CN212399649U

CN212399649U - Manipulator capable of stably clamping

Info

Publication number: CN212399649U
Application number: CN202021027242.7U
Authority: CN
Inventors: 冯彩月
Original assignee: Hangzhou Mingrui Hardware Technology Co ltd
Current assignee: Hangzhou Mingrui Hardware Technology Co ltd
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2021-01-26
Anticipated expiration: 2030-06-05

Abstract

The utility model provides a manipulator that can stabilize centre gripping relates to manipulator technical field. This manipulator that can stabilize centre gripping, including the mounting panel, the top of mounting panel is provided with the roof, and the roof passes through pneumatic cylinder fixed connection with the mounting panel, and the below of mounting panel is provided with the fixed plate, and the last fixed surface of fixed plate is connected with positive and negative motor, four montants of last fixed surface of fixed plate, the upper end of four montants all with the bottom surface fixed connection of mounting panel, positive and negative motor is located between four montants. This manipulator that can stabilize centre gripping through setting up worm, half worm wheel, pivot and clamping bar, has reached because the worm can not make the clamping bar drive half worm wheel with half worm wheel meshed's characteristic and has carried out the pivoted effect, has solved present manipulator and after pressing from both sides the article, makes the clamping bar keep away from under the action of gravity of article and takes place not hard up, causes article to drop easily to make article receive the problem of damage.

Description

Manipulator capable of stably clamping

Technical Field

The utility model relates to a manipulator technical field specifically is a manipulator that can stabilize centre gripping.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

The manipulator is used widely in industrial production, but the manipulator of present day makes the clamping bar keep away from under the action of the gravity of article and takes place to become flexible after pressing from both sides article, causes article to drop easily to make article receive the damage, consequently needs a manipulator that can stabilize the centre gripping.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a can stabilize manipulator of centre gripping has solved present manipulator and after getting article, makes the clamping bar keep away from under the action of gravity of article and takes place not hard up, causes article to drop easily to make article receive the problem of damage.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a manipulator that centre gripping can be stabilized, includes the mounting panel, the top of mounting panel is provided with the roof, the roof passes through pneumatic cylinder fixed connection with the mounting panel, the below of mounting panel is provided with the fixed plate, the last fixed surface of fixed plate is connected with positive and negative motor, four montants of last fixed surface of fixed plate are connected with, the upper end of four montants all with the bottom surface fixed connection of mounting panel, positive and negative motor is located between four montants, the lower surface of fixed plate rotates and runs through there is the pivot, the upper end of pivot and positive and negative motor's output fixed.

The utility model discloses a stabilizing disc, including a fixing plate, a stabilizer plate, a pivot, a fixed plate, four connecting rods, the upper end of four connecting rods all with the bottom surface fixed connection of fixed plate, the pivot is located the one end fixedly connected with worm of stabilizer plate below, the three installation pole of the bottom surface fixedly connected with of stabilizer plate, the lower extreme of three installation pole all articulates there is half worm wheel, the one side that three half worm wheel is close to each other all meshes with the worm, the equal fixedly connected with clamping bar in one side that three half worm wheel was kept away from each other, the left surface fixedly connected with riser of roof, the bottom surface fixedly connected with workstation of.

Preferably, the bottom surface of roof is located the equal fixedly connected with of the left and right sides of pneumatic cylinder spacing telescopic link, the lower extreme of two spacing telescopic links all with the bottom surface fixed connection of mounting panel.

Preferably, three cushions are arranged below the worm and are fixedly connected with the lower ends of the three clamping rods respectively, and the three cushions are arc-shaped.

Preferably, three installation poles all set up with the stabilizer disc is perpendicular, and three installation poles are with the axis circumference array evenly distributed of pivot.

Preferably, the stabilizing disc is arranged in parallel with the fixing plate, and the stabilizing disc is arranged perpendicular to the rotating shaft.

Preferably, the three clamping rods are all arc-shaped, and are uniformly distributed in a circumferential array along the axis of the worm.

