CN109910040A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN109910040A CN109910040A CN201711322742.6A CN201711322742A CN109910040A CN 109910040 A CN109910040 A CN 109910040A CN 201711322742 A CN201711322742 A CN 201711322742A CN 109910040 A CN109910040 A CN 109910040A
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- Prior art keywords
- mechanical arm
- tubing
- drive assembly
- bar
- manipulator
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Abstract
A kind of manipulator suitable for tubing belongs to machinery field.It is characterized in that, the manipulator suitable for tubing includes: supporter (1), first mechanical arm (2), second mechanical arm (3), drive assembly (7) and movable plate (4)；The first mechanical arm (2), the second mechanical arm (3) and the drive assembly (7) are separately positioned on the lower surface of the supporter (1), the drive assembly (7) is between the first mechanical arm (2) and the second mechanical arm (3), and the drive assembly (7) is connected with the first mechanical arm (2) and the second mechanical arm (3) respectively, two mechanical arms can be close or far from the drive assembly (7)；Towards being respectively hingedly provided with movable plate (4) on the side of the drive assembly (7) in the first mechanical arm (2) and the second mechanical arm (3), it is respectively arranged between two pieces of movable plates (4) and the first mechanical arm (2) and the second mechanical arm (3) telescopic rod (5), is hinged between the telescopic rod (5) and the movable plate (4).
Description
Technical field
The present invention relates to manipulator fields, and in particular, to a kind of manipulator suitable for tubing.
Background technique
Manipulator can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can
The mechanization and automation of production are realized instead of the heavy labor of people, can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
But manipulator in the prior art is when transporting tubing, to tubing clamp it is unstable, so in transportational process
Risk it is high, and clamping force is excessive damages be easy to causeing tubing.
Therefore it provides one kind can effectively and stably clamp tubing, to be transported to tubing, and can protect
Tubing avoids the problem that the impaired manipulator suitable for tubing is urgent need to resolve of the present invention.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is overcome manipulator in the prior art transport tubing be, it is right
Clamp to tubing unstable, so risk in transportational process is high, and clamping force is excessive damages be easy to causeing tubing
The problem of, so that tubing can effectively and stably be clamped by providing one kind, to transport to tubing, and it can protect pipe
Material avoids the impaired manipulator suitable for tubing.
To achieve the goals above, described suitable for tubing the present invention provides a kind of manipulator suitable for tubing
Manipulator includes: supporter, first mechanical arm, second mechanical arm, drive assembly and movable plate；It is the first mechanical arm, described
Second mechanical arm and the drive assembly are separately positioned on the lower surface of the supporter, and the drive assembly is located at described the
Between one mechanical arm and the second mechanical arm, and the drive assembly respectively with the first mechanical arm and second machine
Tool arm is connected, and two mechanical arms can be slided along the direction close to or far from the drive assembly；Described first is mechanical
The arm two sides opposite with the second mechanical arm, which are respectively articulated with, is provided with two pieces of movable plates of movable plate and first machinery
It is respectively arranged with telescopic rod between arm and the second mechanical arm, is hinged between the telescopic rod and the movable plate.
Preferably, the movable plate side opposite with the telescopic rod is provided with multiple balls.
Preferably, pressure sensor is additionally provided between ball and the movable plate.
Preferably, the lower surface of the supporter is provided between the first mechanical arm and the second mechanical arm
Sliding slot, the first mechanical arm and the second mechanical arm are separately positioned in the sliding slot, and the drive assembly is arranged in institute
The middle part of sliding slot is stated, and the First piston bar in the drive assembly is connected with the first mechanical arm, second piston bar and institute
Second mechanical arm is stated to be connected.
Preferably, the drive assembly further includes third piston rod, and the third piston rod is vertically arranged, and the third
The lower end of piston rod is fixed with arc grip block.
Preferably, partial pressure bar is additionally provided between the third piston rod and the arc grip block；
The partial pressure bar includes orthogonal vertical bar and cross bar, and the end of the third piston rod is fixed on the vertical bar
Middle part, one end of the more cross bars are equally spaced fixed on the vertical bar respectively, the other end be separately fixed at the arc
On shape grip block.
Preferably, the concave side of the arc grip block is face-down, and is provided with rubber on the concave side of the arc grip block
Glue gasket.
