CN206170106U - Manipulator of anticollision - Google Patents
Manipulator of anticollision Download PDFInfo
- Publication number
- CN206170106U CN206170106U CN201621096103.3U CN201621096103U CN206170106U CN 206170106 U CN206170106 U CN 206170106U CN 201621096103 U CN201621096103 U CN 201621096103U CN 206170106 U CN206170106 U CN 206170106U
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- Prior art keywords
- cylinder
- manipulator
- piston rod
- grasping mechanism
- anticollision
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Abstract
The utility model relates to a manipulator technical field, concretely relates to manipulator of anticollision, its structure includes arm, cylinder, the cylinder of cylinder with the arm is connected, the outer end of the piston rod of cylinder is installed and is snatched the mechanism, the cylinder with it is provided with the elastic component who is used for preventing to snatch mechanism's collision cylinder to snatch between the mechanism. When piston rod shrink or oscilaltion, elastic component is at the cylinder and pick and play the cushioning effect between the mechanism, and what prevent the quick movment picks mechanism's collision cylinder, effectively prevents collision between mechanical parts, and then play the guard action to mechanical that in addition, the motion impulsive force of manipulator has been alleviated to elastic component for the product is difficult to be hit the bits of broken glass by the impulsive force, has guaranteed the production quality of product.
Description
Technical field
The utility model is related to manipulator technical field, and in particular to a kind of manipulator of anticollision.
Background technology
Manipulator is a kind of according to setting program crawl, the automated machine of carrying object, because it can substitute artificial existing
Operation in the poisonous environment of high temperature, therefore, manipulator is widely used in machine-building, metallurgy, electronics, light industry and atomic energy etc.
Field.
Manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type and mechanical manipulator by type of drive, wherein, pneumatic type
Manipulator is widely used in industrial automation so that its simple, cheap, easy to maintenance, stain resistance is strong, pneumatic type machinery
Hand with compressed air be power source so as to control machinery hand is flexible and oscilaltion campaign.In actual production, to ensure production effect
Rate, it is necessary to improve and consolidate the service speed of Pneumatic mechanical hand to adapt to pipeline system speed of production faster, but quickly
The manipulator of operation has stronger kinetic energy, frequently results in and collide between mechanical part, especially in Pneumatic mechanical hand
Oscilaltion campaign manipulator, gripper components therein can occur constantly collision with the part such as cylinder, but machinery is pushing
Phase is easily caused mechanical failure with cylinder collision even collides produced fright power can cause product to crush, so as to reduce product
Quality.Accordingly, it would be desirable to carry out structure optimization to the manipulator of flexible and oscilaltion campaign, produced during robot movement with being slowed down
Collision so that ensure product the quality of production.
The content of the invention
There is above-mentioned technical problem for prior art, the utility model provide one kind can prevent between mechanical part collision and
Alleviate the manipulator of motion impulse force.
To achieve the above object, the utility model provides following technical scheme：
A kind of manipulator of anticollision, including mechanical arm, cylinder are provided, the cylinder barrel of the cylinder connects with the mechanical arm
Connect, the outer end of the piston rod of the cylinder is provided with grasping mechanism, be provided between the cylinder barrel and the grasping mechanism for
Prevent grasping mechanism from colliding the elastic parts of cylinder barrel.
Preferably, the elastic parts is spring, the body of rod of the spring housing located at the piston rod.
Preferably, the cylinder is set to two, and two cylinders are set up in parallel, and the outer end of the piston rod in two cylinders is solid
Same limiting plate is scheduled on, the grasping mechanism is fixedly connected by limiting plate with the piston rod.
Preferably, the grasping mechanism includes contiguous block and is arranged on the vacuum cup of contiguous block, the contiguous block with
The limiting plate is fixedly connected.
Preferably, the vacuum cup is provided with two, and two vacuum cups are arranged at the bottom surface of the contiguous block.
Preferably, two vacuum cups are communicated with valve.
The beneficial effects of the utility model：
A kind of manipulator of anticollision of the present utility model, including mechanical arm, cylinder, the cylinder barrel of the cylinder and the machine
Tool arm is connected, and the outer end of the piston rod of the cylinder is provided with grasping mechanism, is set between the cylinder barrel and the grasping mechanism
There is the elastic parts for preventing grasping mechanism from colliding cylinder barrel.Piston rod shrinks or during oscilaltion, elastic parts in cylinder barrel and
Cushioning effect is played between grasping mechanism, the grasping mechanism collision cylinder barrel of quick motion is prevented, collided between effectively preventing mechanical part,
And then machinery is played a protective role, in addition, elastic parts alleviates the impulse force of robot movement so that product is difficult by impulse force
Smash, it is ensured that the quality of production of product.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the manipulator of anticollision of the present utility model.
Fig. 2 is the partial enlargement structural representation at A in Fig. 1.
Reference：
Mechanical arm 1；
Cylinder barrel 2；
Piston rod 3；
Limiting plate 4；
Spring 5；
Grasping mechanism 6, contiguous block 61, vacuum cup 62；
Valve 7.
Specific embodiment
The utility model is described in detail below in conjunction with specific embodiment and accompanying drawing.
A kind of manipulator of anticollision of the present embodiment, as depicted in figs. 1 and 2, its structure includes mechanical arm 1, cylinder, institute
The cylinder barrel 2 for stating cylinder is connected with the mechanical arm 1, and the outer end of piston rod 3 of the cylinder is provided with grasping mechanism 6, the cylinder barrel 2
The elastic parts for preventing grasping mechanism from colliding cylinder barrel is provided between the grasping mechanism 6.Piston rod shrinks or upper and lower
During lifting, elastic parts plays cushioning effect between cylinder barrel and grasping mechanism, prevents from moving quick grasping mechanism collision cylinder barrel,
Collided between effectively preventing mechanical part, and then machinery is played a protective role, in addition, elastic parts alleviates robot movement
Impulse force so that product is difficult to be smashed by impulse force, it is ensured that the quality of production of product.
