CN110815195A - Lifting mechanism of manipulator - Google Patents
Lifting mechanism of manipulator Download PDFInfo
- Publication number
- CN110815195A CN110815195A CN201911070604.2A CN201911070604A CN110815195A CN 110815195 A CN110815195 A CN 110815195A CN 201911070604 A CN201911070604 A CN 201911070604A CN 110815195 A CN110815195 A CN 110815195A
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- China
- Prior art keywords
- sliding
- transverse
- seat
- sliding seat
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a lifting mechanism of a manipulator, which comprises a sliding seat and a sliding sleeve fixedly arranged on the sliding seat, wherein a lifting driving cylinder is fixedly arranged on the sliding seat, one end of the lifting driving cylinder is fixedly arranged on the sliding seat, the other end of the lifting driving cylinder is fixedly arranged on a manipulator device, a guide column is connected in the sliding sleeve in a sliding manner, and the guide column penetrates through the sliding sleeve and is connected to the manipulator device; the manipulator device is lifted through the movement of the lifting driving cylinder; the device has a simple structure, is simple and convenient to use, can effectively match with processes with different heights, avoids manual carrying in the process of converting the processes, reduces the labor intensity, accelerates the production speed and improves the production efficiency; through setting up the guide post, through guide post and sliding sleeve's sliding connection cooperation, can make things convenient for safe lifting manipulator device, have safety and stability's characteristics.
Description
Technical Field
The invention belongs to the technical field of steel plate processing, and particularly relates to a lifting mechanism of a manipulator.
Background
The steel plate plays a great role in the economic development of China, the steel plate is widely used in various industries of the society, the steel plate production industry is hot, the steel plate provides essential material support for the rapid development of the social economy, and the rapid development of the economy of China is promoted.
At present, the processing and production process of the steel plate generally stays in a manual or semi-automatic state, and has the defects of low efficiency and poor precision; in the prior art, full-automatic equipment capable of transferring products among processes with different heights is lacked.
In view of the above technical problems, improvements are needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the lifting mechanism of the manipulator, which has the advantages of simple structure, convenience in operation, capability of lifting steel plates to different heights and high automation degree.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a lifting mechanism of a manipulator comprises a sliding seat and a sliding sleeve fixedly arranged on the sliding seat, wherein a lifting driving cylinder is fixedly arranged on the sliding seat, one end of the lifting driving cylinder is fixedly arranged on the sliding seat, the other end of the lifting driving cylinder is fixedly arranged on a manipulator device, a guide column is connected in the sliding sleeve in a sliding mode, and the guide column penetrates through the sliding sleeve and is connected to the manipulator device; the manipulator device is lifted by the movement of the lifting driving cylinder.
In a preferred embodiment of the present invention, the robot device further includes a horizontal adjustment mechanism for horizontally moving the robot device, and the slide base is slidably connected to the horizontal adjustment mechanism.
As a preferable mode of the present invention, the horizontal adjustment mechanism includes a traveling frame, a transverse sliding mechanism is installed on the traveling frame, the traveling frame is slidably connected to the sliding seat through the transverse sliding mechanism, and a driving motor is disposed on the sliding seat.
In a preferred embodiment of the present invention, the lateral sliding mechanism includes a lateral rail and a lateral side rail respectively fixed to the top and the side of the traveling frame, and a lateral slider seat and a lateral side slider seat are respectively slidably connected to the lateral rail and the lateral side rail.
In a preferred mode of the present invention, the sliding seat is in an "L" structure, and the lateral sliding block seat are fixedly disposed at the bottom and inside of the sliding seat.
As a preferable mode of the present invention, the two sliding sleeves are symmetrically arranged on the sliding seat, and the lifting driving cylinder is located between the two sliding sleeves.
As a preferred mode of the present invention, an elastic seismic isolation and reduction device is installed at the bottom of the manipulator device, and the elastic seismic isolation and reduction device is arranged along the moving direction of the steel plate.
As a preferred mode of the invention, the elastic seismic isolation and reduction device comprises a bolt, a positioning plate, a lower steel plate and a plurality of springs; the springs are assembled between the positioning plate and the lower steel plate; the spring is fixed with the positioning plate and the lower steel plate by bolts.
As a preferable mode of the invention, four springs are arranged and symmetrically arranged on two sides of the positioning plate.
In a preferred embodiment of the present invention, the length of the lower steel plate is greater than the width of the positioning plate.
