CN110817421B

CN110817421B - Manipulator carrying prototype

Info

Publication number: CN110817421B
Application number: CN201911014311.2A
Authority: CN
Inventors: 刘军
Original assignee: HUNAN JUNCHENG TECHNOLOGY CO LTD
Current assignee: HUNAN JUNCHENG TECHNOLOGY CO LTD
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2021-07-16
Anticipated expiration: 2039-10-23
Also published as: CN110817421A

Abstract

The invention discloses a manipulator carrying prototype which comprises a rack and a projectile body, wherein a base is arranged at the lower part in the rack, the manipulator carrying prototype further comprises a positioning tool, a supporting frame, a transverse moving mechanism and a lifting grabbing mechanism, the positioning tool, the supporting frame, the transverse moving mechanism and the lifting grabbing mechanism are arranged in the rack, the transverse moving mechanism is arranged on the supporting frame in a sliding mode, the lifting grabbing mechanism comprises a lifting cylinder, an angle adjusting mechanism and a sucker component, the upper end of the lifting cylinder is fixedly connected with the lower surface of a sliding plate, the upper part of the angle adjusting mechanism is fixedly connected with a piston rod of the lifting cylinder, and the sucker component is fixedly arranged. The shell grabbing mechanism comprises a rack, a transverse moving mechanism and a lifting grabbing mechanism, wherein the transverse moving mechanism is arranged on the rack and drives the lifting grabbing mechanism to move, the lifting grabbing mechanism can grab shells under the action of a vacuum sucker, the shell grabbing mechanism can be suitable for grabbing shells of different sizes under the action of an angle adjusting mechanism, the grabbing process is stable, the dropping condition of the shells is reduced, and the safety is high.

Description

Manipulator carrying prototype

Technical Field

The invention relates to the technical field of military industry, in particular to a manipulator carrying prototype.

Background

In the military industry, projectiles (e.g., mortars) require handling after they have been processed. Carrying device among the prior art, application scope is lower, can not snatch according to the size of projectile body, and stability is also not high, because the projectile body drops and has certain danger, does not drop in order to guarantee the projectile body, and at present, mostly adopt the manual work to carry, but manual handling intensity of labour is big, inefficiency and the operation is comparatively dangerous.

Disclosure of Invention

The invention aims to provide a manipulator carrying prototype so as to overcome the problems in the prior art.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a manipulator transport model machine, includes frame and projectile body, and the lower part is provided with the base in the frame, and it still snatchs the mechanism including location frock, braced frame, sideslip mechanism and the lift that sets up in the frame, thereby frame surface mounting has sealed glass to form seal cabinet type structure, thereby location frock sets up on the quick-witted base, and location frock is used for placing the projectile body, braced frame fixed mounting upper portion in the frame, sideslip mechanism slides and sets up on braced frame, the lift snatchs the mechanism and is connected with sideslip mechanism, the lift snatchs the mechanism and includes lift cylinder, angle adjustment mechanism and sucking disc subassembly, lift cylinder upper end and slide fixed surface are connected, angle adjustment mechanism upper portion and lift cylinder's piston rod fixed connection, sucking disc subassembly fixed mounting is in the angle adjustment mechanism lower part.

Further, sideslip mechanism includes slide, push cylinder, first fixing base, second fixing base and twice linear guide, twice linear guide is fixed mounting side by side on braced frame, slide lower surface both ends have the slider corresponding to the equal fixed mounting in linear guide position, and the slide passes through slider and linear guide sliding connection, first fixing base fixed mounting is on the slide, second fixing base fixed mounting is in braced frame one end, push cylinder afterbody fixed mounting is on the second fixing base, push cylinder's piston rod and first fixing base fixed connection.

Further, angle adjustment mechanism includes that connecting plate and two sets of angle modulation board and two sets of swing boards constitute, the connecting plate is two sets of with the piston rod fixed connection who promotes the cylinder angle modulation board fixed mounting respectively is in the connecting plate both sides, the arc type spout mouth has all been seted up on the angle modulation board surface, and is two sets of swing board middle part activity hinge joint is respectively installed two sets of between the angle modulation board, and the equal fixed mounting in swing board one end both sides surface has the round pin axle, and the equal activity of round pin axle is inserted and is established in the arc type spout mouth that corresponds the position.

Further, the sucking disc subassembly includes two pairs of vacuum chuck, all fixed mounting has the elasticity telescopic link on the vacuum chuck, elasticity telescopic link upper end with swing board fixed connection.

Further, the location frock includes two U type supports, two U type support is fixed mounting side by side respectively in base upper surface both ends, the V type notch that is used for card and projectile head afterbody is all offered to U type support both sides board upper surface.