In the present embodiment, the elastic parts is spring 5, and the spring 5 is sheathed on the body of rod of the piston rod 3, machine
When tool hand shrinks or rises, spring supporting can effectively prevent the grasping mechanism of quick motion between cylinder barrel and grasping mechanism
Collision cylinder barrel, in addition, spring has preferable deformation nature and restorability, there is a preferable buffering effect, and spring knot
Structure is also easily arranged on the piston rod, is easy to Robot actions.
In the present embodiment, the cylinder is set to two, and two cylinders are set up in parallel, the outer end of the piston rod in two cylinders
Same limiting plate is each attached to, the grasping mechanism 6 is fixedly connected by limiting plate 4 with the piston rod 3, two piston rods 3
Outer end be each attached to same limiting plate 4, limiting plate is not only in the lump fixed on two piston rods on same limiting plate, makes
Piston rod stabilization and unified fixation are obtained, the shrinkage amplitude of piston rod is also defined, made or piston rod stabilization operation；The crawl
Mechanism 6 is fixedly installed by limiting plate 4 with described two piston rods 3, is easy to grasping mechanism to be fixed with piston rod.
In the present embodiment, two piston rods 3 are arranged with the spring 5 so that two piston rods all obtain the anti-of spring
Shield.
In the present embodiment, the grasping mechanism 6 includes contiguous block 61 and is arranged on the vacuum cup 62 of contiguous block 61, if
Put contiguous block to be easy to set vacuum cup, the contiguous block 61 is fixedly connected with the limiting plate 4 so that grasping mechanism is by connecting
Block is connect to be fixedly connected with limiting plate consequently facilitating grasping mechanism is fixed on the piston rod.
In the present embodiment, the vacuum cup 62 is provided with two, and two vacuum cups 62 are arranged at the contiguous block 61
Bottom surface, improve manipulator crawl dynamics.
In the present embodiment, described two vacuum cups 62 are communicated with valve 7, are easy to vacuum cup grafting tracheae so that
Vacuum cup can preferably capture object.
Finally it should be noted that above example is only used to illustrate the technical solution of the utility model, rather than to this reality
With the limitation of novel protected scope, although being explained to the utility model with reference to preferred embodiment, this area it is general
It is logical it will be appreciated by the skilled person that can be modified to the technical solution of the utility model or equivalent, without deviating from this
The spirit and scope of utility model technical scheme.
Claims (6)
1. a kind of manipulator of anticollision, it is characterized in that：Including mechanical arm, cylinder, the cylinder barrel of the cylinder and the mechanical arm
Connection, the outer end of the piston rod of the cylinder is provided with grasping mechanism, use is provided between the cylinder barrel and the grasping mechanism
In the elastic parts for preventing grasping mechanism from colliding cylinder barrel.
2. the manipulator of a kind of anticollision according to claim 1, it is characterized in that：The elastic parts is spring, described
The body of rod of the spring housing located at the piston rod.
3. the manipulator of a kind of anticollision according to claim 1, it is characterized in that：The cylinder is set to two, two gas
Cylinder is set up in parallel, and the outer end of the piston rod in two cylinders is each attached to same limiting plate, and the grasping mechanism passes through limiting plate
It is fixedly connected with the piston rod.
4. the manipulator of a kind of anticollision according to claim 3, it is characterized in that：The grasping mechanism include contiguous block with
And the vacuum cup of contiguous block is arranged on, the contiguous block is fixedly connected with the limiting plate.
5. the manipulator of a kind of anticollision according to claim 4, it is characterized in that：The vacuum cup is provided with two,
Two vacuum cups are arranged at the bottom surface of the contiguous block.
6. the manipulator of a kind of anticollision according to claim 5, it is characterized in that：Two vacuum cups are communicated with gas
Mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621096103.3U CN206170106U (en) | 2016-09-30 | 2016-09-30 | Manipulator of anticollision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621096103.3U CN206170106U (en) | 2016-09-30 | 2016-09-30 | Manipulator of anticollision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170106U true CN206170106U (en) | 2017-05-17 |
Family
ID=58678328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621096103.3U Active CN206170106U (en) | 2016-09-30 | 2016-09-30 | Manipulator of anticollision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206170106U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393909A (en) * | 2018-01-31 | 2018-08-14 | 常熟理工学院 | Thin plate transmission manipulator with dedusting function and its component |
| CN111203911A (en) * | 2020-02-25 | 2020-05-29 | 广东博智林机器人有限公司 | Linear motion execution device and reinforcing steel bar processing equipment |
| CN111844088A (en) * | 2020-07-03 | 2020-10-30 | 中信机电制造公司科研设计院 | Hawk claw type manipulator |
-
2016
- 2016-09-30 CN CN201621096103.3U patent/CN206170106U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393909A (en) * | 2018-01-31 | 2018-08-14 | 常熟理工学院 | Thin plate transmission manipulator with dedusting function and its component |
| CN111203911A (en) * | 2020-02-25 | 2020-05-29 | 广东博智林机器人有限公司 | Linear motion execution device and reinforcing steel bar processing equipment |
| CN111844088A (en) * | 2020-07-03 | 2020-10-30 | 中信机电制造公司科研设计院 | Hawk claw type manipulator |
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