According to the above technical scheme, the manipulator provided by the invention suitable for tubing, the inside of the drive assembly
Including at least three cylinders, so that two manipulator motions of control adjust the drive assembly when in use, so that described the
The distance between one mechanical arm and the second mechanical arm reduce, until tubing is clamped by two mechanical arms, then adjust the work
Movable plate, so that two pieces of movable plates move to horizontality, to support the tubing, to complete fixed work, then to pipe
Material is effectively transported.Manipulator suitable for tubing of the invention overcomes manipulator in the prior art in transport tubing
It is to tubing to clamp unstable, so risk in transportational process is high, and clamping force is excessive be easy to causeing tubing
The problem of damage.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of 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 schematic diagram of the manipulator suitable for tubing provided in a kind of preferred embodiment of the invention；
Fig. 2 is the knot of drive assembly on the manipulator suitable for tubing provided in a kind of preferred embodiment of the invention
Structure schematic diagram；
Fig. 3 is that bar and arc are divided on the manipulator suitable for tubing provided in a kind of preferred embodiment of the invention
Installation diagram between grip block.
Description of symbols
1 supporter, 2 first mechanical arm
3 second mechanical arm, 4 movable plate
5 telescopic rod, 6 ball
7 drive assembly, 81 First piston bar
82 second piston bar, 83 third piston rod
9 arc grip block, 10 vertical bar
11 cross bar, 12 rubber sheet gasket
13 sliding slots.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " upper and lower, inside and outside " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
As shown in Figure 1-3, the present invention provides a kind of manipulator suitable for tubing, the manipulator suitable for tubing
It include: supporter 1, first mechanical arm 2, second mechanical arm 3, drive assembly 7 and movable plate 4；It is the first mechanical arm 2, described
Second mechanical arm 3 and the drive assembly 7 are separately positioned on the lower surface of the supporter 1, and the drive assembly 7 is located at institute
State between first mechanical arm 2 and the second mechanical arm 3, and the drive assembly 7 respectively with the first mechanical arm 2 and institute
It states second mechanical arm 3 to be connected, two mechanical arms can be slided along the direction close to or far from the drive assembly 7；Institute
It states the two sides opposite with the second mechanical arm 3 of first mechanical arm 2 and is respectively articulated with and be provided with 4 two pieces of the movable plate movable plates 4
Telescopic rod 5, the telescopic rod 5 and the work are respectively arranged between the first mechanical arm 2 and the second mechanical arm 3
It is hinged between movable plate 4.
According to the above technical scheme, the manipulator provided by the invention suitable for tubing, the inside of the drive assembly 7
Including at least three cylinders, so that two manipulator motions of control adjust the drive assembly 7 when in use, so that described the
The distance between one mechanical arm 2 and the second mechanical arm 3 reduce, until tubing is clamped by two mechanical arms, then adjust described
Movable plate 4, so that two pieces of movable plates 4 move to horizontality, to support the tubing, so that fixed work is completed, when
So manipulator of the invention is at least arranged two, could effectively be transported to tubing.Machine suitable for tubing of the invention
Tool hand overcome manipulator in the prior art transport tubing be to tubing clamp it is unstable, so the danger in transportational process
Dangerous height, and clamping force excessive the problem of damaging be easy to causeing tubing.
In a preferred embodiment of the invention, the movable plate 4 side setting opposite with the telescopic rod 5
There are multiple balls 6, the ball 6 can reduce the frictional force between the movable plate 4 and tubing, so that the first mechanical arm
2 and the second mechanical arm 3 when being clamped, tubing can direct movable plate 4 described in slideway top, thus by two machines
Tool arm clamps.
In a preferred embodiment of the invention, pressure sensing is additionally provided between ball 6 and the movable plate 4
Device.The pressure sensor can be effectively detected whether tubing moves on the movable plate 4, if moving to the activity
On plate 4, then the telescopic rod 5 is adjusted, so that the angle between the movable plate 4 and mechanical arm is adjusted, thus to the tubing
It is supported effect.
In order to enable under the action of drive assembly 7, the first mechanical arm 2 and the second mechanical arm 3 can be with
Along fixed track smoothly between slide, in a preferred embodiment of the invention, the following table of the supporter 1
Face is provided with sliding slot 13 between the first mechanical arm 2 and the second mechanical arm 3, the first mechanical arm 2 with it is described
Second mechanical arm 3 is separately positioned in the sliding slot 13, and the middle part of the sliding slot 13 is arranged in the drive assembly 7, and described
First piston bar 81 in drive assembly 7 is connected with the first mechanical arm 2, second piston bar 82 and the second mechanical arm 3
It is connected.
In a preferred embodiment of the invention, the drive assembly 7 further includes third piston rod 83, and described
Three piston rods 83 are vertically arranged, and the lower end of the third piston rod 83 is fixed with arc grip block 9, the arc grip block 9
It is that tubing is fixed from the top of the tubing, the arc grip block 9 cooperates the movable plate 4 that can prevent tubing
It shakes during transportation, is unfavorable for transport, and risk is big.