The invention has the beneficial effects that:
1. the device has a simple structure, is simple and convenient to use, can effectively match with processes with different heights, avoids manual carrying in the process of converting the processes, reduces the labor intensity, accelerates the production speed and improves the production efficiency;
2. according to the invention, the guide post is arranged, and the guide post is matched with the sliding sleeve in a sliding connection manner, so that the manipulator device can be conveniently and safely lifted, and the manipulator device has the characteristics of safety and stability;
3. the two sliding sleeves are arranged, so that the stability of the device in the process of lifting the manipulator device is further improved, and safety guarantee is provided for the subsequent processing of a steel plate;
4. by arranging the horizontal adjusting mechanism, the movement of the manipulator in the transverse and longitudinal directions can be realized, and an automatic basis is provided for the subsequent steel plate processing;
5. by arranging the transverse sliding mechanism, the top and the side wall are respectively arranged to slide simultaneously, so that the sliding continuity of the sliding seat is realized, the manipulator device is orderly and stably carried out in the moving process, and the working and using efficiency is improved;
6. the invention is provided with an elastic shock absorption and isolation device which has horizontal and vertical shock absorption and shock absorption capabilities; the defect of poor tensile capability of the manipulator in the moving process can be effectively overcome.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a side view of an embodiment of the present invention;
reference numbers in the figures: the device comprises a positioning plate 12, a sliding seat 20, a driving motor 20-1, an elastic shock absorption and isolation device 200, a sliding sleeve 201, a guide column 202, a lifting driving cylinder 203, a lower steel plate 204, a spring 205, a bolt 206, a horizontal adjusting mechanism 207, a traveling frame 208, a transverse rail 208-1, a transverse side rail 208-2, a transverse sliding block seat 208-3, a transverse side sliding block seat 208-4 and a transverse sliding mechanism 209.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
Example (b): as shown in fig. 1-2, a lifting mechanism of a manipulator includes a sliding seat 20, a sliding sleeve 201 fixedly disposed on the sliding seat 20, a lifting driving cylinder 203 fixedly disposed on the sliding seat 20, one end of the lifting driving cylinder 203 fixedly disposed on the sliding seat 20, and the other end fixedly disposed on a manipulator device, a guiding column 202 slidably connected in the sliding sleeve 201, the guiding column 202 penetrating through the sliding sleeve 201 and connected to the manipulator device; the manipulator device is lifted by the movement of the lifting driving cylinder 203; the device simple structure, it is simple and convenient to use, can effectively cooperate the process of co-altitude not, avoids using manpower transport when the conversion process, reduces intensity of labour for production speed improves production efficiency.
According to the invention, the guide post is arranged, and the guide post is matched with the sliding sleeve in a sliding connection manner, so that the manipulator device can be conveniently and safely lifted, and the manipulator device has the characteristics of safety and stability; specifically, two sliding sleeves 201 are symmetrically arranged on the sliding seat 20, and the lifting driving cylinder 203 is located between the two sliding sleeves 201; the stability of the device in the process of lifting the manipulator device is further improved, and safety guarantee is provided for the subsequent processing of the steel plate.
The lifting mechanism of the manipulator further comprises a horizontal adjusting mechanism 207 for horizontally moving the manipulator device, and a sliding seat 20 is connected to the horizontal adjusting mechanism 207 in a sliding manner; the horizontal adjusting mechanism 207 comprises a traveling frame 208, a transverse sliding mechanism 209 is installed on the traveling frame 208, the traveling frame 208 is connected with the sliding seat 20 in a sliding mode through the transverse sliding mechanism 209, and a driving motor 20-1 is arranged on the sliding seat 20.
The transverse sliding mechanism 209 comprises a transverse rail 208-1 and a transverse side rail 208-2 which are respectively fixed on the top and the side of the traveling frame 208, and correspondingly, a transverse slider seat 208-3 and a transverse slider seat 208-4 are respectively connected on the transverse rail 208-1 and the transverse side rail 208-2 in a sliding way; the sliding seat 20 is in an L-shaped structure, and the transverse sliding block seat 208-3 and the transverse side sliding block seat 208-4 are fixedly arranged at the bottom and the inner side of the sliding seat 20; through setting up horizontal adjustment mechanism, can realize the removal of manipulator in horizontal and longitudinal direction, provide the basis of automaticly for follow-up steel sheet processing.
