CN202438998U - Operation claw and mechanical arm using same - Google Patents
Operation claw and mechanical arm using same Download PDFInfo
- Publication number
- CN202438998U CN202438998U CN2012200109180U CN201220010918U CN202438998U CN 202438998 U CN202438998 U CN 202438998U CN 2012200109180 U CN2012200109180 U CN 2012200109180U CN 201220010918 U CN201220010918 U CN 201220010918U CN 202438998 U CN202438998 U CN 202438998U
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- hole
- main part
- motion platform
- thimble
- movable pawl
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Abstract
The utility model discloses an operation claw and a mechanical arm using the same. The operation claw and the mechanical arm are used for moving tiny probes. The operation claw comprises a main body portion, a thimble, a movable claw and an elastic piece. A through hole is arranged on the main body along the vertical direction, at least a part of the thimble slides in the through hole, the movable claw is connected with the main body portion in rotating mode and forms a clamping space with the main body portion, the clamping space extends to a position below the through hole along the vertical direction and is arranged on the same vertical line as the through hole, a protrusion portion is arranged on one side of the movable claw facing the clamping space, the tail end of the thimble drives the protrusion portion, the protrusion portion drives the movable claw to rotate relative to the main body portion, and the elastic piece is connected between the movable claw and the main body portion. The mechanical arm using the operation claw is further disclosed. Preassembled tiny probes are moved by using the operation claw and the mechanical arm, automation of a moving process can be achieved, and the operation claw and the mechanical arm have the advantages of being high in efficiency, stable and reliable and can meet batch production requirements.
Description
Technical field
The utility model is applied to the assembling process of small test probe, is specifically related to a kind of manipulator of operating paw and using this operation paw.
Background technology
Small probe is one of critical component of various probe test equipment, has purposes widely in the input field.
Small probe is made up of movable contact, elastomeric element, fixed contact, shell four parts, and its assembling process comprises prepackage link (first three part is installed in the shell) and fixing link (shell and fixed contact are riveted) two parts.In prepackage with fixedly in the middle of the link, need carry transfer to the probe that prepackage is accomplished, so that fix.Because this moment, fixed contact was in free state in cover top portion, and under the effect of elastomeric element, there are angle in the axial line of fixed contact and shell axial line, therefore in the carrying transfer process, there are two problems: one of which, fixed contact falls easily; Its two, the axial line of fixed contact and shell is difficult for being adjusted to straight line before the riveted joint.
At present, the transfer of the carrying in the probe assembling process is to be realized by manual work basically.Therefore there is following problem: one of which, inefficiency; Its two, high to operator individual competency profiling, at first eyesight will be got well, secondly hand wants steady in transfer process, can correct small fixed contact effectively before fixing once more; Its three, operator's eyes are had damage, stream time is very short, can not long-term work; Its four, final probe assembly quality is influenced greatly by human factor; Its five, produce in enormous quantities restrictedly, can't satisfy the growing market demand.
Therefore it is artificial to need a kind of manipulator to replace, and realizes the probe that prepackage is accomplished is carried transfer.
The utility model content
Deficiency to prior art; The technical problem that the utility model solves provides a kind of manipulator of operating paw and using this operation paw; Small probe through this operation paw and manipulator are accomplished prepackage is carried; Can realize the automation of handling process, it has efficient height, stable, reliable advantage, can satisfy batch process.
For solving the problems of the technologies described above, the technical scheme of the utility model is achieved in that a kind of operation paw, in order to carry small probe, especially, comprising:
Main part vertically offers through hole;
Thimble, part slides in the said through hole at least;
At least one movable pawl is rotationally connected with said main part, and said movable pawl is provided with lug boss towards a side of through hole, and said lug boss protrudes in the said through hole;
Elastic component is connected between said movable pawl and the main part.
Preferably, in the aforesaid operations paw, the side of said main part offers opening, and said open communication is in said through hole, and said movable pawl is contained in the said opening.
Preferably, in the aforesaid operations paw, the outer surface of said main part offers first groove of annular, and said elastic component is annular and is arranged in said first groove.
