CN203127745U - Connecting rod driving device - Google Patents
Connecting rod driving device Download PDFInfo
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- CN203127745U CN203127745U CN 201320060737 CN201320060737U CN203127745U CN 203127745 U CN203127745 U CN 203127745U CN 201320060737 CN201320060737 CN 201320060737 CN 201320060737 U CN201320060737 U CN 201320060737U CN 203127745 U CN203127745 U CN 203127745U
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Abstract
The utility model provides a connecting rod driving device. The connecting rod driving device comprises a supporting frame, at least one set of connecting rod mechanism and a driving mechanism, wherein the at least one set of connecting rod mechanism is coupled to the supporting frame, each set of connecting rod mechanism is coupled to a plurality of executive devices, the driving mechanism is coupled to the at least one set of connecting rod mechanism, the driving mechanism drives the at least one set of connecting rod mechanism to stretch out and retract, and the connecting rod mechanism drives the executing devices to enable the executing devices to be close to one another or separated from one another. According to the connecting rod driving device with the executing devices, the weight of the driving device is low, distance among the executing devices can be adjusted according to need, the structure is simple, and synchronism is good.
Description
Technical field
The utility model relates to a kind of driving rod drive.
Background technology
In packing and sorting operation, put together after need and gathering evenly spaced a plurality of products or part pickup on the manufacturing line usually, for example be placed in the packing chest.At the existing anchor clamps that are used for finishing this operation, closing up and opening of the moving mass of employing all is to use pull bar to cooperate limiting stopper, or adopts synchronous band or rack mechanism to control the slide block of each chuck correspondence respectively.If when chuck and slide block were many, closing up can be very complicated with opening mechanism, total part number is many, and weight is big, and the overall weight of anchor clamps and cost all can significantly increase like this.
The utility model content
At above-mentioned technical matters, one side of the present utility model provides a kind of driving rod drive, and it comprises: support frame; Be coupled at least one group of connecting rod mechanism of described support frame, every group of described connecting rod mechanism and the coupling of a plurality of executive device; Driver train is with described at least one group of connecting rod mechanism coupling; It is flexible that described driver train drives described at least one group of connecting rod mechanism, thereby make the close or separation mutually of described a plurality of executive device.
According to an embodiment of the present utility model, every group of described connecting rod mechanism comprises that at least two pairs of connecting rods of the series connection that is hinged are right, and each connecting rod waits long connecting rods to being included in two of point of crossing cross-articulation; Jointed shaft at the right described point of crossing of each described connecting rod is provided with slide block, at each described slide block described executive device is set, wherein there is a slide block to be fixing slide block in the described slide block in every group of connecting rod mechanism, it is captiveed joint with described support frame, and other slide blocks in every group of connecting rod mechanism are moving slider, and it can move along the orientation of slide block with respect to described support frame; Described driver train is connected with arbitrary moving slider in every group of connecting rod mechanism, this arbitrary moving slider becomes catenating slider, and drive this catenating slider along the orientation of slide block near or away from described fixedly slide block, this catenating slider by connecting rod mechanism make all slide blocks along the orientation of slide block mutually near or separate.
According to an embodiment of the present utility model, described connecting rod mechanism is two groups; Described driver train comprises: the middle synchronous pulley between described two groups of connecting rod mechanisms, lay respectively at the first driven synchronous pulley and the second driven synchronous pulley of these synchronous pulley both sides, centre, be with synchronously around the closed band synchronously of described middle synchronous pulley and the first driven synchronous pulley and around the opening of the described second driven synchronous pulley, wherein said opening synchronously the open side of band two ends respectively with described closure two parts band captive joint that the sense of motion of band is opposite synchronously, thereby the rotation of middle synchronous pulley drive described closure synchronously band and described opening synchronously band move simultaneously; Described driver train also comprises two slide block attaching partss, one of them slide block attaching parts is with the catenating slider in one group of connecting rod mechanism synchronously with described closure and is captiveed joint, another slide block attaching parts is with the catenating slider of another group in connecting rod mechanism synchronously with described opening and is captiveed joint, and described two slide block attaching partss described closure be with synchronously and opening synchronously with on the fixed position make that the sense of motion of described two slide block attaching partss is opposite all the time.
