CN209319779U - A kind of fetching device based on manipulator - Google Patents
A kind of fetching device based on manipulator Download PDFInfo
- Publication number
- CN209319779U CN209319779U CN201920013092.5U CN201920013092U CN209319779U CN 209319779 U CN209319779 U CN 209319779U CN 201920013092 U CN201920013092 U CN 201920013092U CN 209319779 U CN209319779 U CN 209319779U
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- CN
- China
- Prior art keywords
- telescopic rod
- automatically controlled
- controlled telescopic
- hook
- mechanical hook
- 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.)
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Abstract
The utility model discloses a kind of fetching devices based on manipulator, including manipulator main frame, the top of the manipulator main frame is welded with hook mounting rack, and the two sides of hook mounting rack symmetrically pass through rotation axis and are rotatably connected to the first mechanical hook and the second mechanical hook, the inside insertion of the manipulator main frame is fixed with the automatically controlled telescopic rod of main body, and the automatically controlled telescopic rod top end of main body by be rotatablely connected frame be rotatablely connected respectively there are two the second pivot link.This cooperates the automatically controlled telescopic rod of main body to carry out ballistic support to the first mechanical hook and the second mechanical hook based on the fetching device of manipulator by being equipped with the automatically controlled telescopic rod of the first protection and the second automatically controlled telescopic rod of protection, when the automatically controlled telescopic rod of main body breaks down, can act on respectively by the first automatically controlled telescopic rod of protection and the second automatically controlled telescopic rod of protection with the first mechanical hook and the second mechanical hook, to prevent the article in two machinery hooks from falling damage.
Description
Technical field
The utility model relates to manipulator technical field, specially a kind of fetching device based on manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently, manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Traditional manipulator fetching device is mostly that single automatically controlled telescopic rod controls the hook of manipulator, is lacked pair
The safety prevention measure of manipulator hook causes manipulator to be grabbed when the single automatically controlled telescopic rod for controlling manipulator breaks down
The article taken is fallen, so as to cause article damage.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of fetching device based on manipulator.
In order to achieve the above object, the utility model is achieved by the following technical programs: a kind of taking based on manipulator
Laying mechanism, including manipulator main frame, the top of the manipulator main frame are welded with hook mounting rack, and hook mounting rack
Two sides symmetrically pass through rotation axis and are rotatably connected to the first mechanical hook and the second mechanical hook, the inside of the manipulator main frame
Insertion is fixed with the automatically controlled telescopic rod of main body, and the automatically controlled telescopic rod top end of main body is by being rotatablely connected there are two frame is rotatablely connected respectively
Second pivot link, and tail end of the top of two the second pivot links respectively with the first mechanical hook and the second mechanical hook connects
It connects, the two sides symmetric helix of the manipulator main frame is fixed with the automatically controlled telescopic rod of the first protection and the second protection is automatically controlled flexible
Bar, and the first automatically controlled telescopic rod top end of protection is rotatablely connected by the tail end of the first pivot link and the first mechanical hook, and
The top of the second automatically controlled telescopic rod of protection also passes through the first pivot link and the second mechanical hook is rotatablely connected.
Preferably, the first pivot link of cooperation is offered at the tail end of the described first mechanical hook and the second mechanical hook
The first connecting shaft hole and the second connecting shaft hole used with the second pivot link.
Preferably, it is opened on the tail end center line of the described first mechanical hook and the second mechanical hook and is equipped with link slot.
Preferably, the open top end of the described first mechanical hook and the second mechanical hook equidistantly offers contraposition double wedge,
And the first interlaced distribution of contraposition double wedge in mechanical hook and the second mechanical hook.
Preferably, the automatically controlled telescopic rod of first protection and the second automatically controlled telescopic rod of protection are about the automatically controlled telescopic rod phase of main body
It is mutually symmetrical, and the flexible stroke length of the automatically controlled telescopic rod of the first protection and the second automatically controlled telescopic rod of protection is equal.
Preferably, connect between the top of second pivot link and the first mechanical hook and the second mechanical hook for rotation
It connects.
Beneficial effect
The utility model provides a kind of fetching device based on manipulator.Have it is following the utility model has the advantages that
(1), it is somebody's turn to do the fetching device based on manipulator and protects automatically controlled stretch by being equipped with the automatically controlled telescopic rod of the first protection and second
Contracting bar cooperates the automatically controlled telescopic rod of main body to carry out ballistic support to the first mechanical hook and the second mechanical hook, when main body is automatically controlled flexible
When bar breaks down, it can be acted on respectively and the first machinery by the automatically controlled telescopic rod of the first protection and the second automatically controlled telescopic rod of protection
Hook and the second mechanical hook, to prevent the article in two mechanical hooks from falling damage.
