CN207465220U - Gripping-type manipulator - Google Patents
Gripping-type manipulator Download PDFInfo
- Publication number
- CN207465220U CN207465220U CN201721534088.0U CN201721534088U CN207465220U CN 207465220 U CN207465220 U CN 207465220U CN 201721534088 U CN201721534088 U CN 201721534088U CN 207465220 U CN207465220 U CN 207465220U
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- seat
- arm
- turbine
- connecting rod
- connection
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Abstract
A kind of gripping-type manipulator provided by the utility model, it includes fixed seat, driving device, arm, deceleration device and grasping mechanism, arm seat is driven to do horizontal revolving motion by the turbine mechanism in driving device, support arm is driven to do inclination angle movement by servo motor, grasping mechanism is driven to do clamping release by deceleration device to act, turbine and worm is driven using motor, rotation boss and arm seat is driven to do 360 ° of rotations by turbine, by the axis driving V-arrangement grasping tongs clamping of decelerating motor control centre or unclamped.It overcomes changeless mechanical transhipment under former adverse circumstances or unloads article carrying piece and manually carry influence health, handling efficiency is low, of high cost, there are problems that security risk.The utility model have it is simple and compact for structure, using it is mechanical repeat to capture and transport by the way of realize fixed handling and loading, labor intensity is low, at low cost, it is safe and reliable the characteristics of.
Description
Technical field
The utility model belongs to industrial machine human arm technical field, is related to a kind of gripping-type manipulator.
Background technology
In industrial production and other field, in production process, the severe ring such as high temperature, corrosion and toxic gas can be related to
Border, the operation of workpeople in the environment influence the health of human body, generally use vest, anti-dust mask, high temperature resistant clothes etc. one
Serial safeguard procedures avoid or reduce the influence to health, and the labor intensity of operation is larger, and efficiency is low.Especially to some
Need it is unalterable, repeat it is mechanical carry, the occasions such as handling, labor intensity is excessively high to need more people operation, and cost is excessively high.Separately
Outside, for the handling and loading of the occasions such as chemical industry high temperature, there are security risks.
Invention content
It is simple and compact for structure the technical problem to be solved by the utility model is to provide a kind of gripping-type manipulator, it uses
The mechanical mode for repeating to capture and transport realizes fixed handling and loading, and labor intensity is low, at low cost, securely and reliably.
In order to solve the above technical problems, technical solution is used by the utility model：A kind of gripping-type manipulator, it is wrapped
Include fixed seat, driving device, arm, deceleration device and grasping mechanism；The fixed seat includes and the fixed hollow box of tablet
Body；The driving device includes turbine mechanism, servo motor, decelerating motor and electric cabinet；The arm includes passing through rotation
The arm seat and support arm that shaft is connected with each other；The deceleration device includes the central shaft being connect with deceleration seat and sliding seat；
The grasping mechanism includes the fixed plate being connect with crawl seat, the connecting rod being connect with fixed plate, grabbing of connecting with connecting rod
Take pincers；Turbine mechanism is connect with the babinet in fixed seat, and arm seat is connect with turbine mechanism, and sliding seat is connect with support arm, is grabbed
Seat and center axis connection are taken, servo motor coordinates with rotary shaft, and decelerating motor coordinates with the deceleration seat on deceleration device.
The turbine mechanism includes the turbine and worm mechanism being located in turbine box body and with worm screw cooperation positioned at whirlpool
The external driving motor of roller box.
The arm seat includes rotating seat connect with fixed plate, the rotation boss coordinated with rotating seat, convex with rotation
The driving arm seat of platform connection.
The arm includes principal arm, pitman shaft and the connecting rod with pitman shaft cooperation.
Described rotation boss coordinates with the turbine in turbine box body, and principal arm and pitman shaft coordinate with rotary shaft, connecting rod with
Sliding seat coordinates.
The crawl seat is blocks；The fixed plate is tablet；The connecting rod is rhabodoid structure；Described grabs
Pincers are taken as V-shape structure；Connecting rod is symmetrically disposed on fixed plate both sides, and the end of V-arrangement grasping tongs and connecting rod connects to form pincers
Sub- shape structure.