According to an embodiment of the present utility model, described connecting rod mechanism is two groups; Described driver train comprises: the driven wheel between described two groups of connecting rod mechanisms, two tooth bars that mesh simultaneously with described driven wheel, one of them tooth bar is captiveed joint with the catenating slider in one group of connecting rod mechanism by a slide block attaching parts, another tooth bar is captiveed joint with the catenating slider in another group connecting rod mechanism by another slide block attaching parts, and the sense of motion of described two tooth bars is opposite all the time.
According to an embodiment of the present utility model, the length of connecting rod of the connecting rod centering at every group of connecting rod mechanism two ends equates, and the point of crossing of the connecting rod of the connecting rod centering at these two ends is positioned at an end of connecting rod; And the equal in length of the connecting rod of other connecting rod centerings and equal the twice of length of connecting rod of the connecting rod centering at two ends in every group of connecting rod mechanism, and the point of crossing of the connecting rod of these other connecting rod centerings is positioned at the midpoint of connecting rod.
According to an embodiment of the present utility model, in described support frame, comprise the connecting rod guide chute, the hinged series connection end of the connecting rod in the connecting rod mechanism moves in described connecting rod guide chute.
According to an embodiment of the present utility model, in described support frame, comprise the slider guide axle or
The slider guide groove, all slide blocks move along described slider guide axle or slider guide groove.
According to an embodiment of the present utility model, described executive device is jaw, sucker, cylinder or mechanical handgrip.
According to an embodiment of the present utility model, described executive device is sucker, and described sucker is connected to described slide block by tracheae, and described tracheae also is communicated with vacuum source.
According to an embodiment of the present utility model, described tracheae is communicated with vacuum source by quick connector.
According to an embodiment of the present utility model, the kinematic axis by cylinder, electrical motor or robot drives described driver train.
According to an embodiment of the present utility model, described connecting rod mechanism is more than two groups, driver train uses following one or more to realize synchronous connection and the driving of described two groups of above connecting rod mechanisms: synchronous band cooperates with synchronous pulley, wheel and rack cooperates, or leading screw cooperates with nut.
The embodiment that will be appreciated that other can be realized by any possible combination of above-mentioned embodiment certainly.
To further set forth the utility model by with reference to the accompanying drawings to the detailed description of example of the present invention.
Description of drawings
Figure 1A illustrates the transparent view according to the driving rod drive of an embodiment of the present utility model;
Figure 1B shows the transparent view that driving rod drive among Figure 1A has been removed support frame;
Fig. 1 C shows the enlarged view of the slide block of the driving rod drive among Figure 1A;
Fig. 2 A shows the transparent view according to the driving rod drive of another embodiment of the present utility model;
Fig. 2 B shows the enlarged view of the driver train of the driving rod drive among Fig. 2 A;
Fig. 2 C shows the transparent view that driving rod drive among Fig. 2 A has been removed support frame.
The specific embodiment
Figure 1A illustrates the transparent view according to the driving rod drive of an embodiment of the present utility model.To describe according to this embodiment of the invention driving rod drive in detail in conjunction with Figure 1A.
Shown in Figure 1A, this driving rod drive comprises a support frame 1, in order to support whole driving rod drive.This support frame is fixed on the robotic arm usually in order to make whole driving rod drive move to control position along with the motion of robotic arm.Being coupled with at least one group of connecting rod mechanism below framework, is two groups of connecting rod mechanisms 2,3 in the present embodiment.Figure 1B shows the transparent view that driving rod drive among Figure 1A has been removed support frame.As shown in Figure 1B, every group of connecting rod mechanism comprises the series connection that is hinged many to connecting rod to 2.1, each connecting rod waits long connecting rods 2.11 and 2.12 to being included in two of point of crossing J cross-articulation.
