CN103481284A - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN103481284A CN103481284A CN201310439928.5A CN201310439928A CN103481284A CN 103481284 A CN103481284 A CN 103481284A CN 201310439928 A CN201310439928 A CN 201310439928A CN 103481284 A CN103481284 A CN 103481284A
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- plate
- manipulator
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Abstract
A manipulator comprises a frame plate, a first cylinder, a plurality of clamping mechanisms, a driving plate and a rack. The first cylinder is fixed on the frame plate. The driving plate is connected with a piston rod of the first cylinder and is in sliding connection with the frame plate, and the rack is fixed at the lower end of the driving plate. Each clamping mechanism comprises a gear, a traction wheel and two grabbing plates. The gears are meshed with the rack, the traction wheels are connected with shafts of the gears, and every two grabbing plates are connected with the corresponding traction wheels through two corresponding connection rods arranged in parallel. The manipulator adopts the three-in-one design. A power source can drive the plurality of clamping mechanisms simultaneously. The manipulator is simple in structure, achieves the function of grabbing a plurality of objects once, and improves working efficiency.
Description
Technical field
The present invention relates to a kind of manipulator, be specifically related to the manipulator that an a kind of power source drives a plurality of clamping devices simultaneously.
Background technology
Manipulator, for capturing and the carrying article, is realized automatic charging and blanking.On the calibrating at electric energy meter or recovery streamline, generally adopt gas pawl manipulator, its structure is to be fixed with a plurality of clamping devices on installing plate, the structure of each clamping device is: linear bearing is sleeved on guide post, the tong mounting bar can slide before and after guide post, the cylinder bottom of cylinder is connected with two tong mounting bars respectively with piston rod, is fixed with a plurality of tongs on the tong mounting bar.Each clamping device of this device needs independent air cylinder driven, complex structure.
Summary of the invention
The purpose of this invention is to provide a kind of manipulator, to solve each clamping device of above-mentioned existing machinery hand, need independent air cylinder driven, baroque problem
Technical scheme is as follows:
A kind of manipulator, comprise frame plate, the first cylinder, a plurality of clamping device, drive plate and tooth bar, and described the first cylinder is fixed on described frame plate; Described drive plate is connected with the piston rod of described the first cylinder, is slidably connected on described frame plate, and the lower end of described drive plate is fixed with tooth bar;
Each described clamping device comprises: gear, traction wheel and two blocks of crawl plates; Described gear and the engagement of described tooth bar, described traction wheel is connected with the axle of described gear, and two blocks of described crawl plates are connected with described traction wheel by two connecting rods that be arranged in parallel respectively;
Described the first cylinder drives described drive plate rectilinear motion, described drive plate drives described tooth bar, the gear of described each described clamping device of rack drives rotates, described gear drives described traction wheel by axle, described traction wheel by opposite directions or the described connecting rod of relative motion drive described crawl plate and move.
Further: being slidably connected of described drive plate and described frame plate comprises: the first slide rail, edge-on being fixed on described frame plate; The first slide block, be fixed on the back side of described drive plate, and described drive plate slides along described the first slide rail by described the first slide block.
Further: two described connecting rods are respectively first connecting rod and second connecting rod, and two blocks of described crawl plates are respectively the first crawl plate and second and capture plate;
Described clamping device also comprises: two connecting plates that are slidably connected with described frame plate and spring; Two described connecting plates are respectively the first connecting plate and the second connecting plate;
Described first connecting rod is connected with described spring by bearing pin, and the two ends of described the first connecting plate capture plate with described spring and described first respectively and are connected; Described second connecting rod captures plate by described the second connecting plate and described second and is connected; The rotation of described traction wheel drives described connecting plate motion by described connecting rod, thereby realizes the movement of described crawl plate.
Further: being slidably connected between described connecting plate and described frame plate comprises: the second slide rail is horizontally fixed on described frame plate; The second slide block, be fixed on the bottom surface of described connecting plate, and described connecting plate slides along described the second slide rail by described the second slide block.
Further: two adjacent described clamping devices are respectively the first clamping device and the second clamping device, the first crawl plate that second of described the first clamping device captures plate and described the second clamping device is adjacent, described the first crawl plate is finger-shaped, described second captures plate is provided with groove, after described the first crawl plate and described second captures the plate coincidence, described first captures board in described groove, and its thickness is a thickness that captures plate.
Further: also comprise: vertical installing plate and the second cylinder; Described installing plate is fixed on the centre of described frame plate, and the piston rod of described the second cylinder is fixed on described installing plate; The height change of the extension and contraction control manipulator of the second cylinder.
Further: fixed head and outside link plate, described fixed head is arranged on a side of described the second cylinder, and described fixed head is connected with described outside link plate, for connecting external equipment.
