CN206855461U - A kind of mechanical manipulator of box hat - Google Patents
A kind of mechanical manipulator of box hat Download PDFInfo
- Publication number
- CN206855461U CN206855461U CN201720391950.0U CN201720391950U CN206855461U CN 206855461 U CN206855461 U CN 206855461U CN 201720391950 U CN201720391950 U CN 201720391950U CN 206855461 U CN206855461 U CN 206855461U
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- China
- Prior art keywords
- driving lever
- support frame
- wheel
- interior
- points
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Abstract
The utility model discloses a kind of mechanical manipulator of box hat,Including cleft hand,Support frame,Driving lever and base,Three cleft hands are fixed on three branch's supports by active screw,And cleft hand inwall is provided with blade tooth,Support frame is provided with interior conjunction rotating shaft,Interior close is installed among interior conjunction rotating shaft to take turns,And interior wheel outer ring of closing is provided with gear line,Interior close is provided with intermediate solid drive shaft among wheel,And driving lever left-hand passes through base and support frame,Driving lever outer wall is provided with hydraulic cavities,And driving lever left end is provided with three points of connectors,Bushing is connected with the left of three points of connectors,Three points of connectors are provided with stator,And bent axle piece is clamped between stator,And bent axle piece is movably fixed between stator by movable axis,The bent axle piece other end is connected with the afterbody of cleft hand,Intermediate solid drive shaft sequentially passes through to the right interior conjunction rotating shaft,Bushing three divides connector and driving lever,Intermediate solid drive shaft right-hand member is provided with axle wheel,Axle wheel is engaged with motor wheel by gear,Motor wheel is arranged on micromachine,And micromachine is arranged on guide rail.
Description
Technical field
Manipulator technical field is the utility model is related to, specially a kind of mechanical manipulator of box hat.
Background technology
Some holding functions of human hand and arm can be imitated, object or operation instrument are captured, carried by fixed routine
Automatic pilot.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can replace people
Heavy labor to realize the mechanization of production and automation, can be operated under hostile environment to protect personal safety, thus extensively
General to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, manipulator, existing manipulator is all by complexity
Machine driving carries out the action of displacement and the crawl of object, because under multivariant machine driving, mechanical force exists to cleft hand
Be lost during transmission, can not totally tansitive to cleft hand so that cleft hand has that grasp force is not strong, captures unstable ask
Topic.
Utility model content
In order to overcome the shortcomings of prior art, the utility model provides a kind of mechanical manipulator of box hat, Neng Goutong
The mechanical forces that auxiliary applies cleft hand are crossed, so as to which stable operates to object.
Technical scheme is used by the utility model solves its technical problem：A kind of mechanical manipulator of box hat, including
Cleft hand, support frame, driving lever and base, three cleft hands are fixed on the top of three points of support frames as described above by active screw,
And the cleft hand is provided with blade tooth in the inwall with support frame junction, and interior conjunction rotating shaft, the interior conjunction are provided among support frame as described above
Rotating shaft bosom is provided with interior close and taken turns, and the interior wheel outer ring of closing is provided with gear line, and the blade tooth of the gear line and cleft hand
Engagement, interior close are provided with intermediate solid drive shaft among wheel；
Base is connected with the right side of support frame as described above, and the driving lever left-hand passes through base and support frame, and the active
Bar is extended in support frame inner chamber, and the driving lever outer wall is provided with hydraulic cavities, and the driving lever left end is provided with three points of companies
Joint, three points of connectors left side is connected with bushing, and the bushing is connected on interior conjunction rotating shaft right side wall, three points of companies
Joint is provided with three groups of stators, and bent axle piece has been clamped between stator described in three groups, and the bent axle piece is lived by movable axis
Dynamic to be fixed between stator, the bent axle piece other end is connected with the afterbody of cleft hand, and is linked together by activity clencher；
The intermediate solid drive shaft sequentially passes through to the right interior conjunction rotating shaft, bushing three divides connector and driving lever, the intermediate solid drive shaft
Right-hand member is provided with axle wheel, and the axle wheel is engaged with motor wheel by gear, and the motor wheel is arranged on micromachine, and described
Micromachine is arranged on guide rail.
As a kind of preferable technical scheme of the utility model, the movement slots provided with bent axle piece on support frame.
As a kind of preferable technical scheme of the utility model, rubber blanket is provided with the cleft hand crawl top.
As a kind of preferable technical scheme of the utility model, the driving lever can axially be transported in base and support frame
It is dynamic.
As a kind of preferable technical scheme of the utility model, the driving lever is driven by hydraulic cavities.
As a kind of preferable technical scheme of the utility model, the driving lever is T-shaped.
As a kind of preferable technical scheme of the utility model, the axle wheel is driven by two groups of motor wheels of rotating speed identical
Dynamic, the micromachine is axially moved on guide rail.
