CN111874608A - Automatic change material taking manipulator - Google Patents
Automatic change material taking manipulator Download PDFInfo
- Publication number
- CN111874608A CN111874608A CN202010706870.6A CN202010706870A CN111874608A CN 111874608 A CN111874608 A CN 111874608A CN 202010706870 A CN202010706870 A CN 202010706870A CN 111874608 A CN111874608 A CN 111874608A
- Authority
- CN
- China
- Prior art keywords
- rod
- supporting
- clamping
- block
- spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic material taking manipulator, relates to the technical field of manipulators, and solves the problems that the whole set of system of the existing manipulator is high in manufacturing cost, complex in equipment structure, high in using cost and inconvenient to maintain, and the manipulator can only grasp and transfer materials under the combined action of a fixed program of a controller and a mechanical arm and cannot be used independently. An automatic material taking manipulator comprises an automatic clamping mechanism; the automatic clamping mechanism is composed of a left clamping rod and a right clamping rod. The device can fix and depend on the electric putter of arm on the arm and drive the lift control device of action bars through control program control and use, does and take off the arm exclusive use, and simple structure, use and easy maintenance, personnel can not direct contact snatch and the article of transporting when using, have protected operating personnel's personal safety, have improved the device's flexibility and practicality.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to an automatic material taking manipulator.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The manipulator has the advantages of mechanization and automation which can replace heavy labor of people to realize production, so the manipulator is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like, at present, in the process of transferring substances which are harmful to human bodies, such as heavy objects, high temperature, corrosiveness and the like, the manipulator can be used for transferring the objects, and the manipulator can replace human bodies to contact the objects so as to protect the personal safety.
If the application number is: CN201610105452.5 discloses a method and a system for moving a manipulator, the method includes: the grabbing part of the manipulator moves to the material taking point and simultaneously detects a material taking permission signal; if the material taking permission signal is not detected in the moving process, controlling the grabbing part to stop at a preset first waiting point; after receiving a material taking permission signal, the manipulator controls the grabbing part to move from the first waiting point to a material taking point; the part grabbing part of the manipulator moves to a material discharging point, and simultaneously, a material discharging allowing signal is detected; if the emptying permission signal is not detected in the movement process, controlling the grabbing part to stop at a preset second waiting point; after receiving the emptying allowing signal, the manipulator controls the grabbing part to move from the second waiting point to the emptying point; and after the material placing action is finished, the mechanical arm continues to execute the step that the part grabbing part of the mechanical arm moves to the material taking point. The manipulator detects while moving, has improved the flexibility to manipulator control, can effective save time, has improved production efficiency.
The current manipulator needs the fixed program through the controller, snatch and transport the article with arm combined action has been realized, but the complete system cost is higher, equipment structure is comparatively complicated, the cost of use is higher and be not convenient for maintain, the manipulator can only depend on just can realize snatching and transporting the material under the fixed program with the controller and the arm combined action, can not the exclusive use, need start a whole set of procedure when snatching and transporting less article, use cost has increased in the intangible, flexibility and practicality are not high.
Therefore, in view of the above, research and improvement are performed on the existing structure and defects, and an automatic material taking manipulator is provided, so as to achieve the purpose of higher practical value.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic material taking manipulator, which aims to solve the problems that the conventional manipulator needs to realize the grabbing and transferring of objects through the fixed program of a controller and the cooperation of the manipulator and the manipulator, but the whole system has higher manufacturing cost, more complex equipment structure, higher use cost and inconvenience in maintenance, the manipulator can only realize the grabbing and transferring of the objects under the combined action of the fixed program of the controller and the manipulator and cannot be used independently, the whole program needs to be started when fewer objects are grabbed and transferred, the use cost is increased invisibly, and the flexibility and the practicability are not high.
The purpose and the effect of the automatic material taking manipulator are achieved by the following specific technical means:
an automatic material taking manipulator comprises a supporting plate, a multipurpose cross rod, an operating rod, an installation cylinder, an automatic clamping mechanism and a supporting clamping block; the two ends of the supporting plate are fixedly connected with mounting upright rods; the middle part of the bottom surface of the multipurpose cross rod is fixedly connected to the top of the rod body provided with the vertical rod; the outer end of the top surface of the multipurpose cross rod is provided with a fixing hole, and the multipurpose cross rod can be screwed and fixed at the material taking end of the mechanical arm through a screw of the fixing hole; the operating rod is inserted in the middle of the supporting plate; the bottom surface of the mounting cylinder is fixedly connected to the top of the rod body of the operating rod, and an electric push rod inside the mechanical arm can be sleeved and fixed inside the top surface of the mounting cylinder; the automatic clamping mechanism consists of a left clamping rod and a right clamping rod; the supporting clamping block is movably connected with one of the bottom parts of the left clamping rod and the right clamping rod of the automatic clamping mechanism.