Further, a positioning block is fixedly mounted on the inner side wall of the rack corresponding to the positioning tool, and a circular groove opening is formed in the surface of the positioning block.

Further, be provided with in the machine base and store the chamber, cabinet door is installed through the hinge in storing the chamber position to machine base one side surface.

Compared with the prior art, the invention has the advantages that: the shell grabbing mechanism comprises a rack, a transverse moving mechanism and a lifting grabbing mechanism, wherein the transverse moving mechanism is arranged on the rack and drives the lifting grabbing mechanism to move, the lifting grabbing mechanism can grab shells under the action of a vacuum sucker, the shell grabbing mechanism can be suitable for grabbing shells of different sizes under the action of an angle adjusting mechanism, the grabbing process is stable, the dropping condition of the shells is reduced, and the safety is high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of a robot handling prototype of the present invention;

FIG. 2 is a side view of a robotic handling prototype of the present invention;

FIG. 3 is a block diagram of the lift capture mechanism of the present invention;

FIG. 4 is a diagram of the positioning tool of the present invention;

fig. 5 is a structural view of the traverse mechanism of the present invention.

In the figure: the device comprises a machine frame 1, a machine base 2, a 3U-shaped support, 4 elastic bodies, a support frame 5, a linear guide rail 51, a sliding plate 52, a sliding block 53, a pushing cylinder 54, a first fixing seat 55, a second fixing seat 56, a transverse moving mechanism 6, a lifting grabbing mechanism 7, a lifting cylinder 71, a connecting plate 72, an angle adjusting plate 73, an arc-shaped sliding groove opening 74, a swinging plate 75, an elastic telescopic rod 76, a vacuum sucker 77 and a positioning block 8.

Detailed Description

Further embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more readily understood by those skilled in the art, and the scope of the present invention will be clearly and clearly defined.

Referring to fig. 1 and 2, the invention provides a manipulator carrying prototype, which comprises a rack 1 and an elastic body 4, wherein a base 2 is arranged at the lower part in the rack 1, the manipulator carrying prototype further comprises a positioning tool, a supporting frame 5, a traversing mechanism 6 and a lifting grabbing mechanism 7 which are arranged in the rack 1, sealing glass is arranged on the surface of the rack 1 so as to form a sealed cabinet type structure, the positioning tool is arranged on the base 2 and is used for placing the elastic body 4, the supporting frame 5 is fixedly arranged at the upper part in the rack 1, the traversing mechanism 6 is arranged on the supporting frame 5 in a sliding manner, the lifting grabbing mechanism 7 is connected with the traversing mechanism 6, the lifting grabbing mechanism comprises a lifting cylinder 71, an angle adjusting mechanism and a sucker assembly, the upper end of the lifting cylinder 71 is fixedly connected with the lower surface of a sliding plate 52, the upper part of the angle adjusting mechanism is fixedly connected with a piston rod of the lifting cylinder 71, the sucker assembly is fixedly arranged on the lower part of the angle adjusting mechanism.

Referring to fig. 5, in this embodiment, the traversing mechanism 6 includes a sliding plate 52, a pushing cylinder 54, a first fixing seat 55, a second fixing seat 56, and two linear guide rails 51, the two linear guide rails 51 are fixedly mounted on the supporting frame 5 side by side, two sliding blocks 53 are fixedly mounted at two ends of the lower surface of the sliding plate 52 corresponding to the positions of the linear guide rails 51, the sliding plate 52 is slidably connected with the linear guide rails 51 through the sliding blocks 53, the first fixing seat 55 is fixedly mounted on the sliding plate 52, the second fixing seat 56 is fixedly mounted at one end of the supporting frame 5, the tail of the pushing cylinder 54 is fixedly mounted on the second fixing seat 56, and the piston rod of the pushing cylinder 54 is fixedly connected with the first fixing seat 56.

Referring to fig. 3, in this embodiment, angle adjustment mechanism includes connecting plate 72 and two sets of angle adjustment plate 73 and two sets of swing plates 75 and constitutes, connecting plate 72 and the piston rod fixed connection who promotes cylinder 54, two sets of angle adjustment plate 73 is fixed mounting respectively in connecting plate 72 both sides, arc type spout 74 has all been seted up on angle adjustment plate 73 surface, and is two sets of swing plate 75 middle part activity hinge joint respectively installs two sets of between angle adjustment plate 73, and the equal fixed mounting in swing plate 75 one end both sides surface has a round pin axle, and the equal activity of round pin axle is inserted and is established in the arc type spout 74 that corresponds the position, when snatching not unidimensional projectile 4, swing plate 75 can be according to the size freedom adjustment angle of projectile 4, can be very convenient snatch not unidimensional projectile 4.

