CN207087898U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN207087898U CN207087898U CN201721015772.8U CN201721015772U CN207087898U CN 207087898 U CN207087898 U CN 207087898U CN 201721015772 U CN201721015772 U CN 201721015772U CN 207087898 U CN207087898 U CN 207087898U
- Authority
- CN
- China
- Prior art keywords
- paw
- pedestal
- pull bar
- electromagnet
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Magnetic Treatment Devices (AREA)
Abstract
The utility model belongs to mechanical equipment technical field, it is related to a kind of manipulator, including frame and paw, the both sides of frame front end are respectively equipped with roller, the first pedestal is provided with frame, first pedestal and frame surround cavity body, pull bar is provided with cavity body, pull bar wears out the top of the first pedestal, screwed hole is interval with pull bar, pull bar is provided with the second pedestal, and the second pedestal is connected through a screw thread with pull bar, the upper end of first pedestal is provided with electromagnet, and the lower end of the second pedestal is provided with permanent magnet；Paw includes the first paw, the second paw, the 3rd paw and the 4th paw, and the first paw and the second paw, the 3rd paw and the 4th paw are bolted to connection respectively, the top rotation connection of the second paw, the end of the 4th paw and pull bar.The utility model is by the way that the regulation of angle cooperates to adapt to the crawl thing of plurality of specifications between the regulation of the second pedestal position and the first paw and the second paw, the 3rd paw and the 4th paw on pull bar.
Description
Technical field
The utility model belongs to mechanical equipment technical field, is related to a kind of manipulator.
Background technology
With the continuous improvement of the level of production, in existing industrial production, in many processes such as production, processing in product
All have been realized in automating, but it is still complete by hand by worker in many fields, crawl, transfer and the placement of workpiece etc.
Into so as to greatly reduce production efficiency and improve cost of labor, thus people have studied various manipulators to take
For manual operation part, manipulator can imitate some holding functions of human hand and arm, be to be captured by fixed routine, carry object
Automatic pilot, artificial, raising efficiency can be saved, reduce production cost while effectively improves product product using manipulator
Matter and production security.But existing manipulator can only clamp a kind of specification object, the object if necessary to clamping changes, then
Need integral replacing, use cost is big.
Utility model content
The purpose of this utility model is to provide a kind of manipulator, and a kind of specification object can only be clamped by solving existing manipulator
The problem of.
The utility model is the technical scheme adopted is that a kind of manipulator, including frame and paw, the both sides of frame front end
Roller is respectively equipped with, the first horizontal pedestal is provided with frame, the first pedestal and frame surround cavity body, be provided with and push away in cavity body
Pull bar, pull bar wear out the top of the first pedestal, and screwed hole is interval with pull bar, and pull bar is provided with and the first pedestal
The second relative pedestal, the second pedestal are connected through a screw thread with the screwed hole on pull bar, and the upper end of the first pedestal is provided with electromagnetism
Iron, the lower end of the second pedestal are provided with corresponding permanent magnet vertical with electromagnet, and electromagnet is provided with electronic connecting line；
Paw includes the first paw, the second paw, the 3rd paw and the 4th paw, the first paw and the second paw, the 3rd
Paw and the 4th paw are bolted to connection respectively, and the top of the second paw, the end of the 4th paw and pull bar rotates
Connection, forms a grasping part, the rolling of frame top both sides between the first paw, the second paw, the 3rd paw and the 4th paw
Wheel is born against on the second paw and the 4th paw.
The characteristics of the utility model, also resides in,
Wherein antiskid pad is respectively fixed with the opposite face of the first paw and the 3rd paw.
Wherein the quantity of electromagnet and permanent magnet is no less than two, and multiple electromagnet and permanent magnet, which correspond, to be set.
Plurality of electromagnet is evenly distributed on the circumferential edge of the first pedestal upper end, and multiple permanent magnets are evenly distributed on
The circumferential edge of two pedestal lower ends.
Power supply is connected by electronic connecting line after plurality of electromagnet parallel connection.
