coupling machinery handgrip of self-locking |
| CN111015701A (en) * | 2019-12-13 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN114474127A (en) * | 2022-03-29 | 2022-05-13 | 温州欧乐彩科技有限公司 | Wear-resisting antiskid type manipulator of interval adjustable |
| CN115490015A (en) * | 2022-11-16 | 2022-12-20 | 山东深蓝机器股份有限公司 | Truss type cloth roll stacking vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5538305A (en) * | 1991-11-27 | 1996-07-23 | Microscience Group, Inc. | Microgripper |
| WO2011154337A1 (en) * | 2010-06-11 | 2011-12-15 | Riedmayer Sigurd A | Apparatus for gripping and raising articles |
| CN206216676U (en) * | 2016-11-11 | 2017-06-06 | 重庆厚辉汽车配件有限公司 | A kind of manipulator for capturing high-temperature steel plate |
| CN107309892A (en) * | 2017-08-21 | 2017-11-03 | 苏州工业职业技术学院 | A kind of parallel clamping device for robot end |
| CN107471236A (en) * | 2017-08-02 | 2017-12-15 | 宁夏巨能机器人股份有限公司 | A kind of drive device of robot hand |
-
2018
- 2018-05-02 CN CN201810408026.8A patent/CN108608449A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5538305A (en) * | 1991-11-27 | 1996-07-23 | Microscience Group, Inc. | Microgripper |
| WO2011154337A1 (en) * | 2010-06-11 | 2011-12-15 | Riedmayer Sigurd A | Apparatus for gripping and raising articles |
| CN206216676U (en) * | 2016-11-11 | 2017-06-06 | 重庆厚辉汽车配件有限公司 | A kind of manipulator for capturing high-temperature steel plate |
| CN107471236A (en) * | 2017-08-02 | 2017-12-15 | 宁夏巨能机器人股份有限公司 | A kind of drive device of robot hand |
| CN107309892A (en) * | 2017-08-21 | 2017-11-03 | 苏州工业职业技术学院 | A kind of parallel clamping device for robot end |
Non-Patent Citations (1)
| Title |
|---|
| 贺相 译: "《机构设计实用构思图册》", 31 August 1990 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573611A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of adjustable carrier robot grasper |
| CN109573611B (en) * | 2019-01-22 | 2023-08-22 | 辽宁科技大学 | Transfer robot tongs with adjustable |
| CN109910049A (en) * | 2019-04-29 | 2019-06-21 | 上海交通大学 | The just soft coupling machinery handgrip of self-locking |
| CN111015701A (en) * | 2019-12-13 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN111015701B (en) * | 2019-12-13 | 2024-02-23 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN114474127A (en) * | 2022-03-29 | 2022-05-13 | 温州欧乐彩科技有限公司 | Wear-resisting antiskid type manipulator of interval adjustable |
| CN115490015A (en) * | 2022-11-16 | 2022-12-20 | 山东深蓝机器股份有限公司 | Truss type cloth roll stacking vehicle |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181002 |