CN204819539U - But centre gripping manipulator of collaborative work - Google Patents
But centre gripping manipulator of collaborative work Download PDFInfo
- Publication number
- CN204819539U CN204819539U CN201520583257.4U CN201520583257U CN204819539U CN 204819539 U CN204819539 U CN 204819539U CN 201520583257 U CN201520583257 U CN 201520583257U CN 204819539 U CN204819539 U CN 204819539U
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- CN
- China
- Prior art keywords
- push rod
- clips
- collaborative work
- cam
- clamping manipulator
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Abstract
The utility model provides a but centre gripping manipulator of collaborative work, it includes: be parallel to each other and can wind two connecting pipes of axis pivoted separately, install two rocking arms two connecting pipe one end, connect the connecting rod of two rocking arms, install two clips at two connecting pipe other ends, set up two ejector pins in two connecting pipes, output and two terminal two relative L shape pendulum rods of ejector pin to and fix two epaxial cams same owner, a push rod is connected through the transmission pole to the input of two L shape pendulum rods, another push rod is connected through the transmission pole to the connecting rod, two cams correspond with two push rod sliding fit to drive two push rods and swing according to certain chronogenesis and range, and then promote two clips open according to setting for the chronogenesis / and it is closed and around the axis upset of connecting pipe. This mechanism's hand all by cam drive, has compact structure, maintains convenient, strong, the efficient characteristics of interference killing feature.
Description
Technical field
The utility model relates to clamping manipulator, especially a kind of pure mechanical mechanism, in automation equipment to the element needing upset to transmit carry out overturning transmit can the clamping manipulator of collaborative work, belong to industrial automation.
Background technology
At present, prepare to be all two relatively independent mechanisms with assembling or production and encapsulation at industrial automation material, material prepares the design feature that primary focus considers material, assembles the assembling characteristics of then both emphasis considerations.So have unavoidably material prepare mechanism material is delivered to assembling point time orientation do not meet matching requirements, so then need one overturn transmit mechanism.In order to realize the upset of material or product, often have employed automatically controlled to realize or the frame for movement of complexity can realize, making like this can the clamping manipulator complex structure of collaborative work, and equipment debugging difficulty is large, poor anti jamming capability, inefficiency, safeguard the problems such as inconvenient.So need a kind of simple and compact for structure, stable performance, easy to maintenance the clamping manipulator of collaborative work the problems referred to above can be solved.
Utility model content
The purpose of this utility model be to provide a kind of can the clamping manipulator of collaborative work, this can the clamping manipulator of collaborative work be pure mechanical mechanism, can carry out upset transmission in automation equipment to the element needing upset to transmit.
Concrete technical scheme of the present utility model is:
Can the clamping manipulator of collaborative work, it comprises:
Be parallel to each other and two tube connectors that can rotate around respective axis, two rocking arms are installed in one end of two tube connectors, and the end of two rocking arms is connected by a connecting rod;
Two clips, correspondence is installed on the other end of described two tube connectors, and arrange for promoting the push rod that clip is opened in tube connector, clip arranges back-moving spring;
Two L shape forks, output is relative with the end of described push rod, the both direction that input is towards the opposite;
Two push rods, their first end and fuselage hinged, the second end of a push rod connects the input of described two L shape forks respectively by two transmission levers, and the second end of another push rod connects described connecting rod by the 3rd transmission lever; And
Two cams, are fixed on same main shaft, and correspondence and described two push rods are slidably matched, and to drive two push rods by certain sequential and swing amplitude, and then promote described two clips by setting sequential opened/closed and overturning around the axis of tube connector.
Described cam can be cam ring, external cam or grooved cam.
Preferably, the sequential of described two clip opened/closed is different, and the opened/closed of described two clips is driven described two forks by the cam be slidably matched each other and a push rod and then promoted described push rod and realizes.
Preferably, during described transmission lever motion, residing for its body of rod, plane constantly changes, and the connection of described transmission lever and described fork, push rod or connecting rod adopts hemisphere block to connect.
Preferably, described two clips are different in the reverses direction of synchronization, and the rotation of described two clips coordinates driving by same cam and same push rod.
The beneficial effects of the utility model are: whole mechanism hand is by cam-actuated pure mechanical mechanism, have compact conformation, easy to maintenance, antijamming capability is strong, feature that efficiency is high.The equipment fault time is obviously shortened, and efficiency obtains effective lifting.
Accompanying drawing explanation
Fig. 1 is that the utility model can the tomograph of clamping manipulator exemplary embodiments of collaborative work;
Fig. 2 is its space structure sketch.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.These more detailed descriptions are intended to help and understand the utility model, and should not be used to limit the utility model.
As shown in Figure 1-2, originally can the clamping manipulator of collaborative work comprise: two tube connectors 1a, 1b, two clips 3a, 3b, two rocking arms 6a, 6b, two push rods 7a, 7b, a connecting rod 8, two L shape forks 9,11, three transmission lever 12a, 12b, 12c, two cams 14,16, two push rods 17a, 17b.