The rear end of the pitman shaft is connect by first connecting rod bearing cap with connecting rod；The rectangular circular arc bar of connecting rod
Shape, upper end are connect by second connecting rod bearing cap with bearing top cover.
The sliding seat is equipped with the oscillating bearing to cooperate and joint shaft core.
A kind of gripping-type manipulator, it includes fixed seat, driving device, arm, deceleration device and grasping mechanism；Fixed seat
Including with the fixed hollow box body of tablet；Driving device includes turbine mechanism, servo motor, decelerating motor and electric cabinet；Arm
Including the arm seat being connected with each other by rotary shaft and support arm；Deceleration device includes the central shaft being connect with deceleration seat and activity
Seat；Grasping mechanism includes the fixed plate being connect with crawl seat, the connecting rod being connect with fixed plate, the crawl being connect with connecting rod
Pincers；Turbine mechanism is connect with the babinet in fixed seat, and arm seat is connect with turbine mechanism, and sliding seat is connect with support arm, crawl
Seat and center axis connection, servo motor coordinate with rotary shaft, and decelerating motor coordinates with the deceleration seat on deceleration device.It is simple in structure
It is compact, arm seat is driven to do horizontal revolving motion by the turbine mechanism in driving device, support arm is driven by servo motor
Inclination angle movement is done, grasping mechanism is driven to do clamping release by deceleration device and acts, repeat what is captured and transport using mechanical
Mode realizes fixed handling and loading, and labor intensity is low, at low cost, securely and reliably.
In the preferred scheme, turbine mechanism includes the turbine and worm mechanism being located in turbine box body and matches with worm screw
That closes is located at the external driving motor of turbine box.It is simple and compact for structure, worm movement is driven using driving motor, is driven by worm screw
Dynamic turbine rotation, torque transmission efficiency is high, reacts faster, attonity hysteresis.
In the preferred scheme, arm seat include connect with fixed plate rotating seat, with rotating seat coordinate rotation boss,
The driving arm seat being connect with rotation boss.Structure connection it is compact, rotating seat with rotation boss cooperation can 360 ° rotation, convenient in carrying
Fast, it is efficient.
In the preferred scheme, arm includes principal arm, pitman shaft and the connecting rod with pitman shaft cooperation.It is simple in structure.
In the preferred scheme, rotation boss coordinates with the turbine in turbine box body, and principal arm and pitman shaft are matched with rotary shaft
It closes, connecting rod coordinates with sliding seat.Rotation boss is driven to do 360 ° of rotations by turbine, rotary shaft drives principal arm and pitman shaft to do and incline
Angular movement, and sliding seat is driven to move up and down.
In the preferred scheme, crawl seat is blocks；The fixed plate is tablet；Connecting rod is rhabodoid structure；It grabs
Pincers are taken as V-shape structure；Connecting rod is symmetrically disposed on fixed plate both sides, and the end of V-arrangement grasping tongs and connecting rod connects to form pincers
Sub- shape structure.It is simple in structure, by being fixed on connecting rod movable in fixed plate and mobilizable grasping tongs being connect with connecting rod
It does and mutually rotates crawl object, efficient, good environmental adaptability, securely and reliably.
In the preferred scheme, the rear end of pitman shaft is connect by first connecting rod bearing cap with connecting rod；The rectangular circle of connecting rod
Arc is rod-shaped, and upper end is connect by second connecting rod bearing cap with bearing top cover.Easy to connect, the transmission of power is sensitiveer, and operation is cleverer
It is living.
In the preferred scheme, sliding seat is equipped with the oscillating bearing to cooperate and joint shaft core.It is simple in structure, pass through
Similar to the joint connection mode of organization of human body, cooperation is firm, is active in one's movements, efficient.
