CN111776735A

CN111776735A - Heavy-load manipulator

Info

Publication number: CN111776735A
Application number: CN202010629227.8A
Authority: CN
Inventors: 张爱琴
Original assignee: Guangzhou Guozhi Electromechanical Equipment Co ltd
Current assignee: Guangzhou Guozhi Electromechanical Equipment Co ltd
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2020-10-16

Abstract

The invention discloses a heavy-load manipulator, which structurally comprises a rotator, a gripper mechanism, a support column, a rotating shaft and a fixed seat, wherein the gripper mechanism is provided with a contraction mechanism, a rotating ball, a corrugated plate and a connector, two sides of a square packing box are fixed through a compression mechanism, the compression mechanism slightly rotates through the rotating shaft and is supported under the elasticity of a spring rod, compression holes are tightly attached to the side surface of the square packing box, the interior of the compression plate is in a vacuum state to generate adsorption force, the bending structure of a rubber strip enhances the friction force with the square packing box to avoid sliding under gravity, a stress sheet slides outside a stress rod through a ball after compression, the support rod is bent and supported on the side surface of the support mechanism to form support force, the support rod increases the support stability according to the stable principle of a triangle, and three stress sheets are parallel when being stressed, when the square packing box is stressed, the cylindrical hole is internally in a vacuum state, so that the adsorption force on the square packing box is enhanced.

Description

Heavy-load manipulator

Technical Field

The invention relates to the field of manipulators, in particular to a heavy-load manipulator.

Background

The manipulator is when carrying heavy object, utilize anchor clamps to laminate from the packing box both sides when keeping the lower wall stable, make the packing box tightly pressed from both sides, and because the packing box is heavier, when carrying, the manipulator often amplitude of oscillation is less, avoid producing inertial force and cause the damage to the part, but when carrying out fixed transport to square packing box, the stress surface of square packing box is parallel to each other, the stress angle that leads to square packing box parallels with the horizontal plane, and under the action of gravity of square packing box stress surface, the fixed effect of the effort that is parallel to each other is relatively poor, cause the slip of square packing box easily, cause dropping of square packing box, and hindered to overturn square packing box after snatching, make it become flexible easily.

Disclosure of Invention

The invention is realized by the following technical scheme: the utility model provides a heavy load manipulator, its structure includes rotating ware, tongs mechanism, support column, rotation axis, fixing base, tongs mechanism installs in the side of rotating the ware, the support column inlays the inside at the rotation axis, the rotation axis welding is in the upper end of fixing base, tongs mechanism is equipped with shrink mechanism, rolling ball, fold board, connector, the laminating of shrink mechanism is on the right side of connector, the laminating of fold board is in the left side of connector, the laminating of rolling ball is in the centre left side of connector, the left end of rolling ball is installed in the inside of rotating the ware, the rolling ball is located the inside of fold board, and is located the center axis of connector.

As a further improvement of the invention, the contraction mechanism is provided with a clearance hole, a force-bearing mechanism, a sliding rail, a sliding plate and a fixed plate, the clearance hole is attached to the surface of the fixed plate, the sliding plate is embedded and fixed on the surface of the sliding rail, the sliding rail is embedded and fixed in the fixed plate, the force-bearing mechanism is installed on the inner side of the sliding plate, the fixed plate is embedded and fixed on the side surface of the connector, and two sliding rails are arranged and distributed on two sides of the clearance hole.

As a further improvement of the invention, the stress mechanism is composed of a spring rod, a rotating shaft, a connecting plate, a compression mechanism, a telescopic mechanism, an inclined rod and a compression rod, wherein the left end of the spring rod is welded on the right side of the connecting plate, the right side of the spring rod is attached to the surface of the inclined rod, the compression mechanism is connected to the right side of the compression rod, the compression rod is embedded on the right side of the rotating shaft, the left side of the telescopic mechanism is attached to the right side of the inclined rod, the compression mechanism is embedded on the upper side and the lower side of the telescopic mechanism, the connecting plate is attached to the inner side of the fixed plate, the compression rod is of an inclined structure, and the rotating shaft embedded on.

As a further improvement of the invention, the compression mechanism is provided with a compression hole, a rubber strip, a compression plate and a stress plate, the compression hole penetrates through the rubber strip, the rubber strip is attached to the front surface of the compression plate, the compression plate is embedded and fixed to the front surface of the stress plate, the upper side and the lower side of the stress plate are attached to the upper side and the lower side of the telescopic mechanism, the compression hole is communicated with the compression plate, and the rubber strip is of a structure with strong bending property.

