CN209812352U - A connecting rod structure grabbing manipulator - Google Patents

Abstract

The utility model discloses a grabbing manipulator with a connecting rod structure, which comprises a triangular bracket, a swinging tripod, a clamping arm 1, a clamping arm 2 and an elongation drive mechanism, wherein the middle part of the rotating connecting rod is axially connected to the first The top end of the folding bracket and the two ends of the rotating link are respectively axially connected to the upper ends of the clamping arm 1 and the clamping arm 2, and the lower parts of the clamping arm 1 and the clamping arm 2 are respectively axially connected to the cross beam On the side wall of the front end of the beam, the rear end of the crossbeam is axially connected to the lower end of the elongation drive mechanism, and the upper end of the elongation drive mechanism is axially connected to the top of the No. 2 folding bracket. The elongation drive mechanism can Driving the swinging tripod drives the clamping arm 1 and the clamping arm 2 to move so that the lower ends of the clamping arm 1 and the clamping arm 2 are close to each other. The device is simple in structure, less difficult to produce, and realizes the grasping action by controlling the clamping arm 1 and the clamping arm 2 with less degrees of freedom, and has a large grasping force and is flexible and convenient to use.

Description

A connecting rod structure grabbing manipulator

technical field

The utility model relates to a manipulator, in particular to a grabbing manipulator with a connecting rod structure.

Background technique

A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program.

Some of the current connecting rod structure manipulators are too complex in structure and difficult to produce. And some connecting rod structure type manipulators with simple structure are not strong enough in grasping when working. In order to improve this, it is necessary to design a grabbing manipulator with a simple structure and a connecting rod structure, which also has the advantage of stability.

Utility model content

Aiming at the problems of the connecting rod structure of the grasping manipulator in the prior art: (1), the structure of the manipulator is complicated, and the production is difficult; (2), the manipulator with a simple structure has small grasping force and poor accuracy. The purpose of this utility model is to provide a grabbing manipulator with a connecting rod structure. Compared with the prior art, the utility model has the advantages of simple structure, low production difficulty, and control of the clamping arm with less degrees of freedom. The first and the clamping arm two realize the grasping action, and the grasping is accurate, the force is large, and the use is flexible and convenient.

In order to achieve the above object, the utility model provides a connecting rod structure grabbing manipulator, comprising a tripod, a swing tripod, clamping arm 1, clamping arm 2 and an elongation drive mechanism, the tripod is composed of a beam and a fixed It is composed of No. 1 folding brackets at both ends of the beam, and the swing tripod is composed of a rotating connecting rod and a No. 2 folding bracket fixed at both ends of the rotating connecting rod, wherein the middle part of the rotating connecting rod is pivotally connected to The top end of the No. 1 folding bracket and the two ends of the rotating connecting rod are respectively axially connected with the upper ends of the clamping arm 1 and the clamping arm 2, and the lower parts of the clamping arm 1 and the clamping arm 2 are respectively axially connected with each other. On the side wall of the front end of the beam, the rear end of the beam is axially connected to the lower end of the elongation drive mechanism, and the upper end of the elongation drive mechanism is axially connected to the top end of the No. 2 folding bracket. The long driving mechanism can drive the swing tripod to drive the clamping arm 1 and the clamping arm 2 to move so that the lower ends of the clamping arm 1 and the clamping arm 2 are close to each other.

Preferably, the first clamping arm includes a No. 1 connecting rod and a No. 1 swing arm that are pivotally connected to each other, wherein the top of the No. 1 connecting rod is pivotally connected to the front end of the rotating link, and the lower part of the No. 1 swing arm is connected to the cross beam. The front ends of the two are axially connected; the clamping arm two includes the No. 2 connecting rod and the No. 2 swing arm which are mutually pivotally connected. The lower part of the beam is connected to the position close to the front end of the beam.

Preferably, a No. 1 gripper is fixedly connected to the lower end of the No. 1 swing arm, and a No. 2 gripper opposite to the No. 1 gripper is also fixedly connected to the lower end of the No. 2 swing arm.

Preferably, the extension drive mechanism is a telescopic cylinder.

Preferably, a support frame is fixedly connected to the rear end of the beam.

Preferably, the length of the No. 1 swing arm is greater than the length of the No. 2 swing arm.

Preferably, the length of the No. 1 connecting rod is greater than the length of the No. 2 connecting rod

Preferably, both the No. 1 gripper and the No. 2 gripper are arc-shaped plates.