A kind of gripping-type manipulator provided by the utility model, it includes fixed seat, driving device, arm, deceleration device
And grasping mechanism, arm seat is driven to do horizontal revolving motion by the turbine mechanism in driving device, driven by servo motor
Support arm does inclination angle movement, grasping mechanism is driven to do clamping release by deceleration device and acts, turbine and worm is driven using motor,
Rotation boss and arm seat is driven to do 360 ° of rotations by turbine, clamped by decelerating motor control centre axis driving V-arrangement grasping tongs or
It unclamps.It overcomes changeless mechanical transhipment under former adverse circumstances or unloads article carrying piece and manually carry influence health, remove
It is low to transport efficiency, it is of high cost, there are problems that security risk.The utility model has simple and compact for structure, is repeated using mechanical
The mode for capturing and transporting realizes fixed handling and loading, and labor intensity is low, at low cost, it is safe and reliable the characteristics of.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples：
Fig. 1 is the schematic front view of the utility model.
Fig. 2 is the dimensional structure diagram of the utility model.
Fig. 3 is the structure diagram of the utility model sliding seat.
In figure：Fixed seat 1, tablet 11, babinet 12, driving device 2, turbine mechanism 21, turbine babinet 211, driving motor
212, servo motor 22, decelerating motor 23, electric cabinet 24, arm 3, arm seat 31, fixed plate 311, rotating seat 312, rotation it is convex
Platform 313 drives arm seat 314, support arm 32, principal arm 321, pitman shaft 322, connecting rod 323, rotary shaft 33, deceleration device 4, deceleration
Seat 41, central shaft 42, sliding seat 43, oscillating bearing 431, joint shaft core 432, grasping mechanism 5, crawl seat 51, fixed plate 52,
Connecting rod 53, grasping tongs 54.
Specific embodiment
In Fig. 1 ~ Fig. 3, a kind of gripping-type manipulator, it includes fixed seat 1, driving device 2, arm 3, deceleration device 4
With grasping mechanism 5；The fixed seat 1 includes and 11 fixed rectangular hollow babinet 12 of tablet；The driving device 2 includes
Turbine mechanism 21, servo motor 22, decelerating motor 23 and electric cabinet 24；The arm 3 includes interconnecting by 33 phase of rotary shaft
The arm seat 31 and support arm 32 connect；The deceleration device 4 includes the central shaft 42 being connect with deceleration seat 41 and sliding seat 43；
The grasping mechanism 5 includes the fixed plate 52 being connect with crawl seat 51, the connecting rod 53 and connecting rod that are connect with fixed plate 52
The grasping tongs 54 of 53 connections；Turbine mechanism 21 is connect with the babinet 12 in fixed seat 1, and arm seat 31 is connect with turbine mechanism 21,
Sliding seat 43 is connect with support arm 32, and crawl seat 51 is connect with central shaft 42, and servo motor 22 coordinates with rotary shaft 33, and slow down electricity
Machine 23 coordinates with the deceleration seat 41 on deceleration device 4.It is simple and compact for structure, it is driven by the turbine mechanism 21 in driving device 2
Arm seat 31 does horizontal revolving motion, support arm 32 is driven to do inclination angle movement by servo motor 22, is driven by deceleration device 4
Grasping mechanism 5 does clamping release action, realizes fixed handling and loading in a manner that mechanical repetition captures and transports, works
Intensity is low, at low cost, securely and reliably.
In preferred scheme, the turbine mechanism 21 include the turbine and worm mechanism being located in turbine babinet 211 and
With the driving motor 212 being located at outside turbine babinet 211 of worm screw cooperation.It is simple and compact for structure, snail is driven using driving motor 212
Bar moves, and by worm drive turbine rotation, torque transmission efficiency is high, reacts faster, attonity hysteresis.
In preferred scheme, the arm seat 31 includes the rotating seat 312 being connect with fixed plate 311 and rotating seat 312
The rotation boss 313 of cooperation, the driving arm seat 314 being connect with rotation boss 313.Structure connection is compact, rotating seat 312 and rotation
Boss 313 cooperation can 360 ° rotation, convenient in carrying is quick, efficient.
In preferred scheme, the support arm 32 includes principal arm 321, pitman shaft 322 and coordinates with pitman shaft 322
Connecting rod 323.It is simple in structure.