As a further improvement of the invention, the telescopic mechanism is provided with a support plate, a sponge plate, support mechanisms and three support rods, wherein the support mechanisms are attached to the side surface of the support plate, the support rods are positioned outside the support mechanisms, the sponge plate is attached to the outer side of the surface of the support mechanisms, the support plate is attached to the right side of the inclined rod, the left ends of the support rods are embedded and fixed inside the support plate, and the support rods are uniformly distributed around the support mechanisms as centers.

As a further improvement of the invention, the supporting mechanism is provided with a cylindrical hole, a ball, a stress sheet, a stress rod and a compression ring, the cylindrical hole is positioned at the central point of the stress rod, the ball is attached to the outer side of the stress rod, the stress sheet is attached to the outer side of the ball, the outer side of the stress sheet is in clearance fit with the inner side of the compression ring, and the stress sheet has an inclined angle and uniformly surrounds the outer side of the stress rod.

Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

1. rotation through the rolling ball, make the transport of the square packing box of being convenient for of tongs mechanism fixed, thereby adjust the interval size between the sliding plate, and when fixing, the clearance pore pair square packing box's upper surface is laminated, the both sides of square packing box are fixed through compression mechanism, make compression mechanism carry out slight rotation through the axis of rotation, support under spring beam elasticity, make the compression hole closely laminate in square packing box side, then make the inside vacuum state that forms of compression board, produce the adsorption affinity, and the crooked structure of rubber strip strengthens the frictional force with square packing box, avoid sliding under gravity.

2. Telescopic machanism is when laminating square packing box side, carry out the effort to supporting mechanism's side through the power piece that receives, the compression back power piece slides in the atress pole outside through the ball, make the power piece act on the bracing piece, make the crooked support of bracing piece in the supporting mechanism side, thereby form the holding power, and increase the stability of supporting according to the stable principle bracing piece of triangle-shaped, and parallel when three power piece atress, the inside vacuum state that forms of cylindricality hole when the atress, the reinforcing is to the adsorption affinity of square packing box.

Drawings

Fig. 1 is a schematic structural diagram of a heavy-duty robot according to the present invention.

Fig. 2 is a schematic plan view of a gripper mechanism according to the present invention.

Fig. 3 is a schematic plan view of a retracting mechanism according to the present invention.

FIG. 4 is a schematic side view of a force-receiving mechanism according to the present invention.

Fig. 5 is a schematic perspective view of a compressing mechanism according to the present invention.

Fig. 6 is a schematic side view of a telescopic mechanism according to the present invention.

Fig. 7 is a schematic plan view of a supporting mechanism according to the present invention.

In the figure: rotator-1, gripper mechanism-2, support column-3, rotating shaft-4, fixing seat-5, retraction mechanism-21, rotating ball-22, corrugated plate-23, connector-24, clearance hole-211, stress mechanism-212, sliding rail-213, sliding plate-214, fixing plate-215, spring rod-a 1, rotating shaft-a 2, connecting plate-a 3, compression mechanism-a 4, telescopic mechanism-a 5, inclined rod-a 6, compression rod-a 7, compression hole-a 41, rubber strip-a 42, compression plate-a 43, stress plate-a 44, support plate-a 51, sponge plate-a 52, support mechanism-a 53, support rod-a 54, column-w-1, ball-w 2, stress sheet-w 3, A stress rod-w 4 and a compression ring-w 5.

Detailed Description

The technology of the present invention is further described with reference to the accompanying drawings:

example 1:

as shown in fig. 1-5:

the invention relates to a heavy-duty manipulator, which structurally comprises a rotator 1, a gripper mechanism 2, a support column 3, a rotating shaft 4 and a fixed seat 5, the gripper mechanism 2 is arranged on the side surface of the rotator 1, the support column 3 is embedded in the rotating shaft 4, the rotating shaft 4 is welded at the upper end of the fixed seat 5, the gripper mechanism 2 is provided with a contraction mechanism 21, a rotating ball 22, a corrugated plate 23 and a connector 24, the retraction mechanism 21 is attached to the right side of the connector 24, the corrugated plate 23 is attached to the left side of the connector 24, the rotating ball 22 is attached to the left side of the middle of the connector 24, the left end of the rotating ball 22 is installed inside the rotator 1, the rotating ball 22 is located inside the corrugated plate 23, and is positioned on the central axis of the connector 24, so that the connector 24 is moved by the rotating ball 22, and the gripper mechanism 2 rotates in the direction to facilitate the transportation of the square packing box.

