Double-linkage manipulator

Abstract

The invention discloses a double-linkage manipulator. The double-linkage manipulator comprises a bracket, a piston rod, a driver board, a pair of driving connecting rods, a pair of linkage connectingrods, a pair of claw connecting rods and a pair of claws, and the driving connecting rods, the linkage connecting rods, the claw connecting rods and the claws are separately and symmetrically arranged. The piston rod penetrates through the bracket and is in sliding fit with the bracket. Connecting arms are arranged at the positions, on both sides of the piston rod, of the brackets, and the driverboard is located between the connecting arms and fixedly connected with the free end of the piston rod. The two ends of the linkage connecting rods are separately hinged to the rear ends of the clawsand the connecting arms, and the claw connecting rods are located outside the linkage connecting rods. The front ends of the claw connecting rods are hinged to the rear ends of the claws, and the middle portions of the claw connecting rods are hinged to the connecting arms. One ends of the driving connecting rods are hinged to the driver board, and the other ends of the driving connecting rods arehinged to the rear ends of the claw connecting rods. A guiding mechanism for preventing the piston rod from being displaced is disposed between the driver board and the bracket. The double-linkage manipulator has simple structure, no movement gap, accurate clamping of workpiece, stable and reliable use and great popularization and application value.

Description

technical field [0001] The invention relates to a manipulator, in particular to a double linkage manipulator. Background technique [0002] The manipulator can imitate certain action functions of the human hand, and is used to grasp and carry objects or operate automatic operation devices according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of human beings to realize the mechanization and automation of production, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. Manipulator drive methods can be divided into hydraulic, pneumatic, electric, and mechanical, among which pneumatic manipulators driven by cylinders are the most common. [0003] For example, the application publication number CN103624782 A, the Chinese patent of application publication date 2014.03.12 discloses a manipulator, specifically related to...

AI Technical Summary

Problems solved by technology

The clamping force of the gripper in the manipulator depends on the tension of the spring. After a long time of use, the spring will become loose, affecting the clamping force and thus the stability of use; at the same time, the drive rod is prone to shake during use. (There is a movement gap), which affects the accuracy of the manipulator to clamp the workpiece. In addition, when the gripper is released, the spring is easy to fall off

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