(III) advantageous effects

The utility model provides a manipulator that can stabilize centre gripping. The method has the following beneficial effects:

1. the manipulator capable of stably clamping controls the hydraulic cylinder to drive the mounting plate to move when clamping is needed by arranging the worm, the half worm wheel, the rotating shaft and the clamping rod, then the fixing plate is driven to move by the vertical rod, so that the clamping rod is driven to move to the height to be clamped by the stabilizing disc, then the positive and negative motors are controlled to rotate, then the rotating shaft is driven to rotate, the worm rotates as far as possible, then the three half worm wheels are meshed with the worm to approach each other, so that the lower ends of the clamping rods are driven to approach each other to clamp the articles, the effect that the clamping rods cannot drive the half worm wheels to rotate due to the meshed characteristic of the worm and the half worm wheels is achieved, the problem that after the existing manipulator clamps the articles is solved, the clamping rod is kept away from the object under the action of gravity to be loosened, so that the object is easy to fall off, and the object is damaged.

2. This manipulator that can stabilize centre gripping through setting up the cushion, when the lower extreme of clamping bar was close to each other under the drive of hemicycle, the cushion contacted with article, has reached the effect that has improved the frictional force between clamping bar and the article, has solved the clamping bar because and under the frictional force between the article, cause the problem of article landing.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the connection between the positive and negative motors and the fixing plate of the present invention;

FIG. 3 is a schematic view of the connection between the rotating shaft and the stabilizing disc of the present invention;

fig. 4 is the utility model discloses the location telescopic link is connected the sketch map with the stabilizer plate.

Wherein, 1 mounting panel, 2 roof, 3 fixed plates, 4 positive and negative motors, 5 pneumatic cylinders, 6 montants, 7 pivots, 8 stable dishes, 9 connecting rods, 10 worms, 11 installation poles, 12 half worm wheels, 13 risers, 14 clamping bars, 15 workstations, 16 location telescopic links, 17 cushions, 18 spacing telescopic links.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The embodiment of the utility model provides a manipulator capable of stably clamping, as shown in figures 1-4, the manipulator comprises a mounting plate 1, a top plate 2 is arranged above the mounting plate 1, the top plate 2 is fixedly connected with the mounting plate 1 through a hydraulic cylinder 5, the bottom surface of the top plate 2 is positioned at the left side and the right side of the hydraulic cylinder 5 and is fixedly connected with a limit telescopic rod 18, the lower ends of the two limit telescopic rods 18 are fixedly connected with the bottom surface of the mounting plate 1, the limit telescopic rods 18 are arranged to improve the stability of the mounting plate 1 during moving, the mounting plate 1 is prevented from inclining and can not be accurately clamped, a fixing plate 3 is arranged below the mounting plate 1, a positive and negative motor 4 is fixedly connected with the upper surface of the fixing plate 3, four vertical rods 6 are fixedly connected with the upper surface of the fixing plate 3, the upper ends of the four vertical rods, the lower surface of the fixed plate 3 is rotatably penetrated with a rotating shaft 7, and the upper end of the rotating shaft 7 is fixedly connected with the output end of the positive and negative motor 4.

A stabilizing disc 8 is arranged below the fixing plate 3, the stabilizing disc 8 is arranged in parallel with the fixing plate 3, the stabilizing disc 8 is arranged perpendicular to the rotating shaft 7, the stabilizing disc 8 is rotatably sleeved on the outer surface of the rotating shaft 7, the upper surface of the stabilizing disc 8 is fixedly connected with four connecting rods 9, the upper ends of the four connecting rods 9 are fixedly connected with the bottom surface of the fixing plate 3, one end of the rotating shaft 7, which is positioned below the stabilizing disc 8, is fixedly connected with a worm 10, the bottom surface of the stabilizing disc 8 is fixedly connected with three mounting rods 11, the three mounting rods 11 are all arranged perpendicular to the stabilizing disc 8, the three mounting rods 11 are uniformly distributed in an axial circumferential array of the rotating shaft 7, the lower ends of the three mounting rods 11 are all hinged with half worm wheels 12, when the half worm wheels 12 are meshed with the worm 10, only the worm 10 can drive the half worm wheels 12 to rotate, but not the half worm wheels 12 can drive the worm 10, the equal fixedly connected with clamping bar 14 in the one side that three half worm wheel 12 kept away from each other, the shape of three clamping bar 14 is circular-arcly, three clamping bar 14 is with the axis circumference array evenly distributed of worm 10, the below of worm 10 is provided with three cushion 17, three cushion 17 respectively with the lower extreme fixed connection of three clamping bar 14, the shape of three cushion 17 is circular-arcly, it increases the frictional force between clamping bar 14 and the article to set up cushion 17, prevent the article landing, the left surface fixedly connected with riser 13 of roof 2, the bottom surface fixedly connected with workstation 15 of riser 13, three clamping bar 14 all is located the top of workstation 15, the one side that three clamping bar 14 kept away from each other all articulates there is location telescopic link 16, set up location telescopic link 16 and improved the stability when clamping bar 14 rotates, prevent that clamping bar 14 from taking place to rock when rotating, the upper end of three location telescopic link 16 all is articulated with the circumference side of stabilizer disc 8.