Compared with prior art, the beneficial effects of the utility model are：The utility model by set three groups of mechanical claw hands,
Because the stable stability of three axles adds the frictional force of rubber blanket, can to being captured well to physics and displacement,
When manipulator carries out crawl work, hydraulic cavities drive T-shaped spindle rod to be axially moved, while micromachine rotates, and micromachine exists
The motion of axial movement and spindle rod on guide rail keeps synchronous, and the motion of spindle rod motion will promote three points of connectors to advance,
The cleft hand lever motion in active screw as fulcrum is forced due to the promotion of bent axle piece so that cleft hand leading portion shrinks, promptly thing
Part, while micromachine rotational drive motor wheel rotates, motor wheel drive shaft wheel rotates so that inner driving wheel rotates, and passes through
The inner tooth closed inside in rotating shaft rotates, and closes the engagement rotation of the gear line of wheel outer ring and the blade tooth of cleft hand inside, further makes
Obtain the synchronism that the grasp of cleft hand is stronger, is rotated due to it so that grasping stability, pass through the counter motion of driving lever, realize
The release of object.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is that the utility model three divides connector structural representation；
Fig. 3 is the utility model support frame structure diagram；
Fig. 4 is the utility model cleft hand blade tooth structural representation.
In figure：1- cleft hands；2- rubber blankets；3- support frames；4- active screws；5- activity clenchers；6- movable axis；7- bases；
Rotating shaft is closed in 8-；9- bent axle pieces；10- bushings；11- intermediate solid drive shafts；12- micromachines；13- hydraulic cavities；14- motor wheels；15- axles
Wheel；16- tri- divides connector；17- driving levers；18- stators；19- active ring wheels；Wheel is closed in 20-；21- gear lines；22- pawls
Tooth；.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Embodiment：
It is described as shown in Figure 1 to Figure 4：The utility model provides a kind of technical solution, a kind of mechanical manipulator of box hat, bag
Cleft hand 1, support frame 3, driving lever 17 and base 7 are included, three cleft hands 1 are fixed on three points of supports by active screw 4
The top of frame 3, and the cleft hand 1 is provided with blade tooth 22 in the inwall with the junction of support frame 3, is provided among support frame as described above 3 interior
Rotating shaft 8 is closed, the interior conjunction bosom of rotating shaft 8 is provided with interior close and takes turns 20, and interior 20 outer rings of wheel of closing are provided with gear line 21, and
The blade tooth 22 of the gear line 21 and cleft hand 1 engages, and interior close is provided with intermediate solid drive shaft 11 among wheel 20；
The right side of support frame as described above 3 is connected with base 7, and the left-hand of the driving lever 17 passes through base 7 and support frame 3, and institute
State driving lever 17 to extend in the inner chamber of support frame 3, the outer wall of driving lever 17 is provided with hydraulic cavities 13, and the driving lever 17 is left
End is provided with three points of connectors 16, and the left side of three points of connectors 16 is connected with bushing 10, and the bushing 10 is connected to interior conjunction
On the right side wall of rotating shaft 8, three points of connectors 16 are provided with three groups of stators 18, and have clamped song between stator 18 described in three groups
Axle piece 9, and between the bent axle piece 9 is movably fixed to stator 18 by movable axis 6, the other end of bent axle piece 9 is connected with
The afterbody of cleft hand 1, and linked together by activity clencher 5；
The intermediate solid drive shaft 11 sequentially passes through to the right interior conjunction rotating shaft 8,10 3 points of connectors 16 of bushing and driving lever 17, described
The right-hand member of intermediate solid drive shaft 11 is provided with axle wheel 15, and the axle wheel 15 is engaged with motor wheel 14 by gear, and the motor wheel 14 is installed
On micromachine 12, and the micromachine 12 is installed on rails 19
Preferably, the movement slots of bent axle piece 9 are provided with support frame 3；Rubber blanket is provided with the crawl of cleft hand 1 top
2；The driving lever 17 can be axially moved in base 7 and support frame 3；The driving lever 17 is driven by hydraulic cavities 13；It is described
Driving lever 17 is T-shaped；The axle wheel 15 is driven by two groups of motor wheels 14 of rotating speed identical, and the micromachine 12 is on guide rail
It is axially moved.
