CN206200976U - One kind grabs circular object robot device - Google Patents
One kind grabs circular object robot device Download PDFInfo
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- CN206200976U CN206200976U CN201621167024.7U CN201621167024U CN206200976U CN 206200976 U CN206200976 U CN 206200976U CN 201621167024 U CN201621167024 U CN 201621167024U CN 206200976 U CN206200976 U CN 206200976U
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- tentacle
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- 238000003780 insertion Methods 0.000 claims abstract description 5
- 230000037431 insertion Effects 0.000 claims abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- MUKYLHIZBOASDM-UHFFFAOYSA-N 2-[carbamimidoyl(methyl)amino]acetic acid 2,3,4,5,6-pentahydroxyhexanoic acid Chemical group NC(=N)N(C)CC(O)=O.OCC(O)C(O)C(O)C(O)C(O)=O MUKYLHIZBOASDM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 244000017160 saligot Species 0.000 description 1
- 235000009165 saligot Nutrition 0.000 description 1
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Abstract
The utility model is related to one kind to grab circular object robot device, belongs to manipulator technical field.The utility model is saved including arm, stretching arm, stretching circular magnetic chuck, tentacle bottom chuck, top machinery in hydraulic means, drawing tentacle, manipulator I, manipulator II, manipulator III, manipulator IV, drawing tentacle top, drawing tentacle chassis, stretching, the mechanical section in middle part, lower mechanical section, machinery section circular magnetic chuck；Hydraulic means surrounding connects four manipulators, and four manipulators are saved machinery section by upper, middle and lower three and constituted respectively, wherein being embedded with machinery section circular magnetic chuck on the machinery section of middle part；Hydraulic means bottom is equipped with drawing tentacle, and it is made up of arm in stretching and stretching arm, and stretching arm bottom is embedded with stretching circular magnetic chuck, tentacle bottom chuck insertion stretching tentacle bottom.The utility model high degree of automation, easily use, convenient maintenance, machinery section can be changed at any time with sucker；It is pollution-free, can be as severe working environment among.
Description
Technical field
The utility model is related to one kind to grab circular object robot device, belongs to manipulator technical field.
Background technology
The development of current manipulator is increasingly automated, and traditional manipulator can only realize the work of grasping band water caltrop
Part, but feels simply helpless for spherical or cylindrical work, and thus we devise and grab round manipulator, it is possible to achieve to circular or circle
The grasping and carrying of cylindricality target workpiece, solve the problems, such as that conventional robot cannot be touched.
It is all to realize the grasping of circular object by clamping to grab circular object manipulator at present, the manipulator that we design,
By manipulator machinery section connection, it is combined with sucker and is just perfectly solved asking for the damage object surface that clamping band is come
Topic, machinery section can realize that packaging type is grasped to target piece.
The content of the invention
The technical problems to be solved in the utility model is to provide one kind and grabs circular object robot device, is used to solve original
The problem that manipulator cannot be operated to manipulator under the conditions of smooth, circular, precision workpiece carrying problem and poor quality.
The technical solution of the utility model is：One kind grabs circular object robot device, including hydraulic means 1, drawing
Tentacle 2, manipulator I3, manipulator II4, manipulator III5, manipulator IV6, drawing tentacle top 7, drawing tentacle chassis
8th, stretch in arm 9, stretching arm 10, stretching circular magnetic chuck 11, tentacle bottom chuck 12, top machinery section 13, middle part machinery section 14,
Machinery section circular magnetic chuck 15, lower mechanical section 16；Manipulator I3, manipulator II4, manipulator III5, manipulator IV6 are connected to liquid
The surrounding of pressure device 1, manipulator is connected and composed by top machinery section 13, middle part machinery section 14, lower mechanical section 16, middle part machinery section
14 and lower mechanical section 16 on the machinery section circular magnetic chuck 15 of each insertion one；Drawing tentacle 2 is distributed in drawing tentacle chassis 8
Surrounding, drawing tentacle chassis 8 is connected on drawing tentacle top 7, and drawing tentacle 2 is by arm in stretching 9 and stretching arm 10
Connect and compose, drawing tentacle chassis 8 embedded in tentacle bottom chuck 12, stretching circular magnetic chuck 11 imbeds the lower end of stretching arm 10.
The manipulator I3, manipulator II4, manipulator III5, top machinery section 13, the middle part machinery section of manipulator IV6
14th, lower mechanical section 16 can be rotated in tie point position, and rotational angle is 0 °~360 °.
Stretching arm 10 on the drawing tentacle 2 can be stretched out on arm in stretching 9 and drawing tentacle chassis 8
With to contract.