The theory of operation, when needs are got, control pneumatic cylinder 5 drives mounting panel 1 and removes, then drive fixed plate 3 through montant 6 and remove, thereby it removes the height that needs were got to the clamp bar 14 removal to drive through stable dish 8, then control positive and negative motor 4 rotates, then drive pivot 7 and rotate, make worm 10 rotate at the utmost, then three half worm wheel 12 is close to each other through meshing with worm 10, thereby the lower extreme that drives clamp bar 14 is close to each other and presss from both sides tight article, thereby because the characteristic of worm 10 and half worm wheel 12 meshing, can not make clamp bar 14 drive half worm wheel 12 because the gravity of article and rotate, thereby improve the stability of manipulator.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a manipulator that can stabilize centre gripping, includes mounting panel (1), its characterized in that: the mounting structure is characterized in that a top plate (2) is arranged above the mounting plate (1), the top plate (2) is fixedly connected with the mounting plate (1) through a hydraulic cylinder (5), a fixing plate (3) is arranged below the mounting plate (1), a positive and negative motor (4) is fixedly connected to the upper surface of the fixing plate (3), four vertical rods (6) are fixedly connected to the upper surface of the fixing plate (3), the upper ends of the four vertical rods (6) are fixedly connected with the bottom surface of the mounting plate (1), the positive and negative motor (4) is located between the four vertical rods (6), a rotating shaft (7) penetrates through the lower surface of the fixing plate (3) in a rotating mode, and the upper end of the rotating shaft (7) is fixedly connected;

a stabilizing disc (8) is arranged below the fixing plate (3), the stabilizing disc (8) is rotatably sleeved on the outer surface of the rotating shaft (7), the upper surface of the stabilizing disc (8) is fixedly connected with four connecting rods (9), the upper ends of the four connecting rods (9) are fixedly connected with the bottom surface of the fixing plate (3), one end of the rotating shaft (7) positioned below the stabilizing disc (8) is fixedly connected with a worm (10), the bottom surface of the stabilizing disc (8) is fixedly connected with three mounting rods (11), the lower ends of the three mounting rods (11) are respectively hinged with a half worm wheel (12), the surfaces, close to each other, of the three half worm wheels (12) are respectively meshed with the worm (10), the surfaces, far away from each other, of the three half worm wheels (12) are respectively and fixedly connected with a clamping rod (14), the left side surface of the top plate (2) is fixedly connected with a vertical plate (13), and the, three clamping bars (14) are all located the top of workstation (15), and the one side that three clamping bars (14) kept away from each other all articulates there is location telescopic link (16), and the upper end of three location telescopic link (16) all articulates with the circumference side of stabilizing disc (8).

2. The manipulator capable of stably clamping according to claim 1, wherein: the bottom surface of roof (2) is located the equal fixedly connected with of the left and right sides of pneumatic cylinder (5) spacing telescopic link (18), the lower extreme of two spacing telescopic links (18) all with the bottom surface fixed connection of mounting panel (1).

3. The manipulator capable of stably clamping according to claim 1, wherein: three cushions (17) are arranged below the worm (10), the three cushions (17) are respectively and fixedly connected with the lower ends of the three clamping rods (14), and the three cushions (17) are all arc-shaped.

4. The manipulator capable of stably clamping according to claim 1, wherein: three installation rods (11) are all perpendicular to the stabilizing disc (8), and the three installation rods (11) are uniformly distributed in an array mode with the axis circumference of the rotating shaft (7).

5. The manipulator capable of stably clamping according to claim 1, wherein: the stabilizing disc (8) is arranged in parallel with the fixing plate (3), and the stabilizing disc (8) is arranged perpendicular to the rotating shaft (7).

6. The manipulator capable of stably clamping according to claim 1, wherein: the three clamping rods (14) are all arc-shaped, and the three clamping rods (14) are uniformly distributed in an axial line circumferential array of the worm (10).