Preferably, in the aforesaid operations paw, the outer surface of said movable pawl is provided with second groove, and the two ends of said second groove are communicated in said first groove respectively, and said elastic component partly is positioned at said second groove.
Preferably, in the aforesaid operations paw, the cross section of said main part is circular, and said through hole is along the axis setting of said main part.
Preferably, in the aforesaid operations paw, said thimble comprises holding parts and drive division, and said drive division slides in the said through hole.
Preferably, in the aforesaid operations paw, the length of said drive division is greater than the height of said through hole.
The utility model also provides a kind of manipulator of using the aforesaid operations paw, especially, comprising:
Motion platform, the main part of said operation paw are fixed on the said motion platform;
Operating platform is fixed on the said motion platform, and an end of said operating platform and said thimble is fixed and driven said thimble and moves up and down.
Preferably, in above-mentioned manipulator, said motion platform comprises X axle motion platform, Y axle motion platform and Z axle motion platform.
Preferably, in above-mentioned manipulator, said motion platform also comprises a support member, and said support member is fixed on the said Z axle motion platform, and said operating platform and main part all are fixed on the said support member.
The utility model provides a kind of operation paw; This operation paw is provided with the movable pawl that is rotating on the main part; Be formed with grasping part between movable pawl and the main part; Movable pawl can be through deflection realizing the variation of grasping part, and then realize clamping and the placement to probe, and the deflection of movable pawl drives lug boss through thimble and realizes.The utility model also provides the manipulator of this operation paw of a kind of application, and this manipulator is provided with a motion platform that can move in three dimensions, and this motion platform can drive the operation paw and in three dimensions, move.Small probe through this operation paw and manipulator are accomplished prepackage is carried, and can realize the automation of handling process, and it has efficient height, stable, reliable advantage, can satisfy batch process.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiment of the utility model, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Shown in Figure 1 is the structural representation of operation paw in the utility model specific embodiment;
Shown in Figure 2 is the local enlarged diagram of A among Fig. 1;
Shown in Figure 3 is the schematic cross-section of operation paw in the utility model specific embodiment;
Shown in Figure 4 is the view of operation paw when placing probe in the utility model specific embodiment;
Shown in Figure 5 is the structural representation of manipulator in the utility model specific embodiment.
The specific embodiment
The utility model purpose is to provide a kind of manipulator of operating paw and using this operation paw, utilizes this operation paw and manipulator can realize the automation of handling process, has efficient height, stable, reliable advantage, can satisfy batch process.
To combine the accompanying drawing among the utility model embodiment below, the technical scheme among the utility model embodiment is carried out detailed description, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skills are obtained under the prerequisite of not making creative work belongs to the scope that the utility model is protected.
Ginseng Fig. 1 is to shown in Figure 4, and operation paw 10 comprises main part 11.
Through hole 111 comprises first through hole 1111 and second through hole 1112.First through hole 1111 is formed at the top of second through hole 1112, and second through hole 1112 is in order to hold small probe 20, so the diameter of second through hole 1112 is greater than the maximum gauge of small probe 20.The diameter of first through hole 1111 and second through hole 1112 can be identical, also can be set to different diameters according to needs.
The diameter of thimble 12 is slightly less than the diameter of first through hole 1111, and first through hole 1111 is used to guide thimble 12 and slides up and down and make thimble 12 roughly be positioned at vertical direction.
The side of main part 11 offers opening 112, breach that opening 112 is roughly rectangular and extension vertically, and opening 112 is communicated in through hole 111.
Lug boss 132 is preferably disposed on the position on probe 20 tops, so that and then drive division 122 can contact with probe 20 tops after the driving of accomplishing lug boss 132, and realizes the downward propelling movement to probe 20.
In other embodiments, above-mentioned opening 112 also can be set to the breach of semicylinder, and movable pawl 13 also relative set is a semicylinder.
In other embodiments, the side of main part 11 can offer a plurality of openings 112, and preferably, the side of main part 11 is evenly distributed with six openings, and correspondingly, movable pawl 13 also is set to six, and corresponding one by one in six openings.Six movable pawls 13 apply chucking power to small probe 20 simultaneously, and grip is better.