Preferably, totally four connecting rods of the two connecting rod centerings at every group of connecting rod mechanism two ends are a pair of 2.11 ' and a pair of 2.12 ', connecting rod 2.11 ' and 2.12 ' equal in length, and the point of crossing of the connecting rod of the connecting rod centering at these two ends is positioned at an end of connecting rod; And the connecting rod 2.11 of other connecting rod centerings in every group of connecting rod mechanism, 2.12 equal in length and equal the connecting rod 2.11 ' of connecting rod centering at two ends and the twice of 2.12 ' length, and the point of crossing J of the connecting rod of these other connecting rod centerings is positioned at the midpoint of connecting rod.Like this, the spacing between each point of crossing equates, and when the point of crossing in connecting rod mechanism applied propulsive effort, the movement travel of each point of crossing also was identical.This is conducive to arrange equably executive device in connecting rod mechanism, grasping evenly distributed object, thereby and be conducive to the identical distance of movement of objects that grasps is gathered equably.Certainly, the connecting rod at place, two ends also can be the same with the connecting rod of centre long, but because its other connecting rods of no longer connecting in the end are right, thereby this is unnecessary.And half the length that the connecting rod at two ends is set to intermediate connecting rod makes bar linkage structure more firm, because there is not hinged cantilever.
Jointed shaft at the right described point of crossing of each described connecting rod is provided with slide block 2.21, and every group of connecting rod mechanism comprises at least two slide blocks, is 5 slide blocks in the present embodiment.Each described slide block is provided with executive device.Shown in Fig. 1 C, there is a slide block to be fixing slide block 2.21 ' in the described slide block in every group of connecting rod mechanism, it is captiveed joint with described support frame.Can use securing devices such as bolt that described fixedly slide block is captiveed joint with support frame.And other slide blocks in every group of connecting rod mechanism are moving slider, and it can be along with the movement of each point of crossing of connecting rod mechanism and moves along the orientation of slide block with respect to described support frame.
Arbitrary moving slider in every group of connecting rod mechanism is connected (Fig. 1 C) with a driver train, this arbitrary moving slider becomes catenating slider 2.21 ".Can be by slide block attaching parts 5.13 with this catenating slider 2.21 " with this driver train coupling.Driver train drives this catenating slider 2.21 " along the orientation of slide block near or away from described fixedly slide block 2.21 '.Owing to the pivotal joint of each slide block with the point of crossing of connecting rod mechanism, the motion of catenating slider will cause the pivot of the point of crossing that is connected with this catenating slider to drive whole connecting rod mechanism deforming, wherein since fixedly slide block fix with respect to support frame, the point of crossing that is connected with fixing slide block will keep motionless, and other point of crossings will along with catenating slider near or away from this fixedly slide block and simultaneously near or keep motionless point of crossing away from this, and the distance between each point of crossing also will diminish thereupon or become big.
In the embodiment of Figure 1A-Fig. 1 C, driver train comprises the middle synchronous pulley 4 between described two groups of connecting rod mechanisms, lay respectively at the first driven synchronous pulley 5.11 and the second driven synchronous pulley 6.11 of these synchronous pulley both sides, centre, the closure of synchronous pulley 4 and the first driven synchronous pulley 5.11 is synchronously with 5.12 and be with 6.12 synchronously around the opening of the described second driven synchronous pulley 6.11 in the middle of described, wherein said opening synchronously with the two ends of 6.12 open side respectively with described closure synchronously with the opposite two parts band captive joint of 5.12 sense of motion, thereby the rotation of middle synchronous pulley 4 drive described closure synchronously band and described opening synchronously band move simultaneously.Can use variety of ways such as bonding, chuck to be with 5.12 to captive joint with the two ends of 6.12 open side synchronously with closure synchronously opening.Synchronous pulley all rotates and is fixed in the support frame 1, and the first driven synchronous pulley 5.11 and the second driven synchronous pulley 6.11 lay respectively at the top of each connecting rod mechanism side, so that can guide synchronous band to advance above the moving region of each connecting rod mechanism respectively.
Described driver train also comprises two slide block attaching partss 5.13,6.13, one of them slide block attaching parts 5.13 is with the catenating slider 2.21 in one group of connecting rod mechanism " be with synchronously with described closure and captive joint; shown in Fig. 1 C; another slide block attaching parts 6.13 is with the catenating slider of another group in connecting rod mechanism synchronously with described opening and is captiveed joint; and described two slide block attaching partss are fixed on that described closure is with synchronously and opening synchronously with on the opposite side of sense of motion, make that the sense of motion of described two slide block attaching partss is opposite all the time.Like this, two synchronously band form and be connected in series, the rotation of middle synchronous pulley 4 will drive two of series connection synchronously with the rotation of identical hand of rotation, thus drive two catenating sliders simultaneously towards or move away from middle synchronous pulley 4.Favourable, can use a slide block attaching parts 5.13 to captive joint with closed band synchronously as the side that chuck is with opening synchronously simultaneously.