Further: two relative surfaces of described crawl plate are equipped with slipmat.
Further: described manipulator is aluminum material.
Further: the quantity of described clamping device is 3.
The invention has the beneficial effects as follows:
1, the present invention adopts the design of the single-power Trinity, and a power source can drive a plurality of clamping devices simultaneously, simple in structure, has realized that manipulator once captures the function of many article, has improved operating efficiency.
2, the moving left and right of plate that move up and down, capture of manipulator of the present invention all used guide cylinder, and the additional slide rail that arranges can guarantee that manipulator captures the plate motion steadily, accurately, captures the degree of accuracy thereby improve.
3, the present invention adds shock mount by each, capturing plate, and the decrement by spring is to be suitable for the electric energy meter of different in width, accurate positioning; Adopt the flexible glue pad in the inboard that captures plate, can effectively avoid the damage to electric energy meter.
4, crawl plate of the present invention adopts the concaveconvex structure design, and two thickness that capture after plate overlaps only have one to capture plate thickness, can be used for the Turnover Box that tabular interval is very little.
5, the present invention adopts the aluminum profile extrusion overall weight light, is provided with the connection that installing plate is easy to realization and external equipment.
6, the present invention is safe and reliable, simple in structure, easy to operate, crawl is accurate, is easy to promotion and implementation, has good economic benefit.
The accompanying drawing explanation
The structural representation of manipulator in the optional embodiment of Fig. 1;
The partial enlarged drawing of A in Fig. 2 Fig. 1;
The rearview of manipulator shown in Fig. 3 Fig. 1.
The specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
As shown in Figure 1, be the structural representation of manipulator.Manipulator comprises the parts such as frame plate 1, the first cylinder 2, tooth bar and a plurality of clamping devices.Preferably, the quantity of clamping device is 3.
The first cylinder 2 is fixed on frame plate 1, and preferably, frame plate 1 is provided with for fixing the position, hole of each parts, and the first cylinder 2 is fixed on frame plate 1 by the position, hole by screw.The piston rod of the first cylinder 2 is connected with drive plate 5, and drive plate 5 is slidably connected on frame plate 1, and the lower end in the front of drive plate 5 is fixed with tooth bar.
As shown in Figure 2, each clamping device comprises: gear 6, traction wheel 9 and two blocks of crawl plates; Gear 6 and tooth bar engagement, traction wheel 9 is connected with the axle of gear 6, can realize synchronous rotation, and traction wheel 9 is fixed on frame plate 1 by support 8.Two capture plate and are connected with traction wheel 9 by two connecting rods that be arranged in parallel 7 respectively.Flexible drive drive plate 5 motions of the piston rod of the first cylinder 2, drive plate 5 band carry-over bars, the gear 6 of each clamping device of rack drives rotates, and gear 6 drives traction wheel 9 by axle, described traction wheel 9 by opposite directions or the connecting rod 7 of relative motion drive the crawl plates and move.
As shown in Figure 3, drive plate 5 comprises with being slidably connected of frame plate 1: the first slide rail 51 and the first slide block 3.Also be fixed with the first slide rail 51 on frame plate 1, preferably, the first slide rail 51 is fixed on frame plate 1 by the position, hole is edge-on by screw.The piston rod of the first cylinder 2 is connected with drive plate 5 by screw, and the back side of drive plate 5 also is provided with the first slide block 3, and drive plate 5 slides on the first slide rail 51 by the first slide block 3.
Two connecting plates 10 are respectively the first connecting plate and the second connecting plate, and two connecting rods 7 are respectively first connecting rod and second connecting rod, and two capture plate and are respectively the first crawl plate 41 and the second crawl plate 42.
Clamping device also comprises: two connecting plates 10 that are slidably connected with frame plate 1 and spring 14; First connecting rod is connected with spring 14 by bearing pin 17, and the two ends of the first connecting plate capture plate 41 with spring 14 and first respectively and are connected; Second connecting rod captures plate 42 by the second connecting plate and second and is connected; The rotation of traction wheel 9 drives connecting plate 10 motions by connecting rod 7, thereby realizes capturing the movement of plate.
Being slidably connected between connecting plate 10 and frame plate 1 comprises: the second slide rail 11 and the second slide block 12.The bottom surface of connecting plate 10 is provided with the second slide block 12, the second slide rails 11 and is horizontally fixed on frame plate 1, and the rotation of traction wheel 9 drives connecting plate by connecting rod 7 linking springs 14 and reciprocatingly slides on the second slide rail 11 by the second slide block 12.Preferably, the second slide rail 11 is horizontally fixed on frame plate 1 by the position, hole by screw.
Two crawl relative surfaces of plate are equipped with slipmat, avoid causing skidding or scratching the electric energy meter phenomenon between crawl plate and electric energy meter.