In preferred scheme, the rotation boss 313 coordinates with the turbine in turbine babinet 211, principal arm 321 and connecting rod
Axis 322 coordinates with rotary shaft 33, and connecting rod 323 coordinates with sliding seat 43.Rotation boss 313 is driven to do 360 ° of rotations by turbine,
Rotary shaft 33 drives principal arm 321 and pitman shaft 322 to do inclination angle movement, and sliding seat 43 is driven to move up and down.
In preferred scheme, the crawl seat 51 is blocks；The fixed plate 52 is tablet；The connecting rod 53 is
Rhabodoid structure；The grasping tongs 54 is V-shape structure；Connecting rod 53 is symmetrically disposed on 52 both sides of fixed plate, V-arrangement grasping tongs
54 connect to form pliers shape structure with the end of connecting rod 53.It is simple in structure, by being fixed on connection movable in fixed plate 52
Bar 53 and connect with connecting rod 53 mobilizable grasping tongs 54 do mutually rotation crawl object, efficient, good environmental adaptability, peace
It is complete reliable.
In preferred scheme, the rear end of the pitman shaft 322 is connect by first connecting rod bearing cap with connecting rod 323；Institute
State that 323 rectangular circular arc of connecting rod is rod-shaped, and upper end is connect by second connecting rod bearing cap with bearing top cover.It is easy to connect, the biography of power
Pass it is sensitiveer, operation it is more flexible.
In preferred scheme, the sliding seat 43 is equipped with the oscillating bearing 431 to cooperate and joint shaft core 432.
Simple in structure, by being similar to the joint connection mode of organization of human body, cooperation is firm, is active in one's movements, efficient.
Gripping-type manipulator as described above, worm movement is driven by driving motor 212, is turned by worm drive turbine
Dynamic, turbine drives rotation boss 313 to do 360 ° of rotations, and servo motor 22 drives rotary shaft 33 to drive principal arm 321 and pitman shaft 322
Inclination angle movement is done, and sliding seat 43 is driven to move up and down, the deceleration seat 41 being connect with sliding seat 43 does identical up and down motion,
Decelerating motor 23 drives central shaft 42 clockwise or reverses, and the grasping tongs 54 of symmetrical v-shaped structure is made mutually to draw close or separate,
So as to clamp or unclamp object, object can do 360 ° of rotations, high inclination-angle up and down motion in entire motion process and be filled by slowing down
The up and down motion of 4 control small inclinations is put, gripping objects are fast, efficient, are active in one's movements, easy to operate.
The above embodiments are only the optimal technical scheme of the utility model, and are not construed as the limit for the utility model
It makes, the feature in embodiment and embodiment in the application in the absence of conflict, mutually can be combined arbitrarily.This practicality is new
The protection domain of type should be with the technical solution of claim record, technical characteristic in the technical solution recorded including claim
Equivalents are protection domain.Equivalent replacement i.e. within this range is improved, also the scope of protection of the utility model it
It is interior.
Claims (8)
1. a kind of gripping-type manipulator, it is characterized in that：It includes fixed seat（1）, driving device（2）, arm（3）, deceleration device
（4）And grasping mechanism（5）；The fixed seat（1）Including with tablet（11）Fixed hollow box body（12）；The driving dress
It puts（2）Including turbine mechanism（21）, servo motor（22）, decelerating motor（23）And electric cabinet（24）；The arm（3）Including
Pass through rotary shaft（33）The arm seat of interconnection（31）And support arm（32）；The deceleration device（4）Including with deceleration seat
（41）The central shaft of connection（42）And sliding seat（43）；The grasping mechanism（5）Including with capturing seat（51）The fixation of connection
Plate（52）With fixed plate（52）The connecting rod of connection（53）With connecting rod（53）The grasping tongs of connection（54）；Turbine mechanism（21）
With fixed seat（1）On babinet（12）Connection, arm seat（31）With turbine mechanism（21）Connection, sliding seat（43）With support arm
（32）Connection captures seat（51）With central shaft（42）Connection, servo motor（22）With rotary shaft（33）Cooperation, decelerating motor（23）
With deceleration device（4）On deceleration seat（41）Cooperation.