Preferably, be provided with axis of guide adapter plate 1.24 at described support frame 1 two ends, between the axis of guide adapter plate 1.24 at two ends, be provided with slider guide axle 1.11, all slide blocks all are set on the described slider guide axle 1.11, with thinking that all slide blocks are provided to the support of support frame, and guide shoe is moved along described slider guide axle 1.11.In the structure with slider guide axle 1.11, as shown in Figure 2, can make fixedly that slide block 2.21 ' has opening, and by bolt connect these opening two ends make this fixedly slide block this slider guide axle 1.11 is fastening relatively.Also can use alternative guide frame such as slider guide groove to guide and support slipper.In addition, axis of guide adapter plate 1.24 also limits the end position of connecting rod mechanism movement, to prevent the connecting rod mechanism over stretch.The position of this axis of guide adapter plate 1.24 has also determined the largest interval between each slide block and the executive device thereof.
Preferably, in described support frame 1, comprise the connecting rod guide chute 1.13 that is positioned at the connecting rod mechanism both sides, the hinged series connection end of the connecting rod in the connecting rod mechanism moves in described connecting rod guide chute, thereby prevent that described connecting rod and slide block on the go from rotating, and be provided to the support of support frame 1 for connecting rod.
Shown in Fig. 1 C, on each slide block, be connected with sucker 2.23 (being handgrip) as executive device by tracheae 2.22.Has the interface 2.24 that is connected to vacuum source at tracheae.Vacuum source provides pull of vacuum by tracheae to sucker, thereby thereby grasping body or disconnection suction is put down object.This tracheae 2.22 is preferably the plastic pipe with certain rigidity, and it is by bonding or be welded on the slide block, thereby this tracheae is both as the transom of slide block to sucker, again as the vacuum passage of sucker.Preferably, the interface to vacuum source of tracheae is quick connector 2.24, so that be connected to vacuum source rapidly or remove from vacuum source.For example cylinder or manipulator etc. are connected on the slide block as executive device also can to use other actuating units commonly used.
In a typical scene of this driving rod drive work of use, this driving rod drive is connected to the coupling end with rotating driveshaft by the plate that is connected and fixed on the support frame, mobile robot arm for example, wherein this rotating driveshaft cooperates with middle synchronous pulley 4 transmissions.The robots arm at first moves to this driving rod drive the manufacturing line top, and this driving rod drive is aimed at the article on the manufacturing line.At this moment, each slide block in the driving rod drive and the interval adjusted between the sucker to and manufacturing line on article between the initial position that is complementary of interval.Then driving rod drive is dropped to and approach article to be grasped.Connect vacuum source, be adsorbed onto on the sucker at the article of sucker generation suction with corresponding sucker quantity.Then driving rod drive is moved to the placement location of article, for example packing chest.In the motion process of driving rod drive or before the motion beginning or after moving to placement location, synchronous pulley 4 rotations in the middle of the drive shaft on the robotic arm, synchronous pulley 4 drives closure and advances with identical hand of rotation with 6.12 synchronously with opening with 5.12 synchronously.If fixedly slide block is arranged on more close synchronous pulley 4 sides of relative catenating slider, the rotation of synchronizing wheel 4 should make catenating slider in connected two connecting rod mechanisms towards middle synchronous pulley 4 horizontal motions then, catenating slider and fixedly the distance shortening between the slide block like this, thereby connecting rod mechanism begins equidistant contraction, till interambulacrum was in contact with one another or receives danger signal, the distance between crawled article was by equal dwindling at this moment.On the contrary, if fixedly slide block be arranged on relative catenating slider further from synchronous pulley 4 sides, the rotation of synchronizing wheel 4 should oppositely make catenating slider away from middle synchronous pulley 4 horizontal motions then, and then catenating slider and fixedly the distance between the slide block dwindle equally, thereby connecting rod mechanism begins equidistant contraction.Make when the spacing of crawled article reaches expectation value, robotic arm drops to driving rod drive in the packing chest, closes vacuum source, and article are placed in the packing chest by the equidistant from distance after dwindling (or zero spacing), finish loading or unloading operation one time.Synchronous pulley 4 is reversed (the place ahead is to opposite with it) driving then, thereby each connecting rod mechanism begins elongation, and it is big that the spacing of each slide block and interambulacrum becomes, and the desired location before reaching can begin loading or unloading operation next time.