The bottom of the manipulator device is provided with an elastic shock absorption and isolation device 200, and the elastic shock absorption and isolation device 200 is arranged along the moving direction of the steel plate; when the handle manipulator device of the driving cylinder 203 is lifted, when the elastic shock absorption and isolation device 200 is subjected to vertical pulling and pressing vibration and horizontal shearing vibration, the plurality of springs 205 work in a cooperative mode to form a rigidity weak layer to isolate vertical and horizontal vibration energy, and meanwhile, the elasticity in the plurality of springs 205 can generate pulling and pressing or shearing deformation under the excitation of the vertical or horizontal vibration to dissipate the vibration energy.
The elastic seismic isolation and reduction device 200 comprises a bolt 206, a positioning plate 12, a lower steel plate 204 and a plurality of springs 205; a plurality of springs 205 are assembled between the positioning plate 12 and the lower steel plate 204; the length of the lower steel plate 204 is greater than the width of the positioning plate 12; the spring 205 is fixed with the positioning plate 12 and the lower steel plate 204 by bolts 206; the spring can select products with different spring coefficients according to actual requirements; specifically, four springs 205 are symmetrically arranged on two sides of the positioning plate 12; the vertical tension and compression bearing capacity of the whole device can be adjusted by adjusting the number and the size of the springs, and the vertical tension and compression bearing capacity is increased along with the increase of the section size of the viscoelastic material of the springs; the invention is provided with an elastic shock absorption and isolation device which has horizontal and vertical shock absorption and shock absorption capabilities; the defect of poor tensile capability of the manipulator in the moving process can be effectively overcome.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more here: the positioning plate 12, the sliding seat 20, the driving motor 20-1, the elastic seismic isolation and reduction device 200, the sliding sleeve 201, the guide column 202, the lifting driving cylinder 203, the lower steel plate 204, the spring 205, the bolt 206, the horizontal adjusting mechanism 207, the traveling frame 208, the transverse rail 208-1, the transverse side rail 208-2, the transverse slider seat 208-3, the transverse side slider seat 208-4, the transverse sliding mechanism 209 and other terms, but the possibility of using other terms is not excluded; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A lifting mechanism of a manipulator is characterized in that; the mechanical arm device comprises a sliding seat (20) and a sliding sleeve (201) fixedly arranged on the sliding seat (20), wherein a lifting driving cylinder (203) is fixedly arranged on the sliding seat (20), one end of the lifting driving cylinder (203) is fixedly arranged on the sliding seat (20), the other end of the lifting driving cylinder is fixedly arranged on the mechanical arm device, a guide column (202) is connected to the sliding sleeve (201) in a sliding mode, and the guide column (202) penetrates through the sliding sleeve (201) to be connected to the mechanical arm device; the manipulator device is lifted by the movement of the lifting drive cylinder (203).
2. The lifting mechanism of a robot hand according to claim 1, wherein: the manipulator device also comprises a horizontal adjusting mechanism (207) used for horizontally moving the manipulator device, and the sliding seat (20) is connected to the horizontal adjusting mechanism (207) in a sliding mode.
3. The lifting mechanism of a robot hand according to claim 2, wherein: the horizontal adjusting mechanism (207) comprises a traveling frame (208), a transverse sliding mechanism (209) is installed on the traveling frame (208), the traveling frame (208) is connected with the sliding seat (20) in a sliding mode through the transverse sliding mechanism (209), and a driving motor (20-1) is arranged on the sliding seat (20).
4. The lifting mechanism of a robot hand according to claim 3, wherein: the transverse sliding mechanism (209) comprises a transverse rail (208-1) and a transverse side rail (208-2) which are fixedly arranged at the top and the side of the travelling frame (208) respectively, and correspondingly, a transverse slider seat (208-3) and a transverse slider seat (208-4) are connected to the transverse rail (208-1) and the transverse side rail (208-2) respectively in a sliding manner.
5. The lifting mechanism of a robot hand according to claim 4, wherein: the sliding seat (20) is in an L-shaped structure, and the transverse sliding block seat (208-3) and the transverse side sliding block seat (208-4) are fixedly arranged at the bottom and the inner side of the sliding seat (20).
6. The lifting mechanism of a robot hand according to claim 1, wherein: the two sliding sleeves (201) are symmetrically arranged on the sliding seat (20), and the lifting driving cylinder (203) is located between the two sliding sleeves (201).