In a plurality of clamping devices of manipulator, two adjacent clamping devices are respectively the first clamping device and the second clamping device, the first crawl plate that second of the first clamping device captures plate and the second clamping device is adjacent, the first crawl plate is finger-shaped, second captures plate is provided with groove, after the first crawl plate and second captures the plate coincidence, first captures board in groove, and its thickness is a thickness that captures plate.
Manipulator also is provided with vertical installing plate 16 and the second cylinder 18, installing plate 16 is fixed by screws in the centre of frame plate 1, installing plate 16 is provided with the position, hole, the piston rod of the second cylinder 18 is fixed on installing plate 16 by the position, hole by screw, the flexible height change of controlling manipulator by the second cylinder 18, one side of the second cylinder 18 is provided with fixed head 19, and fixed head 19 is connected with outside link plate 20, for connecting external equipment.
Preferably, the above-mentioned mode that is connected and fixed is for to fix by screw.
Each parts of manipulator are aluminum material.
Claims (10)
1. a manipulator, comprise frame plate, the first cylinder, a plurality of clamping device, and described the first cylinder is fixed on described frame plate, it is characterized in that, also comprises: drive plate and tooth bar;
Described drive plate is connected with the piston rod of described the first cylinder, is slidably connected on described frame plate, and the lower end of described drive plate is fixed with tooth bar;
Each described clamping device comprises: gear, traction wheel and two blocks of crawl plates; Described gear and the engagement of described tooth bar, described traction wheel is connected with the axle of described gear, and two blocks of described crawl plates are connected with described traction wheel by two connecting rods that be arranged in parallel respectively;
Described the first cylinder drives described drive plate rectilinear motion, described drive plate drives described tooth bar, the gear of described each described clamping device of rack drives rotates, described gear drives described traction wheel by axle, described traction wheel by opposite directions or the described connecting rod of relative motion drive described crawl plate and move.
2. manipulator as claimed in claim 1, is characterized in that, being slidably connected of described drive plate and described frame plate comprises:
The first slide rail, edge-on being fixed on described frame plate;
The first slide block, be fixed on the back side of described drive plate, and described drive plate slides along described the first slide rail by described the first slide block.
3. manipulator as claimed in claim 1, is characterized in that, two described connecting rods are respectively first connecting rod and second connecting rod, and two blocks of described crawl plates are respectively the first crawl plate and second and capture plate;
Described clamping device also comprises: two connecting plates that are slidably connected with described frame plate and spring; Two described connecting plates are respectively the first connecting plate and the second connecting plate;
Described first connecting rod is connected with described spring by bearing pin, and the two ends of described the first connecting plate capture plate with described spring and described first respectively and are connected; Described second connecting rod captures plate by described the second connecting plate and described second and is connected; The rotation of described traction wheel drives described connecting plate motion by described connecting rod, thereby realizes the movement of described crawl plate.
4. manipulator as claimed in claim 3, is characterized in that, being slidably connected between described connecting plate and described frame plate comprises:
The second slide rail, be horizontally fixed on described frame plate;
The second slide block, be fixed on the bottom surface of described connecting plate, and described connecting plate slides along described the second slide rail by described the second slide block.
5. as claim 1,3 or 4 described manipulators, it is characterized in that, two adjacent described clamping devices are respectively the first clamping device and the second clamping device, the first crawl plate that second of described the first clamping device captures plate and described the second clamping device is adjacent, described the first crawl plate is finger-shaped, and described second captures plate is provided with groove, after described the first crawl plate and described second captures the plate coincidence, described first captures board in described groove, and its thickness is a thickness that captures plate.
6. as the described manipulator of claim 1 to 4 any one claim, it is characterized in that, also comprise: vertical installing plate and the second cylinder; Described installing plate is fixed on the centre of described frame plate, and the piston rod of described the second cylinder is fixed on described installing plate; The height change of the extension and contraction control manipulator of the second cylinder.
7. manipulator as claimed in claim 6, is characterized in that, also comprises: fixed head and outside link plate, and described fixed head is arranged on a side of described the second cylinder, and described fixed head is connected with described outside link plate, for connecting external equipment.
8. manipulator as claimed in claim 1, is characterized in that, two relative surfaces of described crawl plate are equipped with slipmat.
9. manipulator as claimed in claim 1, is characterized in that, described manipulator is aluminum material.