Use connecting rod mechanism to compare other kinematic mechanisms as the kinematic mechanism of gathering motion and have a plurality of advantages.Because when gathering; connecting rod mechanism shrinks; and when sucker or crawled article are brought to the end position of mutual collision; also have certain distance between the right connecting rod of connecting rod of series connection and direct impact can not take place; and; two connecting rods hinged by point of crossing form a buffer gear with certain elastic resilience; make when link work during to end position this buffer gear can absorb collision energy; with the rigid collision between the part of avoiding article and device; improved the life-span of device; protected article not to be damaged, the noise that takes place because of collision in the time of can also reducing operation simultaneously.On the other hand, connecting rod mechanism is simple in structure, be convenient to increase as required and reduce connecting rod quantity grasped number of articles simultaneously to adjust, and can easily realize between each article constant velocity, equidistantly gather and separate.
By an axle drive shaft, drive two groups of connecting rod mechanisms simultaneously and finish and equidistantly gather loading or unloading operation, make driver train be simplified, work efficiency is improved.Use the synchronous band of two series connection to drive two groups of connecting rod mechanisms, thereby saved a synchronous pulley, number of parts is tailed off, and then saved cost.
Fig. 2 A-2C illustrates according to another embodiment of the present utility model.This embodiment is identical with the embodiment major part of Figure 1A-1C.Only be described in detail with regard to difference below.
As shown in Fig. 2 B, the driver train of driving rod drive comprises main driven wheel 4.1, and it is connected with axle drive shaft 4.Have two tooth bars 4.2 and 4.3 that mesh simultaneously with main driven wheel in main driven wheel both sides.On described support frame, making can be along with the rotation of main driven wheel towards different direction motion by bearings for tooth bar 4.2 and 4.3.Each tooth bar is fixedly attached on the catenating slider of one group of connecting rod mechanism, in order to drive catenating slider towards or away from the motion of main driven wheel, thereby a plurality of slide blocks 2.2,3.2 that drive in each connecting rod mechanism are gathered or are separated. Connecting rod mechanism 2,3 structure are similar to last embodiment, thereby repeat no more.Should be noted that the slide block 2.2,3.2 in this embodiment is positioned at the top of connecting rod, it is not set on the axis of guide, but is slidably supported on the last guide groove 1.1 of support frame 1, and connecting rod is slidably supported on down in the guide groove 1.2.Be appreciated that and use also in the present embodiment as in the previous embodiment that axis of guide structure supports and guide shoe, and the guide groove in the present embodiment also can be used for last embodiment.
Different with last embodiment is that vacuum cup 2.4,3.4 is connected to slide block by handgrip adapter plate 2.5,3.5.At vacuum cup tracheae 2.3,3.3 is set, tracheae is connected to vacuum source to provide suction to sucker.The setting of this executive device also can with last embodiment in executive device exchange is set.
Should be appreciated that and to drive described driver train by the various mechanisms such as kinematic axis of cylinder, electrical motor or robot as propulsion source.
It is also understood that the connecting rod mechanism that in driving rod drive, can also arrange more than two groups.Can use the more band synchronously of connecting with the similar method of above-mentioned embodiment, or the synchronous of connecting rod mechanism are connected and driving more than increasing transmission gear and tooth bar being realized two groups, make that utilizing a propulsion source to drive a plurality of connecting rod mechanisms simultaneously moves simultaneously, finish many group grasping manipulations.Driver train can also use leading screw to cooperate with nut, or is combined to drive a plurality of connecting rod mechanisms with above-mentioned driver train and moves simultaneously.