7. A lifting mechanism of a robot hand according to any of claims 1 to 6, characterized in that: and an elastic shock absorption and isolation device (200) is arranged at the bottom of the manipulator device, and the elastic shock absorption and isolation device (200) is arranged along the moving direction of the steel plate.
8. The lifting mechanism of a robot hand according to claim 7, wherein: the elastic seismic isolation and reduction device (200) comprises a bolt (206), a positioning plate (12), a lower steel plate (204) and a plurality of springs (205); a plurality of springs (205) are assembled between the positioning plate (12) and the lower steel plate (204); the spring (205) is fixed with the positioning plate (12) and the lower steel plate (204) by a bolt (206).
9. The lifting mechanism of a robot hand according to claim 8, wherein: four springs (205) are symmetrically arranged on two sides of the positioning plate (12).
10. The lifting mechanism of a robot hand according to claim 9, wherein: the length of the lower steel plate (204) is larger than the width of the positioning plate (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911070604.2A CN110815195A (en) | 2019-11-05 | 2019-11-05 | Lifting mechanism of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911070604.2A CN110815195A (en) | 2019-11-05 | 2019-11-05 | Lifting mechanism of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110815195A true CN110815195A (en) | 2020-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911070604.2A Pending CN110815195A (en) | 2019-11-05 | 2019-11-05 | Lifting mechanism of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110815195A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515647A (en) * | 2020-05-13 | 2020-08-11 | 何金昌 | Composition of conveying device for machine tool production |
| CN112192106A (en) * | 2020-08-31 | 2021-01-08 | 浙江省建工集团有限责任公司 | Moving mechanism of welding robot |
| CN116276250A (en) * | 2023-04-04 | 2023-06-23 | 响水县海恒机械设备有限公司 | Compressing and conveying device for bearing seat machining |
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| CN107962547A (en) * | 2017-12-27 | 2018-04-27 | 广州九红智能装备有限公司 | A kind of full-automatic multiaxis feeding manipulator device |
| CN208358800U (en) * | 2018-06-25 | 2019-01-11 | 广州高富帅智能科技有限公司 | Multiaxis feeding manipulator |
| CN209050743U (en) * | 2018-10-27 | 2019-07-02 | 深圳天地和成科技有限公司 | Solar battery sheet sorting machine manipulator takes discharge structure |
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2019
- 2019-11-05 CN CN201911070604.2A patent/CN110815195A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2687340A1 (en) * | 2012-07-19 | 2014-01-22 | Tecno Center S.r.l. Con Socio Unico | Vertical handling module for a Cartesian-axis handling system |
| CN102975199A (en) * | 2012-12-28 | 2013-03-20 | 济南铸造锻压机械研究所有限公司 | Feeding manipulator for shot blasting machine of automobile half bridge shell |
| CN205588148U (en) * | 2016-04-05 | 2016-09-21 | 朱国军 | Saw bit is synchronous grabbing device of manipulator for sand blasting machine |
| CN206317077U (en) * | 2016-12-03 | 2017-07-11 | 安徽松科智能装备有限公司 | A kind of loading and unloading robot performs device of loading and unloading synchronization action |
| CN107335733A (en) * | 2017-08-30 | 2017-11-10 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of entire row suction manipulator |
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| CN107962547A (en) * | 2017-12-27 | 2018-04-27 | 广州九红智能装备有限公司 | A kind of full-automatic multiaxis feeding manipulator device |
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| CN209050743U (en) * | 2018-10-27 | 2019-07-02 | 深圳天地和成科技有限公司 | Solar battery sheet sorting machine manipulator takes discharge structure |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515647A (en) * | 2020-05-13 | 2020-08-11 | 何金昌 | Composition of conveying device for machine tool production |
| CN111515647B (en) * | 2020-05-13 | 2022-07-26 | 青岛张氏力拓精密机械有限公司 | Composition of conveying device for machine tool production |
| CN112192106A (en) * | 2020-08-31 | 2021-01-08 | 浙江省建工集团有限责任公司 | Moving mechanism of welding robot |
| CN116276250A (en) * | 2023-04-04 | 2023-06-23 | 响水县海恒机械设备有限公司 | Compressing and conveying device for bearing seat machining |
| CN116276250B (en) * | 2023-04-04 | 2024-02-23 | 响水县海恒机械设备有限公司 | Compressing and conveying device for bearing seat machining |
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Application publication date: 20200221 |
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