In the above technical solution, when the elongation driving mechanism is retracted, the rotating link is set close to vertical, and when the elongating driving mechanism is extended, the upper end of the rotating connecting rod moves forward to push the clamping arm one The upper end of the clamping arm moves forward, because the lower part of the clamping arm one is axially connected with the front end of the beam, therefore, the lower end of the clamping arm one moves backwards around the shaft joint; during this process, the lower end of the rotating link moves backwards , pushing the upper end of the clamping arm 2 to move backward, since the lower part of the clamping arm 2 is axially connected with the front part of the beam, the lower end of the clamping arm 2 moves forward around the shaft joint, so that the clamping arm The lower ends of the first and second clamping arms are close to each other. When the extension driving mechanism is retracted, contrary to the previous movement, the lower ends of the first arm and the second arm are separated from each other, open, and so on, to realize clamping and loosening. During the clamping process, the force-bearing point is in the form of a triangle. Since the triangle is relatively stable, the process of holding on is relatively stable. Compared with the prior art, the utility model has the advantages that the structure of the device is simple, the production difficulty is small, and the grasping action is realized by controlling the clamping arm 1 and the clamping arm 2 with less degrees of freedom, and the grasping force is large , flexible and convenient to use.

Other features and advantages of the present utility model will be described in detail in the following specific embodiments.

Description of drawings

The accompanying drawings are used to provide a further understanding of the utility model, and constitute a part of the description, together with the following specific embodiments, are used to explain the utility model, but do not constitute a limitation to the utility model. In the attached picture:

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the grasping action of the present utility model;

Fig. 3 is the front view of the beam and No. 1 folding bracket of the utility model;

Fig. 4 is the front view of the rotary connecting rod and the No. 2 folding bracket of the present invention.

Explanation of reference signs

1. Beam 2. No. 1 folding bracket

3. No. 1 swing arm 4. No. 2 swing arm

5. No. 1 gripper 6. No. 2 gripper

7. Rotating connecting rod 8. No. 2 folding bracket

9. No. 1 connecting rod 10. No. 2 connecting rod

11. Telescopic cylinder 12. Support frame

Detailed ways

The specific embodiment of the utility model will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the utility model, and are not intended to limit the utility model.

In the present utility model, in the case of no contrary description, the orientation words included in the term, such as "up, down, front, rear", etc., only represent the orientation of the term in the normal use state, or the orientation of those skilled in the art. A common term for understanding and should not be seen as a limitation of the term.

As shown in Fig. 1-Fig. 4, the utility model provides a kind of connecting rod structure grasping manipulator, comprises triangular support, swing tripod, clamping arm 1, clamping arm 2 and elongation drive mechanism, and described triangular support consists of The crossbeam 1 and the No. 1 folding bracket 2 fixed to the two ends of the crossbeam 1 are composed, and the swing tripod is composed of a rotating connecting rod 7 and a No. 2 folding bracket 8 affixed to the two ends of the rotating connecting rod 7. Wherein, the middle part of the rotating connecting rod 7 is axially connected to the top of the No. 1 folding bracket 2, and the two ends of the rotating connecting rod 7 are respectively axially connected to the upper ends of the clamping arm one and the clamping arm two. The lower parts of arm 1 and clamping arm 2 are respectively pivotally connected to the side wall of the front end of the beam 1 in sequence, the rear end of the beam 1 is pivotally connected to the lower end of the elongation drive mechanism, and the upper end of the elongation drive mechanism is connected to the The tops of the No. 2 folding bracket 8 are axially connected, and the elongation driving mechanism can drive the swinging tripod to drive the first clamping arm and the second clamping arm to move so that the lower ends of the first clamping arm and the second clamping arm are connected to each other. near.

In the above technical solution, when the elongation driving mechanism is retracted, the rotating link 7 is set close to vertical, and when the elongating driving mechanism is extended, the upper end of the rotating connecting rod 7 moves forward to push and clamp The upper end of arm 1 moves forward, and since the lower part of clamping arm 1 is axially connected with the front end of crossbeam 1, the lower end of clamping arm 1 moves backwards around the shaft joint; during this process, the rotation of connecting rod 7 The lower end moves backwards, pushing the upper end of the clamping arm 2 to move backward. Since the lower part of the clamping arm 2 is connected to the front part of the crossbeam 1, the lower end of the clamping arm 2 moves forward around the shaft joint. In this way, The lower ends of the clamping arm 1 and the clamping arm 2 are close to each other.

When the extension driving mechanism is retracted, contrary to the previous movement, the lower ends of the first arm and the second arm are separated from each other, open, and so on, to realize clamping and loosening. During the clamping process, the force-bearing point is in the form of a triangle. Since the triangle is relatively stable, the process of holding on is relatively stable. Compared with the prior art, the utility model has the advantages that the structure of the device is simple, the production difficulty is small, and the grasping action is realized by controlling the clamping arm 1 and the clamping arm 2 with less degrees of freedom, and the grasping force is large , flexible and convenient to use.