It is also understood that in this driving rod drive that described executive device can also can be other mechanisms for jaw, sucker, cylinder or mechanical handgrip etc.This actuating device can also only be gathered article by suitable executive device is set or equidistantly separate, and not carry out any action of picking up and place except can be used for picking and placeing the article.
Provided specification sheets of the present invention for illustrating with purpose of description, but itself and be not intended to and be exhaustive or be limited to the invention of disclosed form.It may occur to persons skilled in the art that a lot of modifications and variant.It will be appreciated by those skilled in the art that the method and apparatus in the embodiment of the present invention can be with software, hardware, firmware or its combination realization.
Therefore; embodiment is for principle of the present invention, practical application being described better and making other staff among those skilled in the art can understand following content and select and describe; namely; under the prerequisite that does not break away from spirit of the present invention, all modifications of making and replacement all will fall in the protection domain of the present invention of claims definition.
Claims (12)
1. driving rod drive is characterized in that comprising:
Support frame;
Be coupled at least one group of connecting rod mechanism of described support frame, every group of described connecting rod mechanism and the coupling of a plurality of executive device;
Driver train is with described at least one group of connecting rod mechanism coupling;
It is flexible that described driver train drives described at least one group of connecting rod mechanism, thereby make the close or separation mutually of described a plurality of executive device.
2. driving rod drive as claimed in claim 1 is further characterized in that:
Every group of described connecting rod mechanism comprises that at least two pairs of connecting rods of the series connection that is hinged are right, and each connecting rod waits long connecting rods to being included in two of point of crossing cross-articulation;
Jointed shaft at the right described point of crossing of each described connecting rod is provided with slide block, at each described slide block described executive device is set, wherein there is a slide block to be fixing slide block in the described slide block in every group of connecting rod mechanism, it is captiveed joint with described support frame, and other slide blocks in every group of connecting rod mechanism are moving slider, and it can move along the orientation of slide block with respect to described support frame;
Described driver train is connected with arbitrary moving slider in every group of connecting rod mechanism, this arbitrary moving slider becomes catenating slider, and drive this catenating slider along the orientation of slide block near or away from described fixedly slide block, this catenating slider by connecting rod mechanism make all slide blocks along the orientation of slide block mutually near or separate.
3. driving rod drive as claimed in claim 2 is further characterized in that:
Described connecting rod mechanism is two groups;
Described driver train comprises: the middle synchronous pulley between described two groups of connecting rod mechanisms, lay respectively at the first driven synchronous pulley and the second driven synchronous pulley of these synchronous pulley both sides, centre, be with synchronously around the closed band synchronously of described middle synchronous pulley and the first driven synchronous pulley and around the opening of the described second driven synchronous pulley, wherein said opening synchronously the open side of band two ends respectively with described closure two parts band captive joint that the sense of motion of band is opposite synchronously, thereby the rotation of middle synchronous pulley drive described closure synchronously band and described opening synchronously band move simultaneously;
Described driver train also comprises two slide block attaching partss, one of them slide block attaching parts is with the catenating slider in one group of connecting rod mechanism synchronously with described closure and is captiveed joint, another slide block attaching parts is with the catenating slider of another group in connecting rod mechanism synchronously with described opening and is captiveed joint, and described two slide block attaching partss described closure be with synchronously and opening synchronously with on the fixed position make that the sense of motion of described two slide block attaching partss is opposite all the time.
4. driving rod drive as claimed in claim 2 is further characterized in that:
Described connecting rod mechanism is two groups;
Described driver train comprises: the driven wheel between described two groups of connecting rod mechanisms, two tooth bars that mesh simultaneously with described driven wheel, one of them tooth bar is captiveed joint with the catenating slider in one group of connecting rod mechanism by a slide block attaching parts, another tooth bar is captiveed joint with the catenating slider in another group connecting rod mechanism by another slide block attaching parts, and the sense of motion of described two tooth bars is opposite all the time.
5. as each described driving rod drive among the claim 1-4, it is characterized in that:
The length of connecting rod of the connecting rod centering at every group of connecting rod mechanism two ends equates, and the point of crossing of the connecting rod of the connecting rod centering at these two ends is positioned at an end of connecting rod; And the equal in length of the connecting rod of other connecting rod centerings and equal the twice of length of connecting rod of the connecting rod centering at two ends in every group of connecting rod mechanism, and the point of crossing of the connecting rod of these other connecting rod centerings is positioned at the midpoint of connecting rod.