Of the present utility model to be mainly characterized by, the utility model is steady due to three axles by setting three groups of mechanical claw hands
Determine the frictional force that stability adds rubber blanket, can be grabbed to being captured well to physics and displacement in manipulator
When taking work, hydraulic cavities drive T-shaped spindle rod to be axially moved, while micromachine rotates, axial direction of the micromachine on guide rail
Motion and the motion of spindle rod keep synchronous, and the motion of spindle rod motion will promote three points of connectors to advance, due to bent axle piece
Promote the cleft hand lever motion forced in active screw as fulcrum so that cleft hand leading portion shrinks, promptly object, while micro electric
Machine rotational drive motor wheel rotates, and motor wheel drive shaft wheel rotates so that inner driving wheel rotates, by closing inside in rotating shaft
Inner tooth rotates, and the engagement rotation of the gear line of wheel outer ring and the blade tooth of cleft hand is closed inside, further such that the grasp of cleft hand
It is stronger, due to the synchronism of its rotation so that grasping stability, by the counter motion of driving lever, realize the release of object.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Claims (7)
- A kind of 1. mechanical manipulator of box hat, it is characterised in that：Including cleft hand（1）, support frame（3）, driving lever（17）And base （7）, three cleft hands（1）Pass through active screw（4）It is fixed on three points of support frames as described above（3）Top, and the cleft hand（1） And support frame（3）The inwall of junction is provided with blade tooth（22）, support frame as described above（3）Centre is provided with interior conjunction rotating shaft（8）, it is described interior Close rotating shaft（8）Bosom is provided with interior close and taken turns（20）, and interior close is taken turns（20）Outer ring is provided with gear line（21）, and the tooth Take turns line（21）And cleft hand（1）Blade tooth（22）Engagement, interior close are taken turns（20）Centre is provided with intermediate solid drive shaft（11）；Support frame as described above（3）Right side is connected with base（7）, and the driving lever（17）Left-hand passes through base（7）And support frame （3）, and the driving lever（17）Extend to support frame（3）In inner chamber, the driving lever（17）Outer wall is provided with hydraulic cavities（13）, And the driving lever（17）Left end is provided with three points of connectors（16）, three points of connectors（16）Left side is connected with bushing （10）, and the bushing（10）It is connected to interior conjunction rotating shaft（8）On right side wall, three points of connectors（16）Provided with three groups of stators （18）, and stator described in three groups（18）Between clamped bent axle piece（9）, and the bent axle piece（9）Pass through movable axis（6）Activity It is fixed on stator（18）Between, the bent axle piece（9）The other end is connected with cleft hand（1）Afterbody, and pass through activity clencher（5） Link together；The intermediate solid drive shaft（11）Interior conjunction rotating shaft is sequentially passed through to the right（8）, bushing（10）Three points of connectors（16）And driving lever （17）, the intermediate solid drive shaft（11）Right-hand member is provided with axle wheel（15）, the axle wheel（15）Motor wheel is engaged with by gear（14）, The motor wheel（14）Installed in micromachine（12）On, and the micromachine（12）Installed in guide rail（19）On.
- A kind of 2. mechanical manipulator of box hat according to claim 1, it is characterised in that：In support frame（3）It is provided with song Axle piece（9）Movement slots.
- A kind of 3. mechanical manipulator of box hat according to claim 1, it is characterised in that：The cleft hand（1）Crawl top Place is provided with rubber blanket（2）.
- A kind of 4. mechanical manipulator of box hat according to claim 1, it is characterised in that：The driving lever（17）Can be the bottom of at Seat（7）And support frame（3）Middle axial movement.
- A kind of 5. mechanical manipulator of box hat according to claim 1, it is characterised in that：The driving lever（17）Pass through liquid Press chamber（13）Driving.
- A kind of 6. mechanical manipulator of box hat according to claim 1, it is characterised in that：The driving lever（17）To be T-shaped.
- A kind of 7. mechanical manipulator of box hat according to claim 1, it is characterised in that：The axle wheel（15）Pass through rotating speed Two groups of motor wheels of identical（14）Driving, the micromachine（12）It is axially moved on guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720391950.0U CN206855461U (en) | 2017-04-14 | 2017-04-14 | A kind of mechanical manipulator of box hat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720391950.0U CN206855461U (en) | 2017-04-14 | 2017-04-14 | A kind of mechanical manipulator of box hat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206855461U true CN206855461U (en) | 2018-01-09 |
Family
ID=60816835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720391950.0U Expired - Fee Related CN206855461U (en) | 2017-04-14 | 2017-04-14 | A kind of mechanical manipulator of box hat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206855461U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN110053967A (en) * | 2019-05-23 | 2019-07-26 | 沈阳吕尚科技有限公司 | A kind of intelligent cleft hand under the environment for nuclear pollution |
| CN112847411A (en) * | 2021-01-08 | 2021-05-28 | 杭州泸希数码科技有限公司 | Variable industrial mechanical clamping and conveying device based on intelligent manufacturing technology |
-
2017
- 2017-04-14 CN CN201720391950.0U patent/CN206855461U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN110053967A (en) * | 2019-05-23 | 2019-07-26 | 沈阳吕尚科技有限公司 | A kind of intelligent cleft hand under the environment for nuclear pollution |
| CN112847411A (en) * | 2021-01-08 | 2021-05-28 | 杭州泸希数码科技有限公司 | Variable industrial mechanical clamping and conveying device based on intelligent manufacturing technology |
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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: 20180109 Termination date: 20200414 |