The outer surface of main part 11 offers first groove 113 of annular, and the outer surface of movable pawl 13 is provided with second groove 133.The two ends of second groove 133 are communicated in first groove 113 respectively.
Under the resilient force of elastic component 14; Probe 20 is pressed in second through hole 1112 by the lower end of movable pawl 13; Simultaneously because second through hole 1112 cooperates the shape of probes 20 to be arranged to cylinder and in the vertical direction setting; Can guarantee to pre-install shell and the fixed contact of accomplishing back probe 20 and keep in the vertical direction all the time, avoid fixed contact with respect to the rocking and dropping of shell, make move in the process stable more and reliably.
The length of drive division 122 is preferably greater than the height of through hole 111.
Join shown in Figure 4ly, in the process that probe 20 is placed, the end of drive division 122 drives lug boss 132 also makes movable pawl 13 rotate counterclockwise; The end of movable pawl 13 breaks away from probe 20, and probe 20 no longer receives chucking power, and drive division 122 is further to lower slider; And promotion probe 20 breaks away from second through hole 1112; This moment drive division 122 the end below of extending second through hole 1112, and probe 20 pushed to the precalculated position, to accomplish the riveted joint of fixed contact and shell.
When the probe 20 that prepackage is accomplished grasps; Also can realize through the driving of 12 pairs of lug bosses 132 of thimble: thimble 12 drives lug boss 132; Lug boss 132 drives movable pawl 13 relative main parts 11 and rotates counterclockwise, and then probe 20 is placed in second through hole 1112, and thimble 12 upwards slides and breaks away from lug boss 132 gradually; The end of movable pawl 13 clamps probe 20 under the effect of elastic component 14, can realize the carrying action after probe 20 is clamped.Probe 20 tightly is clamped in second through hole 1112, and the shell of probe 20 and fixed contact are remaining at relative static conditions after direction of axis line alignment, and fixed contact is difficult for dropping, and is stable more and reliable in handling process.
Join shown in Figure 5ly, manipulator 1 comprises a motion platform 30, and operation paw 10 is fixed on this motion platform 30, and motion platform 30 reaches the target location through moving to drive operation paw 10.
Motion platform 30 is preferably the three-dimensional motion platform, comprises X axle motion platform 31, Y axle motion platform 32 and Z axle motion platform 33.Wherein, Y axle motion platform 32 is installed on the working face of X axle motion platform 31, and Z axle motion platform 33 is installed on the working face of Y axle motion platform.Motion platform 30 can drive operation paw 10 and in three dimensions, move.
Manipulator 1 also comprises a base 40, and base 40 is in order to carry motion platform 30, and wherein, X axle motion platform 31 is installed on the base 40.
Manipulator 1 also comprises an operating platform 50, and holding parts 141 is fixed on the operating platform 50, and operating platform 50 can be controlled moving up and down of thimble 12, and then realizes the driving action of 12 pairs of lug bosses 132 of thimble.
Operating platform 50 is fixed on the Z axle motion platform 33 through support member 60, and main part 11 also is fixed on the support member 60.
The operation principle of the manipulator 1 in the present embodiment is following: under motion platform 30 supports, and the motion and the location that utilize lever interlock principle in three dimensions, to realize operation paw 10; Through moving up and down of operating platform 50 control thimbles 12, and then realize that extracting and the placement to probe 20, the extracting of probe 20 rely on the realization that is used for of frictional force and elastic component 14.
Utilize 20 of 1 pair of probe of manipulator to carry, reduced manually-operated, realized the automated handling of probe 20 has been improved efficient, can satisfy large batch of production simultaneously.
In sum, the beneficial effect of the utility model is:
Small probe through this operation paw and manipulator are accomplished prepackage is carried, and can realize the automation of handling process, and it has efficient height, stable, reliable advantage, can satisfy batch process.
To those skilled in the art, obviously the utility model is not limited to the details of above-mentioned example embodiment, and under the situation of spirit that does not deviate from the utility model or essential characteristic, can realize the utility model with other concrete form.Therefore; No matter from which point; All should regard embodiment as exemplary; And be nonrestrictive, the scope of the utility model is limited accompanying claims rather than above-mentioned explanation, therefore is intended to the implication of the equivalents that drops on claim and all changes in the scope are included in the utility model.Should any Reference numeral in the claim be regarded as limit related claim.