6. as each described driving rod drive among the claim 1-4, it is characterized in that:
Comprise the connecting rod guide chute in described support frame, the hinged series connection end of the connecting rod in the connecting rod mechanism moves in described connecting rod guide chute.
7. as each described driving rod drive among the claim 1-4, it is characterized in that:
Comprise slider guide axle or slider guide groove in described support frame, all slide blocks are along described slide block
The axis of guide or the motion of slider guide groove.
8. as each described driving rod drive among the claim 1-4, it is characterized in that:
Described executive device is jaw, sucker, cylinder or mechanical handgrip.
9. as each described driving rod drive among the claim 2-4, it is characterized in that:
Described executive device is sucker, and described sucker is connected to described slide block by tracheae, and described tracheae also is communicated with vacuum source.
10. driving rod drive as claimed in claim 9, it is characterized in that: described tracheae is communicated with vacuum source by quick connector.
11. as each described driving rod drive among the claim 1-4, it is characterized in that: the kinematic axis by cylinder, electrical motor or robot drives described driver train.
12. as each described driving rod drive among the claim 1-4, it is characterized in that:
Described connecting rod mechanism is more than two groups, and driver train uses following one or more to realize synchronous connection and the driving of described two groups of above connecting rod mechanisms: synchronous band cooperates with synchronous pulley, wheel and rack cooperates, or leading screw cooperates with nut.
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| CN 201320060737 CN203127745U (en) | 2013-01-30 | 2013-01-30 | Connecting rod driving device |
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| CN 201320060737 CN203127745U (en) | 2013-01-30 | 2013-01-30 | Connecting rod driving device |
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| CN103466132B (en) * | 2013-09-11 | 2015-09-02 | 杭州中亚机械股份有限公司 | A kind of Handling device |
| CN103466132A (en) * | 2013-09-11 | 2013-12-25 | 杭州中亚机械股份有限公司 | Carrying device |
| CN104576471A (en) * | 2013-10-23 | 2015-04-29 | 沈阳芯源微电子设备有限公司 | Compact type wafer lifting mechanism |
| CN105836518A (en) * | 2015-01-15 | 2016-08-10 | 深圳市华方旭科技有限公司 | Automatic liquid injection device and stacking device thereof |
| CN104803036A (en) * | 2015-04-24 | 2015-07-29 | 成都松川雷博机械设备有限公司 | Push-in mechanism of food boxing machine |
| CN104991091A (en) * | 2015-07-07 | 2015-10-21 | 昆山鸿志犀自动化机电设备有限公司 | Shrinkage clearance module |
| CN104991091B (en) * | 2015-07-07 | 2017-09-22 | 昆山鸿志犀自动化机电设备有限公司 | A kind of contracting gap module |
| CN105035842A (en) * | 2015-07-30 | 2015-11-11 | 广东溢达纺织有限公司 | Automatic equal interval adjustment device and method |
| CN105775735A (en) * | 2016-05-08 | 2016-07-20 | 无锡奥特维智能装备有限公司 | Material taking mechanism for battery cores |
| CN105775711A (en) * | 2016-05-08 | 2016-07-20 | 无锡奥特维智能装备有限公司 | Distance adjusting device |
| CN107826748A (en) * | 2017-09-14 | 2018-03-23 | 合肥惠科金扬科技有限公司 | A kind of flexible absorber for lifting different size specification AMOLED liquid crystal displays |
| CN107826748B (en) * | 2017-09-14 | 2019-05-03 | 合肥惠科金扬科技有限公司 | A kind of flexible absorber lifting different size specification AMOLED liquid crystal display |
| CN109483209A (en) * | 2018-12-28 | 2019-03-19 | 福建（泉州）哈工大工程技术研究院 | A kind of crystal ball automatic assembly equipment |
| CN109483209B (en) * | 2018-12-28 | 2024-02-06 | 福建(泉州)先进制造技术研究院 | Automatic crystal ball assembling equipment |
| CN116101783A (en) * | 2023-03-21 | 2023-05-12 | 北京传力科技有限公司 | A intelligent walking snatchs robot for paper cup production line |
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