The contraction mechanism 21 is provided with a gap hole 211, a force receiving mechanism 212, two sliding rails 213, two sliding plates 214 and a fixed plate 215, the gap hole 211 is attached to the surface of the fixed plate 215, the sliding plate 214 is embedded in the surface of the sliding rail 213, the sliding rail 213 is embedded in the fixed plate 215, the force receiving mechanism 212 is installed inside the sliding plate 214, the fixed plate 215 is embedded in the side surface of the connector 24, the two sliding rails 213 are distributed on two sides of the gap hole 211, and the sliding plates 214 are moved through the sliding rails 213, so that the distance between the sliding plates 214 is adjusted.

Wherein the force-bearing mechanism 212 is composed of a spring rod a1, a rotating shaft a2, a connecting plate a3, a compression mechanism a4, a telescopic mechanism a5, an inclined rod a6 and a compression rod a7, the left end of the spring rod a1 is welded on the right side of the connecting plate a3, the right side of the spring rod a1 is attached on the surface of the inclined rod a6, the compression mechanism a4 is connected to the upper right of the compression bar a7, the compression bar a7 is embedded on the right side of the rotation axis a2, the left side of the telescopic mechanism a5 is attached to the right side of the inclined rod a6, the compression mechanism a4 is embedded at the upper and lower sides of the telescopic mechanism a5, the connecting plate a3 is attached to the inner side of the fixing plate 215, the compression bar a7 has an inclined structure, the rotating shaft a2 embedded at the lower left is welded at the right side of the connecting plate a3, compression bar a7 is fixed so that compression bar a7 is compressed by spring bar a1 when it is supported by compression mechanism a4, increasing its fit.

The compression mechanism a4 is provided with a compression hole a41, a rubber strip a42, a compression plate a43 and a stress plate a44, the compression hole a41 penetrates through the rubber strip a42, the rubber strip a42 is attached to the front surface of the compression plate a43, the compression plate a43 is embedded and fixed to the front surface of the stress plate a44, the upper side and the lower side of the stress plate a44 are attached to the upper side and the lower side of the telescopic mechanism a5, the compression hole a41 is communicated with the compression plate a43, and the rubber strip a42 is of a structure with strong bending property, so that the sliding friction force of the rubber strip a is enhanced, and the sliding is avoided.

The embodiment has the following specific use modes and functions:

in the invention, when the gripper mechanism 2 is controlled to convey the square packing box, the gripper mechanism 2 is convenient for conveying and fixing the square packing box through the rotation of the rotating ball 22, the sliding plate 214 moves on the surface of the sliding rail 213 to adjust the space between the sliding plates 214, when the square packing box is fixed, the gap hole 211 is jointed with the upper surface of the square packing box, under the joint of the stress mechanism 212, two sides of the square packing box are fixed through the compression mechanism a4, after the telescopic mechanism a5 is jointed, the compression mechanism a4 slightly rotates through the rotating shaft a2, the compression mechanism a1 supports under the elasticity of the spring rod a1, the compression hole a41 is tightly jointed with the side surface of the square packing box, then the interior of the compression plate a43 is in a vacuum state to generate adsorption force, and the bending structure of the rubber strip a42 enhances the friction force with the square packing box, avoid sliding under gravity, prevent to cause the slip of square packing box and drop.

Example 2:

as shown in fig. 6-7:

wherein, telescopic machanism a5 is equipped with backup pad a51, sponge board a52, supporting mechanism a53, bracing piece a54, supporting mechanism a53 laminates in the side of backup pad a51, bracing piece a54 is located the outside of supporting mechanism a53, sponge board a52 laminates in the surperficial outside of supporting mechanism a53, backup pad a51 laminates in the right side of slope pole a6, the left end of bracing piece a54 is inlayed admittedly at backup pad a51 inboard, bracing piece a54 is equipped with threely to supporting mechanism a53 is the even distribution that encircles in center for support when bracing piece a54 atress carries out the support, and increases the stability of supporting according to the stable principle of triangle-shaped.

The supporting mechanism a53 is provided with a cylindrical hole w1, a ball w2, a stress sheet w3, a stress rod w4 and a compression ring w5, the cylindrical hole w1 is located at the central point of the stress rod w4, the ball w2 is attached to the outer side of the stress rod w4, the stress sheet w3 is attached to the outer side of the ball w2, the outer side of the stress sheet w3 is in clearance fit with the inner side of the compression ring w5, the stress sheet w3 has an inclination angle and uniformly surrounds the outer side of the stress rod w4, so that the stress sheet w3 is parallel when stressed, the sealing performance of the stress sheet w 6342 forms a vacuum state inside the cylindrical hole w1, and the adsorption force on the square packing box is enhanced.