2. gripping-type manipulator according to claim 1, it is characterized in that：The turbine mechanism（21）Including being located at turbine
Babinet（211）Interior turbine and worm mechanism and it is located at turbine babinet with worm screw cooperation（211）Outer driving motor（212）.
3. gripping-type manipulator according to claim 1, it is characterized in that：The arm seat（31）Including with fixed plate
（311）The rotating seat of connection（312）With rotating seat（312）The rotation boss of cooperation（313）And rotation boss（313）Connection
Drive arm seat（314）.
4. gripping-type manipulator according to claim 1, it is characterized in that：The support arm（32）Including principal arm（321）、
Pitman shaft（322）And and pitman shaft（322）The connecting rod of cooperation（323）.
5. according to claim 1 ~ 4 any one of them gripping-type manipulator, it is characterized in that：The rotation boss（313）With
Turbine babinet（211）Interior turbine cooperation, principal arm（321）And pitman shaft（322）With rotary shaft（33）Cooperation, connecting rod（323）With
Sliding seat（43）Cooperation.
6. gripping-type manipulator according to claim 1, it is characterized in that：The crawl seat（51）For blocks；It is described
Fixed plate（52）For tablet；The connecting rod（53）For rhabodoid structure；The grasping tongs（54）For V-shape structure；Connection
Bar（53）It is symmetrically disposed on fixed plate（52）Both sides, V-arrangement grasping tongs（54）With connecting rod（53）End connect to form pliers shape
Structure.
7. gripping-type manipulator according to claim 4, it is characterized in that：The pitman shaft（322）Rear end pass through
One connecting rod bearing cap and connecting rod（323）Connection；The connecting rod（323）Rectangular circular arc is rod-shaped, and upper end passes through second connecting rod bearing
Lid is connect with bearing top cover.
8. gripping-type manipulator according to claim 1, it is characterized in that：The sliding seat（43）It is equipped with and cooperates
Oscillating bearing（431）With joint shaft core（432）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721534088.0U CN207465220U (en) | 2017-11-16 | 2017-11-16 | Gripping-type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721534088.0U CN207465220U (en) | 2017-11-16 | 2017-11-16 | Gripping-type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207465220U true CN207465220U (en) | 2018-06-08 |
Family
ID=62261093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721534088.0U Expired - Fee Related CN207465220U (en) | 2017-11-16 | 2017-11-16 | Gripping-type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207465220U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820865A (en) * | 2018-08-14 | 2018-11-16 | 深圳市德胜医疗设备有限公司 | Test tube quick conveying device |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN110216651A (en) * | 2019-05-14 | 2019-09-10 | 广西科技大学 | I-shaped canopy removes special purpose robot under a kind of mine |
| CN110695752A (en) * | 2019-09-11 | 2020-01-17 | 东莞领杰金属精密制造科技有限公司 | Truss robot |
| CN111135092A (en) * | 2020-01-10 | 2020-05-12 | 山东英才学院 | Automatic medicine sorting and dispensing machine for traditional Chinese medicine |
-
2017
- 2017-11-16 CN CN201721534088.0U patent/CN207465220U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN108820865A (en) * | 2018-08-14 | 2018-11-16 | 深圳市德胜医疗设备有限公司 | Test tube quick conveying device |
| CN110216651A (en) * | 2019-05-14 | 2019-09-10 | 广西科技大学 | I-shaped canopy removes special purpose robot under a kind of mine |
| CN110216651B (en) * | 2019-05-14 | 2022-03-11 | 广西科技大学 | Special robot for dismantling I-shaped shed under mine |
| CN110695752A (en) * | 2019-09-11 | 2020-01-17 | 东莞领杰金属精密制造科技有限公司 | Truss robot |
| CN111135092A (en) * | 2020-01-10 | 2020-05-12 | 山东英才学院 | Automatic medicine sorting and dispensing machine for traditional Chinese medicine |
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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: 20180608 Termination date: 20181116 |