Manipulator I3, manipulator II4, manipulator III5, manipulator IV6 and machinery section circular magnetic chuck 15 thereon can be with
A series of specifications actions such as close, open, adsorbing accordingly with the control realization of hydraulic means.Its top machinery section 13, middle part
Machinery section 14, lower mechanical section 16 is connected with each other, and composition is corresponding to rotate secondary, mutually can be with transmission information, by hydraulic means
Control, realize the rotation in the range of 0 °~360 ° in respective tie point.
Drawing tentacle bottom 7 connects drawing tentacle chassis 8, and tentacle bottom chuck 12 is attached to drawing tentacle chassis
8 bottom, thereon surrounding be laid out four tentacles being made up of arm in stretching 9, stretching arm 10, the stretching insertion of circular magnetic chuck 11 is drawn
The lower end of semi-girder 10, stretching arm 10 can realize stretching and shrink on arm 9 in drawing tentacle chassis 8 and stretching.
Hydraulic means 1 can with the length of restrained stretching formula tentacle 2 and thereon stretching circular magnetic chuck 11 and stretching top
The adsorptivity of sucker 12 and machinery section circular magnetic chuck 15；Top machinery section 13, middle part machinery section 14, lower mechanical can also be controlled
Rotation in the range of 160 °~360 ° of section.
During work, the mechanical energy of driving link is converted into pressure energy by hydraulic means 1, controls drawing tentacle 2 and machinery
Hand and each sucker；Inductor is furnished with stretching tentacle 2, the radius of target object can be converted to stretching by stretching tentacle 2
Information integration is transferred to hydraulic means 1, hydraulic means 1 by the length of middle arm 9 and stretching arm 10, the inductor on stretching tentacle 2
Execution information is changed into the length of arm 9 and stretching arm 10 in the stretching of control information restrained stretching tentacle 2, by itself and object
The size correspondence of body, hydraulic means 1 controls the top machinery of manipulator I3, manipulator II4, manipulator III5, manipulator IV6
Section 13, the middle part machinery section 14, free movement of lower mechanical section 16, so that the opening and closing of control machinery hand, realize grabbing object
Take；Hydraulic means 1 can also be on restrained stretching tentacle 2 stretching circular magnetic chuck 11 and stretching top chuck 12 and manipulator on
The adsorptivity of machinery section circular magnetic chuck 15, while target object is captured, the surface to circular target object is adsorbed, its
The machinery section of middle manipulator, can be fast due to being made up of top machinery section 13, the middle part machinery section 14, part of lower mechanical section 16 3
Realize that crawl is circular promptly, the steady crawl of smooth target object and put down, it can be real for the crawl of circular target object
Existing packaging type is grasped.
The beneficial effects of the utility model are：
1st, high degree of automation, easily use, convenient maintenance, machinery section can be changed at any time with sucker；
2nd, it is pollution-free, can be as severe working environment among；
3rd, workpiece is not damaged, it is larger particularly with round piece or precision instrument effect.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the drawing tentacle structure chart of the utility model；
Fig. 3 is the utility model manipulator nodule composition.
In figure：1- hydraulic means, the drawing tentacles of 2-, 3- manipulators I, 4- manipulator II, 5- manipulator III, 6- machinery
The drawing tentacle tops of hand IV, 7-, the drawing tentacle chassis of 8-, arm in 9- stretchings, 10- stretching arms, 11- stretching circular magnetic chucks,
12- tentacle bottom chucks, 13- tops machinery section, 14- middle parts machinery section, 15- machinery section circular magnetic chucks, 16- lower mechanical sections.
Specific embodiment
Below in conjunction with the accompanying drawings）Specific embodiment, the utility model is described in further detail.
Embodiment 1：As Figure 1-3, one kind grabs circular object robot device, including hydraulic means 1, drawing tentacle
2nd, manipulator I3, manipulator II4, manipulator III5, manipulator IV6, drawing tentacle top 7, drawing tentacle chassis 8, drawing
Stretch middle arm 9, stretching arm 10, stretching circular magnetic chuck 11, tentacle bottom chuck 12, top machinery section 13, middle part machinery section 14, machinery
Section circular magnetic chuck 15, lower mechanical section 16；Manipulator I3, manipulator II4, manipulator III5, manipulator IV6 are connected to hydraulic pressure dress
1 surrounding is put, manipulator is connected and composed by top machinery section 13, middle part machinery section 14, lower mechanical section 16, middle part machinery 14 Hes of section
One machinery section circular magnetic chuck 15 of each insertion on lower mechanical section 16；Drawing tentacle 2 is distributed in drawing tentacle chassis 8 four
Week, drawing tentacle chassis 8 is connected on drawing tentacle top 7, and drawing tentacle 2 is connected by arm in stretching 9 and stretching arm 10
Composition is connect, drawing tentacle chassis 8 embedded in tentacle bottom chuck 12, and stretching circular magnetic chuck 11 imbeds the lower end of stretching arm 10.