Two tube connectors 1a, 1b are installed on board by two tube connector holders 5a, 5b, and two tube connectors 1a, 1b are parallel to each other and can rotate around respective axis.Two clips 3a, 3b are arranged on the left end of two tube connectors 1a, 1b by two clip mount pad 4a, 4b correspondences, two push rod 7a, 7b correspondences are arranged in two tube connectors 1a, 1b and are respectively used to promotion two clips 3a, 3b and open, and in two clips 3a, 3b, correspondence is provided with two back-moving springs 2a, 2b and returns to closed condition (clamped condition) to make clip after the active force of push rod disappears.Two rocking arm 6a, 6b correspondences are arranged on the right-hand member of two tube connectors 1a, 1b, and the end of two rocking arms 6a, 6b is connected by connecting rod 8.Two L shape forks 9,11 are connected with fuselage by two fork mount pads 10a, 10b, the output of two L shape forks 9,11 is corresponding relative with the end of described two push rods 7a, 7b, input both direction towards the opposite (as shown in FIG. another towards a left side towards the right side).The first end of two push rods 17a, 17b is hinged by push rod mount pad 18 and fuselage, second end of a push rod 17a connects the input of described two L shape forks 9,11 respectively by two transmission lever 12a, 12b, second end of another push rod 17b connects described connecting rod 8 by the 3rd transmission lever 12c.Two cams 14,16 are fixed on same main shaft 15, and corresponding and described two push rods 17a, 17b are slidably matched, when main shaft 15 rotates, two cams 14,16 are driven to rotate, drive two push rods 17a, 17b by certain sequential and swing amplitude, and then promote described two clips 3a, 3b by setting sequential opened/closed and overturning around the axis of two tube connectors 1a, 1b, thus realize the upset transmission of material.
Two cams 14,16 can adopt cam ring, external cam or grooved cam.
In an exemplary embodiment, the sequential of two clip 3a, 3b opened/closed is different, and the opened/closed of described two clips 3a, 3b is driven described two forks 9 and 11 by the cam 14 be slidably matched each other and a push rod 17a and then promoted described two push rods 7a, 7b and realizes.
In an exemplary embodiment, during described transmission lever motion, residing for its body of rod, plane constantly changes, in order to avoid transmission lever is moved the interference caused transmission lever, the connection of transmission lever and described fork, transmission lever and push rod and transmission lever and connecting rod all adopts hemisphere block 13 to connect.
In an exemplary embodiment, two clips 3a, 3b are different in the reverses direction of synchronization, and the rotation of two clips 3a, 3b coordinates driving by another cam 16 and another push rod 17b, are namely coordinated by same cam and same push rod and drive.
Claims (5)
1. can the clamping manipulator of collaborative work, it is characterized in that, comprising:
Be parallel to each other and two tube connectors (1a, 1b) can rotated around respective axis, two rocking arms (6a, 6b) are installed in one end of two tube connectors, and the end of two rocking arms is connected by a connecting rod (8);
Two clips (3a, 3b), correspondence is installed on the other end of described two tube connectors, and arrange for promoting the push rod (7a, 7b) that clip is opened in tube connector, clip arranges back-moving spring (2a, 2b);
Two L shape forks (9,11), output is relative with the end of described push rod, the both direction that input is towards the opposite;
Two push rods (17a, 17b), their first end and fuselage hinged, second end of a push rod connects the input of described two L shape forks respectively by two transmission levers (12a, 12b), the second end of another push rod connects described connecting rod by the 3rd transmission lever (12c); And
Two cams (14,16), be fixed on same main shaft (15), and corresponding and described two push rods are slidably matched, to drive two push rods by certain sequential and swing amplitude, and then promote described two clips by setting sequential opened/closed and overturning around the axis of tube connector.
2. according to claim 1 can the clamping manipulator of collaborative work, it is characterized in that: described cam is cam ring, external cam or grooved cam.
3. according to claim 1 can the clamping manipulator of collaborative work, it is characterized in that: the sequential of described two clip opened/closed is different, the opened/closed of described two clips is driven described two forks by the cam (14) be slidably matched each other and a push rod (17a) and then is promoted described push rod and realizes.
4. according to claim 1 can the clamping manipulator of collaborative work, it is characterized in that: during described transmission lever motion, residing for its body of rod, plane constantly changes, and the connection of described transmission lever and described fork, push rod or connecting rod adopts hemisphere block to connect.
5. according to claim 1 can the clamping manipulator of collaborative work, it is characterized in that: described two clips are different in the reverses direction of synchronization, the rotation of described two clips coordinates driving by same cam (16) and same push rod (17b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520583257.4U CN204819539U (en) | 2015-08-05 | 2015-08-05 | But centre gripping manipulator of collaborative work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520583257.4U CN204819539U (en) | 2015-08-05 | 2015-08-05 | But centre gripping manipulator of collaborative work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204819539U true CN204819539U (en) | 2015-12-02 |
Family
ID=54677180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520583257.4U Expired - Fee Related CN204819539U (en) | 2015-08-05 | 2015-08-05 | But centre gripping manipulator of collaborative work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204819539U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105034004A (en) * | 2015-08-05 | 2015-11-11 | 清华大学深圳研究生院 | Clamping manipulator capable of realizing cooperative work |
-
2015
- 2015-08-05 CN CN201520583257.4U patent/CN204819539U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105034004A (en) * | 2015-08-05 | 2015-11-11 | 清华大学深圳研究生院 | Clamping manipulator capable of realizing cooperative work |
| CN105034004B (en) * | 2015-08-05 | 2017-01-11 | 清华大学深圳研究生院 | Clamping manipulator capable of realizing cooperative work |
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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: 20151202 Termination date: 20190805 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |