CN207858823U - A kind of ratchet-type rotation pick-and-place manipulator - Google Patents
A kind of ratchet-type rotation pick-and-place manipulator Download PDFInfo
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- CN207858823U CN207858823U CN201820025989.5U CN201820025989U CN207858823U CN 207858823 U CN207858823 U CN 207858823U CN 201820025989 U CN201820025989 U CN 201820025989U CN 207858823 U CN207858823 U CN 207858823U
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- ratchet
- core
- clamping jaw
- engine base
- sliding sleeve
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Abstract
The utility model discloses a kind of ratchet-type rotation pick-and-place manipulator, and the manipulator includes engine base, and the engine base is equipped with mounting plate, and the mounting plate upper end is connected with motor, and the manipulator further includes sliding sleeve, core, bearing, ratchet, gonnecting rod body and clamping jaw；The cunning is set on inside the core, and sliding sleeve lower end is hinged with the gonnecting rod body；The core setting is in sliding sleeve periphery, and core is located at the brearing bore, and core lower end outwardly convex forms the ratchet；The bearing is arranged in the endoporus of the engine base, and bearing is set in the core periphery；The clamping jaw is arranged in the core lower end, and clamping jaw is located at edge in ratchet downside, and clamping jaw top is hinged with the core, is hinged with the gonnecting rod body in the middle part of clamping jaw.The utility model is simple in structure, at low cost, easy to maintain, and object can be captured in the automatic machine equipment of every profession and trade and is moved to B location from location A and puts down, and can realize and rotate at any angle during exercise.
Description
Technical field
The utility model is related to a kind of ratchet-types to rotate pick-and-place manipulator, belong to a kind of execution mould for carrying workpiece or product
Block.
Background technology
Currently, in each production field, people generally require to make in processing or machine workpiece or product from a position
It sets and is moved to another position.In the equipment of automation, this function is carried out by grabbing device under the control of automatic system
It realizes, needs the manipulator of different patterns for the workpiece of different shape and requirement in order to realize different functions.At this stage,
In order to realize rotation of the workpiece in moving process, mechanism, which generally requires two power sources, to be realized, and in motion process
Make by the rotation of mobile object, or rotated in target location, mostly uses two power sources greatly, mechanism is complicated, of high cost.
The Chinese patent of publication number CN105904454A discloses a kind of catching robot, including mechanical paw, the crawl
Manipulator further includes clamp springs, and the clamp springs, the mechanical paw end are installed on the opposite inside of two mechanical paws
End is connect with cylinder paw, and the cylinder paw is mounted in air cylinder fixed plate, the lower end of the air cylinder fixed plate and rotary shaft
It is fixedly connected, the rotary shaft is mounted on swivel bearing, and the swivel bearing is mounted on engine base, the upper end of the rotary shaft
With the output axis connection of deceleration mechanism, the input shaft of the deceleration mechanism and the output axis connection of driving motor.Although the patent
It can realize crawl function, but its crawl and running accuracy are relatively low, and grippers are difficult to realize during crawl
Accurate rotation control, while the stability of the catching robot is poor, mechanical paw, which still needs, uses two power source ability
Realize that crawl function, structure are relative complex.
Utility model content
The utility model is in view of the deficienciess of the prior art, provide a kind of ratchet-type rotation pick-and-place manipulator, Ke Yishi
The crawl function in the processes such as station conversion or final inspection packaging is carried out to semifinished or finished goods in existing production, and also
May be implemented can to capture the rotating function of workpiece or product in the automatic machine equipment of every profession and trade after crawl object from
Location A is moved to B location and puts down, and can realize and rotate at any angle during exercise.
The technical solution that the utility model solves above-mentioned technical problem is as follows：A kind of ratchet-type rotation pick-and-place manipulator, institute
It includes engine base to state manipulator, and the engine base is equipped with mounting plate, and the mounting plate upper end is connected with motor, and the manipulator further includes
Sliding sleeve, core, bearing, ratchet, gonnecting rod body and clamping jaw；The cunning is set on inside the core, sliding sleeve lower end and the company
The body of rod is hinged；The core setting is in sliding sleeve periphery, and core is located at the brearing bore, and core lower end outwardly convex is formed
The ratchet；The bearing is arranged in the endoporus of the engine base, and bearing is set in the core periphery；The clamping jaw setting exists
The core lower end, clamping jaw are located at edge in ratchet downside, and clamping jaw top is hinged with the core, clamping jaw middle part and the gonnecting rod body
It is hinged.
A kind of ratchet-type as described above rotates pick-and-place manipulator, and the motor uses stepper motor or servo motor, electricity
Machine lower end is connected with screw axis, and the mounting plate is equipped with port, and screw axis passes through the port.Motor is mounted on engine base,
The axis of motor is screw axis.Stepper motor or servo motor may be used in motor.
Further, the sliding sleeve upper end is connected with nut, the nut and the bar axis connection.The upper end of sliding sleeve is equipped with
Nut, nut are connected with the screw axis on motor, and when motor rotates forward, nut moves up, and to drive sliding sleeve to move up, gonnecting rod body is drawn
Dynamic clamping jaw makes it be closed to clamp workpiece, and the rotation of motor drives nut to do axis axial movement.
A kind of ratchet-type as described above rotates pick-and-place manipulator, and the engine base includes vertical component effect and horizontal part, described to hang down
Straight portion and the L-shaped connection of horizontal part, the horizontal part are equipped with mounting hole, and the bearing is arranged in the mounting hole.Bearing
In the mounting hole of engine base horizontal part, bearing is used to support the rotation of core, reduces the friction in core rotation process.
Further, the mounting hole is equipped with 2, and 2 mounting holes are located at the upper and lower side of the horizontal part, 2 installations
Horizontal part between hole is equipped with interval body, and each mounting hole is internally provided with 1 bearing.Number of bearings is set as 2, while
Interval body is set between 2 bearings, improves the rotational stabilization of core.
A kind of ratchet-type as described above rotates pick-and-place manipulator, and engine base lower end side is equipped with fixed part, described solid
Determine portion and be connected with rotation stop spring, the rotation stop spring is connected with pawl, and the pawl is hinged with the engine base, pawl and the spine
Wheel engagement.Pawl is installed, pawl is connected with ratchet by rotation stop spring, to which core can only be by motor forward direction on engine base
It one-directionally rotates.
A kind of ratchet-type as described above rotates pick-and-place manipulator, and engine base lower end side is equipped with fixed part, described solid
Determine portion and be connected with stop shrapnel, the stop shrapnel and the ratchet root circle are tangent.Ratchet equally may be implemented in stop shrapnel
One-way stop function, it is especially by installing a stop shrapnel on fixed part, its installation direction and ratchet root circle is tangent,
Realize the one-way stop of ratchet.
A kind of ratchet-type as described above rotates pick-and-place manipulator, and the clamping jaw quantity is 2, and 2 clamping jaws are oppositely arranged,
Clamping jaw lower end is in arc sheet, is equipped with hinged groove in the middle part of clamping jaw, the gonnecting rod body is hinged on inside the hinged groove.
A kind of ratchet-type as described above rotates pick-and-place manipulator, and the sliding sleeve lower end is equipped with pin-joint piece, the gonnecting rod body
It is connect with the pin-joint piece.Sliding sleeve moving up and down is housed on core, being equipped on sliding sleeve can be around the connecting rod of fixed-axis rotation
Body, gonnecting rod body are connected with clamping jaw.Since sliding sleeve is connected by gonnecting rod body and clamping jaw, so sliding sleeve can only slide up and down.
The utility model has the beneficial effects that：Manipulator is equipped with engine base, and engine base is equipped with mounting plate, and mounting plate upper end is connected with
Motor, manipulator further include sliding sleeve, core, bearing, ratchet, gonnecting rod body and clamping jaw；Cunning is set on inside core, sliding sleeve lower end
It is hinged with gonnecting rod body；In sliding sleeve periphery, core is located at brearing bore for core setting, and core lower end outwardly convex forms ratchet；Axis
It holds and is arranged in the endoporus of engine base, bearing is set in core periphery；Clamping jaw is arranged in core lower end, and clamping jaw is located in ratchet downside
Edge, clamping jaw top is hinged with core, hinged with gonnecting rod body in the middle part of clamping jaw.The utility model overcomes other types grasping mechanism
Deficiency is driven using single power source, simple in structure, at low cost, easy to maintain, can be in the automatic machine equipment of every profession and trade
In be moved to B location to capture object from location A and put down, and can realize and rotate at any angle during exercise.
Description of the drawings
Fig. 1 is that ratchet-type rotates pick-and-place manipulator dimensional structure diagram；
Fig. 2 is that ratchet-type rotates pick-and-place manipulator along vertical plane sectional view；
Fig. 3 is that ratchet-type rotates pick-and-place manipulator ratchet, fixed part, rotation stop spring and pawl structures schematic diagram；
Fig. 4 is that ratchet-type rotates pick-and-place manipulator stop shrapnel, ratchet, fixing part structure schematic diagram；
In figure, 1, engine base；101, vertical component effect；102, horizontal part；2, mounting plate；3, motor；4, sliding sleeve；5, core；6, axis
It holds；7, ratchet；8, gonnecting rod body；9, clamping jaw；10, screw axis；11, fixed part；12, rotation stop spring；13, pawl；14, pin-joint piece；
15, nut；16, stop shrapnel.
Specific implementation mode
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, below in conjunction with the accompanying drawings to this
The specific implementation mode of utility model is described in detail.Elaborate many details in order to abundant in the following description
Understand the utility model.But the utility model can be much to implement different from other manner described here, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs
The limitation for the specific embodiment opened.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
As shown in Figure 1 and Figure 2, a kind of ratchet-type rotates pick-and-place manipulator, and the manipulator includes engine base 1, the engine base 1
Equipped with mounting plate 2,2 upper end of the mounting plate is connected with motor 3, and the manipulator further includes sliding sleeve 4, core 5, bearing 6, ratchet
7, gonnecting rod body 8 and clamping jaw 9；The sliding sleeve 4 is arranged inside the core 5, and 4 lower end of sliding sleeve is hinged with the gonnecting rod body 8；It is described
The setting of core 5 is located at 6 endoporus of the bearing in 4 periphery of the sliding sleeve, core 5, and 5 lower end outwardly convex of core forms the ratchet
7；The bearing 6 is arranged in the endoporus of the engine base 1, and bearing 6 is set in 5 periphery of the core；The clamping jaw 9 is arranged in institute
5 lower end of core is stated, clamping jaw 9 is located at edge in 7 downside of ratchet, and 9 top of clamping jaw is hinged with the core 5,9 middle part of clamping jaw and the company
The body of rod 8 is hinged.
Ratchet-type rotates in one embodiment of pick-and-place manipulator, and the motor 3 uses stepper motor or servo motor, electricity
3 lower end of machine is connected with screw axis 10, and the mounting plate 2 is equipped with port, and screw axis 10 passes through the port.Motor 3 is mounted on
On engine base 1, the axis of motor 3 is screw axis 10.Stepper motor or servo motor may be used in motor 3.4 upper end of the sliding sleeve connects
There are nut 15, the nut 15 to be connect with the screw axis 10.The upper end of sliding sleeve 4 is equipped with nut, nut and the silk on motor 3
Bar axis 10 is connected, and when motor 3 rotates forward, nut 15 moves up, and to drive sliding sleeve 4 to move up, gonnecting rod body 8 pulls clamping jaw 9 to make its closure
To clamp workpiece, the rotation of motor 3 drives nut 15 to do axis axial movement.
Ratchet-type rotates in one embodiment of pick-and-place manipulator, and the engine base 1 includes vertical component effect 101 and horizontal part 102,
The 102 L-shaped connection of the vertical component effect 101 and horizontal part, the horizontal part 102 are equipped with mounting hole, and the bearing 6 is arranged in institute
It states in mounting hole.Bearing 6 is mounted in the mounting hole of 1 horizontal part 102 of engine base, and bearing 6 is used to support the rotation of core 5, is reduced
Friction in 5 rotation process of core.The mounting hole is equipped with 2, and 2 mounting holes are located at the upper and lower of the horizontal part 102
It holds, the horizontal part 102 between 2 mounting holes is equipped with interval body, and each mounting hole is internally provided with 1 bearing 6.6 quantity of bearing
2 are set as, while interval body is set between 2 bearings 6, improves the rotational stabilization of core 5.
Referring to Fig. 3, ratchet-type rotates in one embodiment of pick-and-place manipulator, and 1 lower end side of the engine base, which is equipped with, to be fixed
Portion 11, the fixed part 11 are connected with rotation stop spring 12, and the rotation stop spring 12 is connected with pawl 13, the pawl 13 with it is described
Engine base 1 is hinged, and pawl 13 is engaged with the ratchet 7.Pawl 13 is installed, pawl 13 passes through rotation stop spring with ratchet 7 on engine base 1
12 are connected, to which core 5 can only be one-directionally rotated by 3 forward direction of motor.
Referring to Fig. 4, ratchet-type rotates in one embodiment of pick-and-place manipulator, and engine base lower end side is equipped with fixed part
11, the fixed part 11 is connected with stop shrapnel 16, and the stop shrapnel 16 is tangent with the root circle of the ratchet 7.Stop bullet
The one-way stop function of ratchet 7 equally may be implemented in piece 16, especially by a stop shrapnel 16 is installed on fixed part 11, by it
The root circle of installation direction and ratchet 7 is tangent, realizes the one-way stop of ratchet 7.
Ratchet-type rotates in one embodiment of pick-and-place manipulator, and 9 quantity of the clamping jaw is 2, and 2 clamping jaws 9 are opposite to be set
It sets, 9 lower end of clamping jaw is in arc sheet, and 9 middle part of clamping jaw is equipped with hinged groove, and the gonnecting rod body 8 is hinged on inside the hinged groove.
Ratchet-type rotates in one embodiment of pick-and-place manipulator, and 4 lower end of the sliding sleeve is equipped with pin-joint piece 14, the connecting rod
Body 8 is connect with the pin-joint piece 14.Sliding sleeve 4 moving up and down is housed on core 5, being equipped on sliding sleeve 4 can turn around dead axle
Dynamic gonnecting rod body 8, gonnecting rod body 8 are connected with clamping jaw 9.Since sliding sleeve 4 is connected by gonnecting rod body 8 and clamping jaw 9, so sliding sleeve 4 can only
It slides up and down.
The utility model is the pick-and-place manipulator of an a kind of rotatable and shared power source, with screw axis 10
It is electrically mounted on mounting plate 2, mounting plate 2 is fixed on engine base 1, and bearing 6 is housed on the endoporus of engine base 1, and core 5 is mounted on bearing
In 6 endoporus, there is one to be slidably matched sliding sleeve 4 in core 5,4 articulated linkage of sliding sleeve, connecting rod and the clamping jaw 9 being hinged on core 5 are cut with scissors
It connects, to form four-bar mechanism, sliding sleeve 4 can only in an axial direction be moved up and down due to the limitation of connecting rod and clamping jaw 9 in core 5,
Nut is fixed on sliding sleeve 4, the lower part of core 5 is machined with ratchet 7, pawl 13 is housed on engine base 1, pawl 13 is in rotation stop spring 12
Under the action of be pressed on ratchet 7, to make core 5 only along 3 forward direction of motor rotate, when motor 3 rotates forward, core 5 due to
Rotation stop spring 12 act on it is stationary, nut relative to 3 screw axis 10 of motor rotation move up, to drive sliding sleeve 4 pull connect
Bar moves up, and connecting rod pulls clamping jaw 9 to be closed, to clamp workpiece.When clamping jaw 9 cannot be moved inwardly again, motor 3 drives nut
It rotates, is acted on core 5 by connecting rod together, ratchet 7 overcomes the pressure of rotation stop spring 12 to start to rotate, to realize machinery
The rotating function of hand, when needing to unclamp workpiece, motor 3 inverts, and due to the one-way of the ratchet 7 on core 5, nut is with respect to lead screw
Axis 10 rotates, and to which nut moves down, pushes connecting rod that clamping jaw 9 is made to open, releasable clamps, if you do not need to workpiece rotates, as long as
The step number of motor 3 is set, it is made just to clamp workpiece, test tube may be used in workpiece.
The utility model makes the sliding sleeve 4 for being equipped with nut by the rotation of the screw axis 10 on stepper motor or servo motor
It moves up and down, to drive gonnecting rod body 8 that clamping jaw 9 is made to open or be closed, to the function of realizing the crawl of manipulator and put down, together
When, pawl 13 makes the core 5 being mounted on bearing 6 that can only be one-directionally rotated, and when motor 3 rotates forward, core 5 is in rotation stop bullet
Do not turn under the effect of 12 elastic force of spring, to make nut and screw axis 10 relatively rotate, after clamping jaw 9 clamps workpiece, rotation stop bullet
The elastic force of spring 12 is not enough to prevent the rotation of core 5, and at this moment workpiece is rotated together with core 5.When needing to put down workpiece, motor
3 invert, and the ratchet 7 on core 5 cannot rotate under the action of pawl 13, and nut, which moves down, makes clamping jaw 9 unclamp, to which workpiece is put
It sets in designated position.When motor 3 rotates forward, under the action of the spring, ratchet 7 keeps core 5 fixed, to which lead screw makes nut
It moves up, connecting rod drives clamping jaw 9 to be closed clamping workpiece, and after clamping workpiece, the elastic force of spring is not enough to prevent 7 turns of ratchet
It is dynamic, at this moment if motor 3 can be rotated further and core 5 is driven to rotate together, to realize the rotation of workpiece.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (9)
1. a kind of ratchet-type rotates pick-and-place manipulator, the manipulator includes engine base, and the engine base is equipped with mounting plate, the installation
Plate upper end is connected with motor, it is characterised in that：The manipulator further includes sliding sleeve, core, bearing, ratchet, gonnecting rod body and clamping jaw；
The cunning is set on inside the core, and sliding sleeve lower end is hinged with the gonnecting rod body；The core is arranged outside the sliding sleeve
It encloses, core is located at the brearing bore, and core lower end outwardly convex forms the ratchet；The bearing is arranged in the engine base
In endoporus, bearing is set in the core periphery；The clamping jaw is arranged in the core lower end, and clamping jaw is located in ratchet downside
Edge, clamping jaw top is hinged with the core, hinged with the gonnecting rod body in the middle part of clamping jaw.