(2), the fetching device based on manipulator is somebody's turn to do to pass through in the first mechanical hook and the second mechanical interlaced point of hook
It is furnished with contraposition double wedge, it, can be by aligning double wedge for two when the article of fixture smaller two mechanical hooks can be mutually closed
A machinery hook is mutually embedded in contraposition, so that two mechanical hook closures are more stable, what raising grabbed small articles
Stability enhances the practicability that the machinery collects laying mechanism.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the first mechanical gripping hooking structure schematic diagram of the utility model；
Fig. 3 is the second mechanical gripping hooking structure schematic diagram of the utility model.
In figure: 1, manipulator main frame；2, the first automatically controlled telescopic rod of protection；3, the first pivot link；4, hook mounting rack；
5, rotation axis；6, the first mechanical hook；61, link slot；62, the first connecting shaft hole；63, the second connecting shaft hole；64, it aligns convex
Tooth；7, the second mechanical hook；8, the second pivot link；9, it is rotatablely connected frame；10, the second automatically controlled telescopic rod of protection；11, main body electricity
Control telescopic rod.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of fetching device based on manipulator, including
Manipulator main frame 1, the top of manipulator main frame 1 is welded with hook mounting rack 4, and the two sides of hook mounting rack 4 symmetrically lead to
It crosses rotation axis 5 and is rotatably connected to the first mechanical hook 6 and the second mechanical hook 7, the inside of manipulator main frame 1, which is embedded in, to be fixed with
The automatically controlled telescopic rod 11 of main body, and automatically controlled 11 top of telescopic rod of main body by be rotatablely connected frame 9 be rotatablely connected respectively there are two second
Pivot link 8, and tail end of the top of two the second pivot links 8 respectively with the first mechanical hook 6 and the second mechanical hook 7 connects
It connects, the two sides symmetric helix of manipulator main frame 1 is fixed with the automatically controlled telescopic rod 2 of the first protection and the second automatically controlled telescopic rod of protection
10, and the first automatically controlled 2 top of telescopic rod of protection is rotatablely connected by the tail end of the first pivot link 3 and the first mechanical hook 6, and
And second protects the top of automatically controlled telescopic rod 10 also to pass through the first pivot link 3 and the second mechanical rotation connection of hook 7.
The first pivot link 3 of cooperation and second turn are offered at the tail end of first mechanical hook 6 and the second mechanical hook 7
The first connecting shaft hole 62 and the second connecting shaft hole 63 that dynamic connecting rod 8 uses, the tail of the first mechanical hook 6 and the second mechanical hook 7
It is opened on the center line of end and is equipped with link slot 61, the open top end of the first mechanical hook 6 and the second mechanical hook 7 equidistantly offers
Double wedge 64, and the interlaced distribution of contraposition double wedge 64 in the first mechanical hook 6 and the second mechanical hook 7 are aligned, when the first machine
It when tool hook 6 and the second mechanical hook 7 are engaged, can be aligned by aligning double wedge 64, so that two mechanical hook occlusions
More stable, the automatically controlled telescopic rod 2 of the first protection and the second automatically controlled telescopic rod 10 of protection are mutual about the automatically controlled telescopic rod 11 of main body
Symmetrically, and the flexible stroke length of the automatically controlled telescopic rod 2 of the first protection and the second automatically controlled telescopic rod 10 of protection is equal, the second rotation
It is rotation connection between the top of connecting rod 8 and the first mechanical hook 6 and the second mechanical hook 7.