In addition; Describing according to embodiment though should be appreciated that this specification, is not that each embodiment only comprises an independently technical scheme; This narrating mode of specification only is for clarity sake; Those skilled in the art should make specification as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (10)
1. an operation paw in order to carry small probe, is characterized in that, comprising:
Main part vertically offers through hole;
Thimble, part slides in the said through hole at least;
At least one movable pawl is rotationally connected with said main part, and said movable pawl is provided with lug boss towards a side of through hole, and said lug boss protrudes in the said through hole;
Elastic component is connected between said movable pawl and the main part.
2. operation paw according to claim 1 is characterized in that: the side of said main part offers opening, and said open communication is in said through hole, and said movable pawl is contained in the said opening.
3. operation paw according to claim 2 is characterized in that: the outer surface of said main part offers first groove of annular, and said elastic component is annular and is arranged in said first groove.
4. operation paw according to claim 3 is characterized in that: the outer surface of said movable pawl is provided with second groove, and the two ends of said second groove are communicated in said first groove respectively, and said elastic component partly is positioned at said second groove.
5. operation paw according to claim 1 is characterized in that: the cross section of said main part is for circular, and said through hole is along the axis setting of said main part.
6. operation paw according to claim 1 is characterized in that: said thimble comprises holding parts and drive division, and said drive division slides in the said through hole.
7. operation paw according to claim 6 is characterized in that: the length of said drive division is greater than the height of said through hole.
8. the manipulator of application rights requirement 1 to 7 any said operation paw is characterized in that, comprising:
Motion platform, the main part of said operation paw are fixed on the said motion platform;
Operating platform is fixed on the said motion platform, and an end of said operating platform and said thimble is fixed and driven said thimble and moves up and down.
9. manipulator according to claim 8 is characterized in that: said motion platform comprises X axle motion platform, Y axle motion platform and Z axle motion platform.
10. manipulator according to claim 9 is characterized in that: said motion platform also comprises a support member, and said support member is fixed on the said Z axle motion platform, and said operating platform and main part all are fixed on the said support member.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2012200109180U CN202438998U (en) | 2012-01-11 | 2012-01-11 | Operation claw and mechanical arm using same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN2012200109180U CN202438998U (en) | 2012-01-11 | 2012-01-11 | Operation claw and mechanical arm using same |
Publications (1)
Publication Number | Publication Date |
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CN202438998U true CN202438998U (en) | 2012-09-19 |
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Application Number | Title | Priority Date | Filing Date |
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CN2012200109180U Expired - Fee Related CN202438998U (en) | 2012-01-11 | 2012-01-11 | Operation claw and mechanical arm using same |
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CN (1) | CN202438998U (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102528816A (en) * | 2012-01-11 | 2012-07-04 | 苏州大学 | Operating claw and manipulator comprising same |
CN104260095A (en) * | 2014-09-23 | 2015-01-07 | 上海工程技术大学 | Control method and device of medical mechanical arm |
CN105773590A (en) * | 2015-04-20 | 2016-07-20 | 骏马石油装备制造有限公司 | Fetching gripper for prefabricating working station of convection section frameworks |
-
2012
- 2012-01-11 CN CN2012200109180U patent/CN202438998U/en not_active Expired - Fee Related
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102528816A (en) * | 2012-01-11 | 2012-07-04 | 苏州大学 | Operating claw and manipulator comprising same |
CN102528816B (en) * | 2012-01-11 | 2014-08-27 | 苏州大学 | Operating claw and manipulator comprising same |
CN104260095A (en) * | 2014-09-23 | 2015-01-07 | 上海工程技术大学 | Control method and device of medical mechanical arm |
CN104260095B (en) * | 2014-09-23 | 2016-04-27 | 上海工程技术大学 | A kind of control method of medical mechanism arm and device |
CN105773590A (en) * | 2015-04-20 | 2016-07-20 | 骏马石油装备制造有限公司 | Fetching gripper for prefabricating working station of convection section frameworks |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120919 Termination date: 20160111 |