2. a kind of ratchet-type according to claim 1 rotates pick-and-place manipulator, it is characterised in that：The motor uses stepping
Motor or servo motor, motor lower end are connected with screw axis, and the mounting plate is equipped with port, and screw axis passes through the port.
3. a kind of ratchet-type according to claim 1 or 2 rotates pick-and-place manipulator, it is characterised in that：The sliding sleeve upper end
It is connected with nut, the nut and the lead screw axis connection.
4. a kind of ratchet-type according to claim 1 rotates pick-and-place manipulator, it is characterised in that：The engine base includes vertical
Portion and horizontal part, the vertical component effect and the L-shaped connection of horizontal part, the horizontal part are equipped with mounting hole, and the bearing setting exists
In the mounting hole.
5. a kind of ratchet-type according to claim 4 rotates pick-and-place manipulator, it is characterised in that：The mounting hole is equipped with 2
A, 2 mounting holes are located at the upper and lower side of the horizontal part, and the horizontal part between 2 mounting holes is equipped with interval body, each
Mounting hole is internally provided with 1 bearing.
6. a kind of ratchet-type according to claim 1 rotates pick-and-place manipulator, it is characterised in that：Engine base lower end side
Equipped with fixed part, the fixed part is connected with rotation stop spring, and the rotation stop spring is connected with pawl, the pawl and the engine base
Hinged, pawl is engaged with the ratchet.
7. a kind of ratchet-type according to claim 1 rotates pick-and-place manipulator, it is characterised in that：Engine base lower end side
Equipped with fixed part, the fixed part is connected with stop shrapnel, and the stop shrapnel and the ratchet root circle are tangent.
8. a kind of ratchet-type according to claim 1 rotates pick-and-place manipulator, it is characterised in that：The clamping jaw quantity is 2
A, 2 clamping jaws are oppositely arranged, and clamping jaw lower end is in arc sheet, is equipped with hinged groove in the middle part of clamping jaw, the gonnecting rod body is hinged on the hinge
Inside access slot.
9. a kind of ratchet-type according to claim 1 rotates pick-and-place manipulator, it is characterised in that：The sliding sleeve lower end is equipped with
Pin-joint piece, the gonnecting rod body are connect with the pin-joint piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820025989.5U CN207858823U (en) | 2018-01-08 | 2018-01-08 | A kind of ratchet-type rotation pick-and-place manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820025989.5U CN207858823U (en) | 2018-01-08 | 2018-01-08 | A kind of ratchet-type rotation pick-and-place manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207858823U true CN207858823U (en) | 2018-09-14 |
Family
ID=63464986
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820025989.5U Withdrawn - After Issue CN207858823U (en) | 2018-01-08 | 2018-01-08 | A kind of ratchet-type rotation pick-and-place manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207858823U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984462A (en) * | 2018-01-08 | 2018-05-04 | 烟台德迈生物科技有限公司 | A kind of ratchet-type rotates pick-and-place manipulator |
| CN115477025A (en) * | 2022-10-31 | 2022-12-16 | 哈尔滨工业大学 | Passive modular interface clamping device for realizing auxiliary expansion of satellite fault sailboard |
-
2018
- 2018-01-08 CN CN201820025989.5U patent/CN207858823U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984462A (en) * | 2018-01-08 | 2018-05-04 | 烟台德迈生物科技有限公司 | A kind of ratchet-type rotates pick-and-place manipulator |
| CN107984462B (en) * | 2018-01-08 | 2024-02-02 | 烟台德迈生物科技有限公司 | Ratchet wheel type rotation picking and placing manipulator |
| CN115477025A (en) * | 2022-10-31 | 2022-12-16 | 哈尔滨工业大学 | Passive modular interface clamping device for realizing auxiliary expansion of satellite fault sailboard |
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Granted publication date: 20180914 Effective date of abandoning: 20240202 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180914 Effective date of abandoning: 20240202 |