The beneficial effects of the utility model are：It is simple in construction, it is easy to use；Pass through the tune of the second pedestal position on pull bar
Between section and the first paw and the second paw, between the 3rd paw and the 4th paw the regulation of angle cooperate it is more to adapt to
The crawl thing of kind specification.
Brief description of the drawings
Fig. 1 is a kind of structural representation of manipulator of the utility model.
Description of reference numerals：
1. frame, 2. paws, 3. rollers, 4. first pedestals, 5. cavity bodies, 6. pull bars, 7. screwed holes, 8. second
Body, 9. electromagnet, 10. permanent magnets, 11. electronic connecting lines, 12. first paws, 13. second paws, 14. the 3rd paws, 15.
Four paws, 16. bolts.
Embodiment
Below in conjunction with the accompanying drawings, an embodiment of the present utility model is described in detail, it is to be understood that this
The protection domain of utility model is not limited by embodiment.
A kind of manipulator, as shown in figure 1, including frame 1 and paw 2, the both sides of the front end of frame 1 are respectively equipped with roller 3, machine
The first horizontal pedestal 4 is provided with frame 1, the first pedestal 4 and frame 1 surround cavity body 5, be provided with pull bar 6 in cavity body 5, push away
Pull bar 6 wears out the top of the first pedestal 4, and screwed hole 7 is interval with pull bar 6, and pull bar 6 is provided with and the first pedestal 4
The second relative pedestal 8, the second pedestal 8 are connected through a screw thread with the screwed hole 7 on pull bar 6, and the upper end of the first pedestal 4 is provided with
Electromagnet 9, the lower end of the second pedestal 8 are provided with corresponding permanent magnet 10 vertical with electromagnet 9, and electromagnet 9 connects provided with electronics
Line 11；Paw 2 includes the first paw 12, the second paw 13, the 3rd paw 14 and the 4th paw 15, the first paw 12 and second-hand
Pawl 13, the 3rd paw 14 are fixedly connected by bolt 16 respectively with the 4th paw 15, the second paw 13, the end of the 4th paw 15
It is rotatablely connected with the top of pull bar 6, is formed between the first paw 12, the second paw 13, the 3rd paw 14 and the 4th paw 15
One grasping part, the roller 3 of the top both sides of frame 1 are born against on the second paw 13 and the 4th paw 15.Between on pull bar 6
The adjusting position of the second pedestal 8 is available for every the screwed hole 7 of setting to adapt to the crawl thing of plurality of specifications.First paw 12 and second-hand
Pawl 13, the 3rd paw 14 are fixedly connected by bolt 16 respectively with the 4th paw 15, according to the difference of crawl thing specification, can be loosened
Bolt 16 adjusts the angle between the first paw 12 and the second paw 13, between the 3rd paw 14 and the 4th paw 15.
Wherein antiskid pad is respectively fixed with the opposite face of the first paw 12 and the 3rd paw 14.
Wherein the quantity of electromagnet 9 and permanent magnet 10 is no less than two, and multiple electromagnet 9 and permanent magnet 10 are corresponded and set
Put.
Plurality of electromagnet 9 is evenly distributed on the circumferential edge of the upper end of the first pedestal 4, and multiple permanent magnets 10 are uniformly distributed
Circumferential edge in the lower end of the second pedestal 8.
Power supply is connected by electronic connecting line 11 after the plurality of parallel connection of electromagnet 9.
Operation principle：Position and first paw 12 of second pedestal 8 on pull bar 6 are adjusted according to the specification of crawl thing
And second between paw 13, the angle between the 3rd paw 14 and the 4th paw 15.Electromagnet 9 is provided with electronic connecting line 11,
Electronic connecting line 11 is connected into power supply, by electromagnet 9 positive power-up and reversely powering up changing electromagnet 9 and permanent magnet 10
Relative magnetic pole, so that electromagnet 9 and the adhesive of permanent magnet 10 and repulsion, when electromagnet 9 and 10 adhesive of permanent magnet, second
The paw 15 of paw 13 and the 4th is drawn close along roller 3 is relative, so as to drive the first paw 12 and 14 relative draw close of the 3rd paw
Clamping workpiece, the crawl and transhipment of workpiece are completed, when electromagnet 9 and the repulsion of permanent magnet 10, the second paw 13 and the 4th paw
15 open along roller 3 is relative, so as to drive the first paw 12 and 14 relative opening of the 3rd paw to unclamp workpiece.