10. manipulator as claimed in claim 1, is characterized in that, the quantity of described clamping device is 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310439928.5A CN103481284B (en) | 2013-09-24 | 2013-09-24 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310439928.5A CN103481284B (en) | 2013-09-24 | 2013-09-24 | A kind of manipulator |
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| CN103481284A true CN103481284A (en) | 2014-01-01 |
| CN103481284B CN103481284B (en) | 2017-06-23 |
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| CN201310439928.5A Active CN103481284B (en) | 2013-09-24 | 2013-09-24 | A kind of manipulator |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552323A (en) * | 2014-12-30 | 2015-04-29 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN105598993A (en) * | 2016-03-28 | 2016-05-25 | 广东水利电力职业技术学院 | Scaling-type carrying manipulator and clamping method thereof |
| CN106625626A (en) * | 2016-10-27 | 2017-05-10 | 宁波三星医疗电气股份有限公司 | Electric energy meter carrying mechanical arm and electric energy meter carrying method |
| CN106671117A (en) * | 2017-03-23 | 2017-05-17 | 严传玉 | Manipulator clamping head |
| CN106743583A (en) * | 2017-02-27 | 2017-05-31 | 安徽信盟机电装备制造有限公司 | A kind of multi-joint adjustable conveying mechanism of single-power |
| CN107825448A (en) * | 2017-11-27 | 2018-03-23 | 黄石市华天自动化设备有限公司 | A kind of clamping hanger |
| CN108621124A (en) * | 2017-03-17 | 2018-10-09 | 株式会社东芝 | Holding mechanism, transfer device, handling robot system and robot method for carrying |
| CN109573200A (en) * | 2019-01-30 | 2019-04-05 | 郑州莱发科技有限公司 | A kind of tableware automatic assembling combination unit |
| CN109926787A (en) * | 2019-01-25 | 2019-06-25 | 天津市银丰机械系统工程有限公司 | Flexible welding net indulges muscle clamping device |
| CN110978547A (en) * | 2019-12-23 | 2020-04-10 | 东莞鸿绩塑胶模具有限公司 | Cotton attached equipment of battery cover bubble |
| CN109573200B (en) * | 2019-01-30 | 2024-05-03 | 郑州莱发科技有限公司 | Automatic assembling and combining device for tableware |
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| US4696503A (en) * | 1986-10-27 | 1987-09-29 | The Singer Company | Pneumatic actuated cam driven parallel gripper |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552323B (en) * | 2014-12-30 | 2017-01-11 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN104552323A (en) * | 2014-12-30 | 2015-04-29 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN105598993A (en) * | 2016-03-28 | 2016-05-25 | 广东水利电力职业技术学院 | Scaling-type carrying manipulator and clamping method thereof |
| CN106625626A (en) * | 2016-10-27 | 2017-05-10 | 宁波三星医疗电气股份有限公司 | Electric energy meter carrying mechanical arm and electric energy meter carrying method |
| CN106625626B (en) * | 2016-10-27 | 2018-11-23 | 宁波三星医疗电气股份有限公司 | A kind of electric energy meter carrying mechanical manipulator and electric energy meter method for carrying |
| CN106743583A (en) * | 2017-02-27 | 2017-05-31 | 安徽信盟机电装备制造有限公司 | A kind of multi-joint adjustable conveying mechanism of single-power |
| CN108621124A (en) * | 2017-03-17 | 2018-10-09 | 株式会社东芝 | Holding mechanism, transfer device, handling robot system and robot method for carrying |
| CN106671117B (en) * | 2017-03-23 | 2018-12-07 | 严传玉 | A kind of manipulator collet |
| CN106671117A (en) * | 2017-03-23 | 2017-05-17 | 严传玉 | Manipulator clamping head |
| CN107825448A (en) * | 2017-11-27 | 2018-03-23 | 黄石市华天自动化设备有限公司 | A kind of clamping hanger |
| CN107825448B (en) * | 2017-11-27 | 2023-10-24 | 湖北天华智能装备股份有限公司 | Clamping lifting appliance |
| CN109926787A (en) * | 2019-01-25 | 2019-06-25 | 天津市银丰机械系统工程有限公司 | Flexible welding net indulges muscle clamping device |
| CN109573200A (en) * | 2019-01-30 | 2019-04-05 | 郑州莱发科技有限公司 | A kind of tableware automatic assembling combination unit |
| CN109573200B (en) * | 2019-01-30 | 2024-05-03 | 郑州莱发科技有限公司 | Automatic assembling and combining device for tableware |
| CN110978547A (en) * | 2019-12-23 | 2020-04-10 | 东莞鸿绩塑胶模具有限公司 | Cotton attached equipment of battery cover bubble |
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| CN103481284B (en) | 2017-06-23 |
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Address after: 225300, 16, Tai'an Road, hailing Industrial Zone, Hailing District, Jiangsu, Taizhou Applicant after: JIANGSU YUNCHONG ELECTRONIC TECHNOLOGY CO., LTD. Address before: 225300, building 98, 2 East Spring Road, hailing Industrial Zone, Hailing District, Jiangsu, Taizhou Applicant before: Jiangsu is electronics technology Co., Ltd like surging clouds |
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