In a preferred embodiment of the invention, between the third piston rod 83 and the arc grip block 9
It is additionally provided with partial pressure bar；The active force of the third piston rod 83 can effectively be uniformly applied to described by the partial pressure bar
Arc grip block 9, so that the arc grip block 9 can more efficiently clamp tubing, so that tubing does not shake,
The partial pressure bar includes orthogonal vertical bar 10 and cross bar 11, and the end of the third piston rod 83 is fixed on the vertical bar 10
Middle part, one end of the more cross bars 11 is equally spaced fixed on respectively on the vertical bar 10, the other end be separately fixed at
On the arc grip block 9.
In a preferred embodiment of the invention, the concave side of the arc grip block 9 is face-down, and the arc
Be provided with rubber sheet gasket 12 on the concave side of grip block 9, the rubber sheet gasket 12 can not only increase the arc grip block 9 with
Frictional force between tubing, and can protect tubing, prevent pressure is excessive from leading to the pipe deformations.
Claims (7)
1. a kind of manipulator suitable for tubing, which is characterized in that the manipulator suitable for tubing include: supporter (1),
First mechanical arm (2), second mechanical arm (3), drive assembly (7) and movable plate (4)；The first mechanical arm (2), described
Two mechanical arms (3) and the drive assembly (7) are separately positioned on the lower surface of the supporter (1), the drive assembly
(7) between the first mechanical arm (2) and the second mechanical arm (3), and the drive assembly (7) respectively with it is described
First mechanical arm (2) and the second mechanical arm (3) are connected, and two mechanical arms can be close or far from the driving
Assembly (7)；Towards each on the side of the drive assembly (7) in the first mechanical arm (2) and the second mechanical arm (3)
From being hingedly provided with movable plate (4), two pieces of movable plates (4) and the first mechanical arm (2) and the second mechanical arm
(3) it is respectively arranged between telescopic rod (5), is hinged between the telescopic rod (5) and the movable plate (4).
2. the manipulator according to claim 1 suitable for tubing, which is characterized in that the movable plate (4) is stretched with described
The opposite side of contracting bar (5) is provided with multiple balls (6).
3. the manipulator according to claim 2 suitable for tubing, which is characterized in that the ball (6) and the activity
Plate is additionally provided with pressure sensor between (4).
4. the manipulator according to claim 1 suitable for tubing, which is characterized in that the lower surface of the supporter (1)
It is provided between the first mechanical arm (2) and the second mechanical arm (3) sliding slot (13), the first mechanical arm (2)
It is separately positioned in the sliding slot (13) with the second mechanical arm (3), the drive assembly (7) is arranged in the sliding slot (13)
Middle part, and the First piston bar (81) in the drive assembly (7) is connected with the first mechanical arm (2), second piston bar
(82) it is connected with the second mechanical arm (3).
5. the manipulator according to claim 4 suitable for tubing, which is characterized in that the drive assembly (7) further includes
Third piston rod (83), the third piston rod (83) is vertically arranged, and the lower end of the third piston rod (83) is fixed with arc
Shape grip block (9).
6. the manipulator according to claim 5 suitable for tubing, which is characterized in that the third piston rod (83) and institute
It states and is additionally provided with partial pressure bar between arc grip block (9)；The partial pressure bar includes: orthogonal vertical bar (10) and cross bar
(11), the end of the third piston rod (83) is fixed on the middle part of the vertical bar (10), one end of the more cross bars (11)
Equally spaced be fixed on the vertical bar (10) respectively, the other end be separately fixed on the arc grip block (9).
7. the manipulator according to claim 6 suitable for tubing, which is characterized in that the arc grip block (9) it is recessed
Side downward, and is provided with rubber sheet gasket (12) on the concave side of the arc grip block (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711322742.6A CN109910040A (en) | 2017-12-12 | 2017-12-12 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711322742.6A CN109910040A (en) | 2017-12-12 | 2017-12-12 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109910040A true CN109910040A (en) | 2019-06-21 |
Family
ID=66957928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711322742.6A Pending CN109910040A (en) | 2017-12-12 | 2017-12-12 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109910040A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450178A (en) * | 2019-06-27 | 2019-11-15 | 陈天保 | A kind of manipulator of multiple degrees of freedom industrial robot |
| CN112405557A (en) * | 2020-11-10 | 2021-02-26 | 广东博通科技服务有限公司 | Article identification pre-sorting robot based on deep learning and use method |
-
2017
- 2017-12-12 CN CN201711322742.6A patent/CN109910040A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450178A (en) * | 2019-06-27 | 2019-11-15 | 陈天保 | A kind of manipulator of multiple degrees of freedom industrial robot |
| CN112405557A (en) * | 2020-11-10 | 2021-02-26 | 广东博通科技服务有限公司 | Article identification pre-sorting robot based on deep learning and use method |
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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: 20190621 |
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| WD01 | Invention patent application deemed withdrawn after publication |