In summary, a kind of robot manipulator structure that the utility model embodiment provides is simple, easy to use；Pass through pull bar
On 6 between the regulation of the position of second pedestal 8 and the first paw 12 and the second paw 13, the 3rd paw 14 and the 4th paw 15 it
Between the regulation of angle cooperate to adapt to the crawl thing of plurality of specifications.
Disclosed above is only specific embodiment of the utility model, and still, the utility model embodiment is not limited to
This, the changes that any person skilled in the art can think of should all fall into the scope of protection of the utility model.
Claims (5)
1. a kind of manipulator, it is characterised in that including frame (1) and paw (2), the both sides of frame (1) front end are set respectively
There is roller (3), be provided with horizontal the first pedestal (4) in the frame (1), first pedestal (4) and frame (1) surround cavity
Body (5), the cavity body (5) is interior to be provided with pull bar (6), and the pull bar (6) wears out the top of the first pedestal (4), described
Screwed hole (7) is interval with pull bar (6), the pull bar (6) is provided with second pedestal relative with the first pedestal (4)
(8), second pedestal (8) is connected through a screw thread with the screwed hole (7) on pull bar (6), the upper end of first pedestal (4)
Provided with electromagnet (9), the lower end of second pedestal (8) is provided with corresponding permanent magnet (10) vertical with electromagnet (9), the electricity
Magnet (9) is provided with electronic connecting line (11)；
The paw (2) includes the first paw (12), the second paw (13), the 3rd paw (14) and the 4th paw (15), described
First paw (12) and the second paw (13), the 3rd paw (14) and the 4th paw (15) connect by the way that bolt (16) is fixed respectively
Connect, the top rotation connection of second paw (13), the end of the 4th paw (15) and pull bar (6), first paw
(12) grasping part, frame (1) top, are formed between the second paw (13), the 3rd paw (14) and the 4th paw (15)
The roller (3) of end both sides is born against on the second paw (13) and the 4th paw (15).
2. a kind of manipulator as claimed in claim 1, it is characterised in that first paw (12) and the 3rd paw (14)
Antiskid pad is respectively fixed with opposite face.
A kind of 3. manipulator as claimed in claim 1, it is characterised in that the quantity of the electromagnet (9) and permanent magnet (10)
No less than two, multiple electromagnet (9) and permanent magnet (10) are corresponded and set.
4. a kind of manipulator as claimed in claim 3, it is characterised in that multiple electromagnet (9) are evenly distributed on first
The circumferential edge of pedestal (4) upper end, multiple permanent magnets (10) are evenly distributed on the circumferential edge of the second pedestal (8) lower end.
5. a kind of manipulator as claimed in claim 4, it is characterised in that pass through electronics after multiple electromagnet (9) are in parallel
Connecting line (11) connects power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721015772.8U CN207087898U (en) | 2017-08-14 | 2017-08-14 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721015772.8U CN207087898U (en) | 2017-08-14 | 2017-08-14 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087898U true CN207087898U (en) | 2018-03-13 |
Family
ID=61541323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721015772.8U Expired - Fee Related CN207087898U (en) | 2017-08-14 | 2017-08-14 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207087898U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253326A (en) * | 2019-07-09 | 2019-09-20 | 吉林工程技术师范学院 | A kind of section steel cutting machinery hand |
| CN113503418A (en) * | 2021-06-29 | 2021-10-15 | 中船黄埔文冲船舶有限公司 | Pipeline sealing device |
-
2017
- 2017-08-14 CN CN201721015772.8U patent/CN207087898U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253326A (en) * | 2019-07-09 | 2019-09-20 | 吉林工程技术师范学院 | A kind of section steel cutting machinery hand |
| CN113503418A (en) * | 2021-06-29 | 2021-10-15 | 中船黄埔文冲船舶有限公司 | Pipeline sealing device |
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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: 20180313 Termination date: 20190814 |