The first clamping arm and the second clamping arm can have various shapes, such as arc, L-shaped, etc., as long as the upper end of the rotating link 7 moves forward, the lower end of the clamping arm one moves backward to clamp The utility model can be realized by the two-phase forward movement of the arm. In a preferred embodiment of the present utility model, the clamping arm includes a No. 1 connecting rod 9 and a No. 1 swing arm 3 which are axially connected to each other, wherein the top of the No. 1 connecting rod 9 is connected to the top of the rotating connecting rod 7 The front end is axially connected, and the lower part of the No. 1 swing arm 3 is axially connected to the front end of the beam 1; the clamping arm 2 includes a No. 2 connecting rod 10 and a No. 2 swing arm 4 that are axially connected to each other. The top of 10 is axially connected with the rear end of rotating link 7, and the bottom of No. 2 swing arm 4 is axially connected with the position near the front end in crossbeam 1.

In a preferred embodiment of the present utility model, the lower end of the No. 1 swing arm 3 is also fixedly connected with a No. 1 handle 5, and the lower end of the No. 2 swing arm 4 is also fixedly connected with a handle opposite to the No. 1 handle 5. The second gripper 6.

In a preferred embodiment of the utility model, the elongation driving mechanism is a telescopic cylinder 11 .

In a preferred embodiment of the utility model, a support frame 12 is fixedly connected to the rear end of the beam 1 .

In a preferred embodiment of the present invention, the length of the No. 1 swing arm 3 is greater than the length of the No. 2 swing arm 4 .

In a preferred embodiment of the present utility model, the length of No. 1 connecting rod 9 is greater than the length of No. 2 connecting rod

In a preferred embodiment of the present utility model, the No. 1 gripper 5 and the No. 2 gripper 6 are arc-shaped plates.

The preferred embodiment of the utility model has been described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the specific details of the above-mentioned embodiment, and within the scope of the technical concept of the utility model, the technical solution of the utility model can be carried out in many ways. These simple modifications all belong to the protection scope of the present utility model.

In addition, it should be noted that the specific technical features described in the above specific embodiments can be combined in any suitable way if there is no contradiction. The combination method will not be explained separately.

In addition, any combination of various implementations of the present invention can also be made, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.

Claims (8)

1. A connecting rod structure grabbing manipulator, is characterized in that, comprises tripod, swing tripod, clamping arm one, clamping arm two and elongation driving mechanism, The tripod is composed of a beam (1) and a No. 1 folded bracket (2) fixed to the two ends of the beam (1), and the swing tripod is composed of a rotating link (7) and a fixed connection to the rotating The No. 2 folding bracket (8) at the two ends of the connecting rod (7) is composed of, wherein, the middle part of the rotating connecting rod (7) is pivotally connected to the top of the No. 1 folding bracket (2), and the rotating connecting rod (7) The two ends are respectively axially connected to the upper ends of the clamping arm 1 and the clamping arm 2, and the lower parts of the clamping arm 1 and the clamping arm 2 are respectively axially connected to the side wall of the front end of the crossbeam (1), The rear end of the beam (1) is axially connected to the lower end of the elongation driving mechanism, and the upper end of the elongation driving mechanism is axially connected to the top of the No. 2 folding bracket (8), The elongation driving mechanism can drive the swing tripod to move the clamping arm 1 and the clamping arm 2 so that the lower ends of the clamping arm 1 and the clamping arm 2 are close to each other. 2. The connecting rod structure grabbing manipulator according to claim 1, characterized in that, said clamping arm comprises a No. 1 connecting rod (9) and a No. 1 swing arm (3) which are axially connected to each other, wherein a The top of the No. connecting rod (9) is axially connected to the front end of the rotating connecting rod (7), and the bottom of the No. 1 swing arm (3) is axially connected to the front end of the crossbeam (1); The second clamping arm includes a No. 2 connecting rod (10) and a No. 2 swing arm (4) that are pivotally connected to each other, wherein the top of the No. 2 connecting rod (10) is on the same axis as the rear end of the rotating connecting rod (7). Then, the lower part of the No. 2 swing arm (4) is axially connected with the position near the front end of the crossbeam (1). 3. The connecting rod structure grabbing manipulator according to claim 2, characterized in that, the lower end of the No. 1 swing arm (3) is also fixedly connected with a No. 1 gripper (5), and the No. 2 swing arm (4 ) is also fixedly connected with the No. 2 gripper (6) relative to the No. 1 gripper (5). 4. The grabbing manipulator with connecting rod structure according to claim 3, characterized in that, the elongation driving mechanism is a telescopic cylinder (11). 5. The grabbing manipulator with connecting rod structure according to claim 4, characterized in that, a support frame (12) is fixedly connected to the rear end of the beam (1). 6. The grabbing manipulator with connecting rod structure according to claim 5, characterized in that the length of the No. 1 swing arm (3) is greater than the length of the No. 2 swing arm (4). 7. The grabbing manipulator with connecting rod structure according to claim 6, characterized in that the length of the No. 1 connecting rod (9) is greater than the length of the No. 2 connecting rod. 8. The grabbing manipulator with connecting rod structure according to claim 7, characterized in that, both the No. 1 gripper (5) and the No. 2 gripper (6) are arc-shaped plates.