The embodiment has the following specific use modes and functions:

according to the invention, when the telescopic mechanism a5 is attached to the side surface of a square packing box, the force is applied to the side surface of the supporting mechanism a53 through the force-receiving sheet w3, the force-receiving sheet w3 slides outside the force-receiving rod w4 through the ball w2 after being compressed, so that the force-receiving sheet w3 acts on the supporting rod a54, the supporting rod a54 is supported on the side surface of the supporting mechanism a53 in a bending manner, thereby forming supporting force, the supporting stability of the supporting rod a54 is increased according to the stable principle of a triangle, the three force-receiving sheets w3 are parallel when being subjected to force, a vacuum state is formed in the cylindrical hole w1 when being subjected to force, the adsorption force on the square packing box is enhanced, and the square packing box is prevented from being easily loosened.

The technical scheme of the invention is utilized, or a similar technical scheme is designed by a person skilled in the art based on the inspiration of the technical scheme of the invention, so that the technical effects are achieved, and the technical scheme and the method fall into the protection scope of the invention.

Claims

1. The utility model provides a heavy load manipulator, its structure includes and rotates ware (1), tongs mechanism (2), support column (3), rotation axis (4), fixing base (5), install in the side of rotating ware (1) tongs mechanism (2), support column (3) are inlayed and are fixed in the inside of rotation axis (4), rotation axis (4) welding is in the upper end of fixing base (5), its characterized in that:

the gripper mechanism (2) is provided with a contraction mechanism (21), a rotating ball (22), a corrugated plate (23) and a connector (24), the contraction mechanism (21) is attached to the right side of the connector (24), the corrugated plate (23) is attached to the left side of the connector (24), the rotating ball (22) is attached to the left side of the middle of the connector (24), and the left end of the rotating ball (22) is installed inside the rotating device (1).

2. The heavy-duty robot of claim 1, wherein: the contraction mechanism (21) is provided with a gap hole (211), a stress mechanism (212), a sliding rail (213), a sliding plate (214) and a fixing plate (215), the gap hole (211) is attached to the surface of the fixing plate (215), the sliding plate (214) is embedded and fixed to the surface of the sliding rail (213), the sliding rail (213) is embedded and fixed inside the fixing plate (215), the stress mechanism (212) is installed on the inner side of the sliding plate (214), and the fixing plate (215) is embedded and fixed to the side face of the connector (24).

3. The heavy-duty robot of claim 2, wherein: the stress mechanism (212) is composed of a spring rod (a 1), a rotating shaft (a 2), a connecting plate (a 3), a compression mechanism (a 4), a telescopic mechanism (a 5), an inclined rod (a 6) and a compression rod (a 7), the left end of the spring rod (a 1) is welded to the right side of the connecting plate (a 3), the right side of the spring rod (a 1) is attached to the surface of the inclined rod (a 6), the compression mechanism (a 4) is connected to the upper right of the compression rod (a 7), the compression rod (a 7) is embedded to the right side of the rotating shaft (a 2), the left side of the telescopic mechanism (a 5) is attached to the right side of the inclined rod (a 6), the compression mechanism (a 4) is embedded to the upper side and the lower side of the telescopic mechanism (a 5), and the connecting plate (a 3) is attached to the inner side of the fixing plate (215).

4. A heavy-duty robot as claimed in claim 3, wherein: compression mechanism (a 4) are equipped with compression hole (a 41), rubber strip (a 42), compression plate (a 43), atress board (a 44), compression hole (a 41) link up in rubber strip (a 42), the laminating of rubber strip (a 42) is at compression plate (a 43) front surface, compression plate (a 43) is inlayed and is fixed at atress board (a 44) front surface, the laminating of both sides about atress board (a 44) is in telescopic machanism (a 5) upper and lower both sides.

5. A heavy-duty robot as claimed in claim 3, wherein: telescopic machanism (a 5) is equipped with backup pad (a 51), sponge board (a 52), supporting mechanism (a 53), bracing piece (a 54), the side of backup pad (a 51) is laminated in supporting mechanism (a 53), bracing piece (a 54) is located the outside of supporting mechanism (a 53), sponge board (a 52) laminating is in the surface outside of supporting mechanism (a 53), the right side at slope pole (a 6) is laminated in backup pad (a 51), the left end of bracing piece (a 54) is inlayed and is fixed at backup pad (a 51) inboard.

6. The heavy-duty robot of claim 5, wherein: supporting mechanism (a 53) is equipped with cylindricality hole (w 1), ball (w 2), atress piece (w 3), atress pole (w 4), compression ring (w 5), cylindricality hole (w 1) is located the central point of atress pole (w 4), the laminating of ball (w 2) is in the outside of atress pole (w 4), the laminating of atress piece (w 3) is in the outside of ball (w 2), the inboard clearance fit of outside and compression ring (w 5) of atress piece (w 3).