In this embodiment, the sucking disc subassembly includes two pairs of vacuum chuck 77, equal fixed mounting has elastic telescopic rod 76 on the vacuum chuck 77, elastic telescopic rod 76 upper end with swing board 75 fixed connection, elastic telescopic rod 76 can stretch out and draw back in the pressure effect to can adapt to the size of projectile 4, be convenient for better lifting projectile 4.

Referring to fig. 4, in this embodiment, the positioning tool includes two U-shaped supports 3, two U-shaped supports 3 are respectively and fixedly installed side by side at two ends of the upper surface of the base 2, and V-shaped notches for clamping and ejecting 4 heads and tails are respectively formed in the upper surfaces of two side plates of the U-shaped supports 3.

In this embodiment, the equal fixed mounting in frame 1 inside wall corresponding to location frock position has locating piece 8, and the round notch has been seted up on 8 surfaces of locating piece for fix a position the warhead of projectile body 4.

In this embodiment, be provided with in the base 2 and store up the chamber, 2 side surfaces of base are storing up the chamber position and are installing the cabinet door through the hinge, open the cabinet door and can place the maintenance instrument, have guaranteed the space utilization of frame 1.

The working principle of the invention is as follows: place projectile body 4 on a U type support 3, its 3 head is close to on locating piece 8, starts lift cylinder 71, and two pairs of vacuum chuck 77 descends and absorbs projectile body 4, and after vacuum chuck 77 reached appointed vacuum value, snatch projectile body 4 and rise, rise to target in place and make projectile body 4 translation through pushing cylinder 54, and after the translation target in place, projectile body 4 descended to accomplish projectile body 4 transport on another U type support 3.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, various changes or modifications may be made by the patentees within the scope of the appended claims, and within the scope of the invention, as long as they do not exceed the scope of the invention described in the claims.

Claims

1. The utility model provides a manipulator transport model machine, includes frame and projectile body, and the lower part is provided with the base in the frame, its characterized in that: the device comprises a machine frame, a positioning tool, a supporting frame, a transverse moving mechanism and a lifting grabbing mechanism, wherein the positioning tool, the supporting frame, the transverse moving mechanism and the lifting grabbing mechanism are arranged in the machine frame;

angle adjustment mechanism includes connecting plate and two sets of angle modulation board and two sets of swing boards constitute, the connecting plate is two sets of with the piston rod fixed connection who promotes the cylinder angle modulation board fixed mounting respectively is in the connecting plate both sides, the arc type spout mouth has all been seted up on angle modulation board surface, and is two sets of swing board middle part activity hinge joint is respectively installed at two sets of between the angle modulation board, and the equal fixed mounting in swing board one end both sides surface has the round pin axle, and the equal activity of round pin axle is inserted and is established in the arc type spout mouth that corresponds the position.

2. The robot handling prototype of claim 1, wherein: the transverse moving mechanism comprises a sliding plate, a pushing cylinder, a first fixing seat, a second fixing seat and two linear guide rails, wherein the linear guide rails are fixedly installed on a supporting frame side by side, sliding blocks are installed at two ends of the lower surface of the sliding plate corresponding to the positions of the linear guide rails, the sliding plate is connected with the linear guide rails in a sliding mode through the sliding blocks, the first fixing seat is fixedly installed on the sliding plate, the second fixing seat is fixedly installed at one end of the supporting frame, the tail portion of the pushing cylinder is fixedly installed on the second fixing seat, and a piston rod of the pushing cylinder is fixedly connected with the first fixing seat.

3. The robot handling prototype of claim 1, wherein: the sucking disc subassembly includes two pairs of vacuum chuck, equal fixed mounting has the elasticity telescopic link on the vacuum chuck, elasticity telescopic link upper end with swing board fixed connection.

4. The robot handling prototype of claim 1, wherein: the positioning tool comprises two U-shaped supports, the two U-shaped supports are fixedly mounted on two ends of the upper surface of the base side by side respectively, and V-shaped notches used for clamping and bullet head and tail portions are formed in the upper surfaces of the two side plates of each U-shaped support.

5. The robot handling prototype of claim 1, wherein: a locating block is fixedly mounted on the inner side wall of the rack corresponding to the locating tool, and a circular groove opening is formed in the surface of the locating block.

6. The robot handling prototype of claim 1, wherein: the machine base is internally provided with a storage cavity, and the surface of one side of the machine base is provided with a cabinet door through a hinge at the position of the storage cavity.