When work, by the elongation and shortening of the automatically controlled telescopic rod 11 of main body to which the second pivot link 8 of cooperation drives first
Mechanical hook 6 and the second mechanical hook 7 carry out rotation adjusting on hook mounting rack 4, to complete to the first 6 He of mechanical hook
The folding of second mechanical hook 7 is controlled, while can cooperate the first pivot link 3 by the first automatically controlled telescopic rod 2 of protection
Auxiliary control is carried out to the folding of the first mechanical hook 6, and automatically controlled first rotation of the cooperation of telescopic rod 10 of the second protection can be passed through
Connecting rod 3 controls the folding of the second mechanical hook 7, thus automatically controlled by the automatically controlled telescopic rod 2 of the first protection and the second protection
Telescopic rod 10 cooperates the automatically controlled telescopic rod 11 of main body to carry out auxiliary control to two mechanical hooks respectively, prevents the automatically controlled telescopic rod of main body
11 break down, and the article grabbed in two mechanical hooks is caused to fall.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of fetching device based on manipulator, including manipulator main frame (1), it is characterised in that: the manipulator main body
The top of frame (1) is welded with hook mounting rack (4), and the two sides of hook mounting rack (4) symmetrically pass through rotation axis (5) rotation connection
There are the first mechanical hook (6) and the second mechanical hook (7), the inside insertion of the manipulator main frame (1) is fixed with main body electricity
It controls telescopic rod (11), and by rotation connection frame (9), there are two second for rotation connection respectively on the automatically controlled telescopic rod of main body (11) top
Pivot link (8), and the top of two the second pivot links (8) respectively with the first mechanical hook (6) and the second machinery hook (7)
Tail end connection, the two sides symmetric helix of the manipulator main frame (1) is fixed with the automatically controlled telescopic rod of the first protection (2) and second
It protects automatically controlled telescopic rod (10), and the first automatically controlled telescopic rod (2) top of protection passes through the first pivot link (3) and the first mechanical gripping
Hook the tail end rotation connection of (6), and the top of the second automatically controlled telescopic rod (10) of protection also passes through the first pivot link (3) and the
Two mechanical hooks (7) are rotatablely connected.
2. a kind of fetching device based on manipulator according to claim 1, it is characterised in that: the described first mechanical hook
(6) and cooperation the first pivot link (3) is offered at the tail end of the second mechanical hook (7) and the second pivot link (8) uses
The first connecting shaft hole (62) and the second connecting shaft hole (63).
3. a kind of fetching device based on manipulator according to claim 1, it is characterised in that: the described first mechanical hook
(6) it and is opened on the tail end center line of the second mechanical hook (7) and is equipped with link slot (61).
4. a kind of fetching device based on manipulator according to claim 1, it is characterised in that: the described first mechanical hook
(6) contraposition double wedge (64) is equidistantly offered with the open top end of the second mechanical hook (7), and the first mechanical hook (6) and the
Contraposition double wedge (64) interlaced distribution on two mechanical hooks (7).
5. a kind of fetching device based on manipulator according to claim 1, it is characterised in that: first protection is automatically controlled
Telescopic rod (2) and the second automatically controlled telescopic rod (10) of protection about the automatically controlled telescopic rod of main body (11) symmetrically, and the first protection
The flexible stroke length of automatically controlled telescopic rod (2) and the second automatically controlled telescopic rod (10) of protection is equal.
6. a kind of fetching device based on manipulator according to claim 1, it is characterised in that: second pivot link
It (8) is rotation connection between the mechanical hook (6) in top and first and the second mechanical hook (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920013092.5U CN209319779U (en) | 2019-01-04 | 2019-01-04 | A kind of fetching device based on manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920013092.5U CN209319779U (en) | 2019-01-04 | 2019-01-04 | A kind of fetching device based on manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209319779U true CN209319779U (en) | 2019-08-30 |
Family
ID=67730524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920013092.5U Expired - Fee Related CN209319779U (en) | 2019-01-04 | 2019-01-04 | A kind of fetching device based on manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209319779U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232279A (en) * | 2020-02-28 | 2020-06-05 | 安徽蓝云物流科技有限公司 | Automatic packing apparatus of commodity circulation transportation |
| CN112140097A (en) * | 2020-09-27 | 2020-12-29 | 安徽蓝瑟智能科技有限公司 | Workpiece feeding manipulator |
-
2019
- 2019-01-04 CN CN201920013092.5U patent/CN209319779U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232279A (en) * | 2020-02-28 | 2020-06-05 | 安徽蓝云物流科技有限公司 | Automatic packing apparatus of commodity circulation transportation |
| CN111232279B (en) * | 2020-02-28 | 2021-12-28 | 安徽星梦供应链管理有限公司 | Automatic packing apparatus of commodity circulation transportation |
| CN112140097A (en) * | 2020-09-27 | 2020-12-29 | 安徽蓝瑟智能科技有限公司 | Workpiece feeding manipulator |
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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: 20190830 Termination date: 20220104 |