The manipulator I3, manipulator II4, manipulator III5, top machinery section 13, the middle part machinery section of manipulator IV6
14th, lower mechanical section 16 can be rotated in tie point position, and rotational angle is 0 °~360 °.
Stretching arm 10 on the drawing tentacle 2 can be stretched out on arm in stretching 9 and drawing tentacle chassis 8
With to contract.
Manipulator I3, manipulator II4, manipulator III5, manipulator IV6 and machinery section circular magnetic chuck 15 thereon can be with
A series of specifications actions such as close, open, adsorbing accordingly with the control realization of hydraulic means.Its top machinery section 13, middle part
Machinery section 14, lower mechanical section 16 is connected with each other, and composition is corresponding to rotate secondary, mutually can be with transmission information, by hydraulic means
Control, realize the rotation in the range of 0 °~360 ° in respective tie point.
Specific embodiment of the present utility model is explained in detail above in association with accompanying drawing, but the utility model is not
It is limited to above-mentioned implementation method, in the ken that those of ordinary skill in the art possess, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (3)
1. one kind grabs circular object robot device, it is characterised in that：Including hydraulic means（1）, drawing tentacle（2）, machinery
Hand I（3）, manipulator II（4）, manipulator III（5）, manipulator IV（6）, drawing tentacle top（7）, drawing tentacle chassis
（8）, arm in stretching（9）, stretching arm（10）, stretching circular magnetic chuck（11）, tentacle bottom chuck（12）, top machinery section（13）、
Middle part machinery section（14）, machinery section circular magnetic chuck（15）, lower mechanical section（16）；Manipulator I（3）, manipulator II（4）, machinery
Hand III（5）, manipulator IV（6）It is connected to hydraulic means（1）Surrounding, manipulator is saved by top machinery（13）, middle part machinery section
（14）, lower mechanical section（16）Connect and compose, middle part machinery section（14）With lower mechanical section（16）One machinery section of upper each insertion
Circular magnetic chuck（15）；Drawing tentacle（2）It is distributed in drawing tentacle chassis（8）Surrounding, drawing tentacle chassis（8）It is connected to
Drawing tentacle top（7）On, drawing tentacle（2）By arm in stretching（9）And stretching arm（10）Connect and compose, drawing tentacle
Chassis（8）Embedded in tentacle bottom chuck（12）, stretch circular magnetic chuck（11）Imbed stretching arm（10）Lower end.
It is 2. according to claim 1 to grab circular object robot device, it is characterised in that：The manipulator I（3）, machinery
Hand II（4）, manipulator III（5）, manipulator IV（6）Top machinery section（13）, middle part machinery section（14）, lower mechanical section
（16）Can be rotated in tie point position, rotational angle is 0 °~360 °.
It is 3. according to claim 1 to grab circular object robot device, it is characterised in that：The drawing tentacle（2）On
Stretching arm（10）Can in stretching arm（9）With drawing tentacle chassis（8）On stretch out and to contract.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621167024.7U CN206200976U (en) | 2016-10-26 | 2016-10-26 | One kind grabs circular object robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621167024.7U CN206200976U (en) | 2016-10-26 | 2016-10-26 | One kind grabs circular object robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206200976U true CN206200976U (en) | 2017-05-31 |
Family
ID=58757691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621167024.7U Expired - Fee Related CN206200976U (en) | 2016-10-26 | 2016-10-26 | One kind grabs circular object robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206200976U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818607A (en) * | 2018-08-13 | 2018-11-16 | 金华职业技术学院 | A kind of software joint with Coupled Rigid-flexible mechanism |
| CN108818594A (en) * | 2018-08-13 | 2018-11-16 | 金华职业技术学院 | A kind of soft robot with Coupled Rigid-flexible mechanism |
| CN110773977A (en) * | 2019-11-11 | 2020-02-11 | 中国原子能科学研究院 | High temperature resistant sucking disc support pillar for high temperature radioactive source installation |
-
2016
- 2016-10-26 CN CN201621167024.7U patent/CN206200976U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818607A (en) * | 2018-08-13 | 2018-11-16 | 金华职业技术学院 | A kind of software joint with Coupled Rigid-flexible mechanism |
| CN108818594A (en) * | 2018-08-13 | 2018-11-16 | 金华职业技术学院 | A kind of soft robot with Coupled Rigid-flexible mechanism |
| CN110773977A (en) * | 2019-11-11 | 2020-02-11 | 中国原子能科学研究院 | High temperature resistant sucking disc support pillar for high temperature radioactive source installation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20181026 |