Further, the body of rod of automatic fixture's left supporting rod and right supporting rod is broken line structure, and the middle part of left supporting rod and right supporting rod is equipped with commentaries on classics piece an, the both ends of backup pad are equipped with commentaries on classics piece b, and the commentaries on classics piece an of left supporting rod and right supporting rod rotates respectively inside the commentaries on classics piece b of connection at the backup pad both ends through the pin rod.
Further, the top of the rotating block a of the left clamping rod and the right clamping rod is provided with a linkage block, the linkage block is provided with a linkage groove, the linkage blocks of the left clamping rod and the right clamping rod are inclined in opposite directions, and the linkage blocks of the left clamping rod and the right clamping rod are in a staggered design.
Furthermore, the rod body of action bars is square pole design, and the middle part of backup pad top surface is equipped with square locating hole, and the rod body of action bars passes the inside of locating hole, the both sides at the rod body middle part of action bars are equipped with the gangbar, and the gangbar is pegged graft inside the linkage groove of linkage piece, the internal diameter width in linkage groove is the same with the diameter length of gangbar.
Furthermore, the cross-sectional shape of supporting the clamp splice is triangle-shaped, and the hypotenuse surface that supports the clamp splice is equipped with the skid resistant course of cockscomb structure, the bottom of left side supporting rod and right supporting rod is equipped with the joint protrusion, and supports the clamp splice and rotate to connect in the bellied inside of connecting.
Furthermore, the bottoms of the left clamping rod and the right clamping rod are provided with arc-shaped avoiding grooves, and the arc radius of each avoiding groove is larger than the rotating radius of each supporting clamping block.
Furthermore, the bottom of action bars is equipped with the spring groove, and the inside in spring groove is equipped with the extension spring, the both ends of extension spring fixed connection respectively are in the inside in spring groove and the bottom plate body of backup pad locating hole.
Furthermore, the top of supporting the clamp splice is equipped with the spring piece, and the inside of spring piece is equipped with the top spring, the both ends of top spring fixed connection respectively is inside the body of rod of the inside of spring piece and left supporting rod, right supporting rod.
Compared with the prior art, the invention has the following beneficial effects:
the device can fix and depend on the electric putter of arm on the arm and drive the lift control device of action bars through control program control and use, does and take off the arm exclusive use, and simple structure, use and easy maintenance, personnel can not direct contact snatch and the article of transporting when using, have protected operating personnel's personal safety, have improved the device's flexibility and practicality.
Firstly, the linkage piece of the automatic clamping mechanism of the device moves in the linkage groove of the linkage piece through the linkage rod of the operating rod when the operating rod goes up and down, and the synchronous opposite-direction motion of the left clamping rod and the right clamping rod is driven, so that the object can be grabbed and released, and when the operating rod is lifted, the automatic clamping mechanism can automatically tighten up under the action of the gravity and the tension spring of the grabbed object, the heavier the object is, the larger the clamping acting force is, the required clamping force of the objects with different weights can be automatically matched, the phenomena of the object falling off and the damage to the object caused by the overlarge clamping force in the transfer process are prevented, and the stability and the adaptability of the device are improved.
Secondly, support the clamp splice for triangular design, make the centre gripping that the device can be smooth at the both ends of article, and when carrying out the centre gripping to the article as last action bars, support the clamp splice and can rotate along connecting the arch, all tiling in the side of article with the edge of slope, carry out the centre gripping to the article, the article that can guarantee to transport can have sufficient area of contact with supporting the clamp splice, and the surface that supports the clamp splice is equipped with the skid resistant course, further prevent that the article from snatching and the transportation in-process drops, the stability and the flexibility of the device have been improved.
Furthermore, the spring inslot of action bars bottom is equipped with the extension spring, can guarantee that the device action bars can make the support clamp splice of left supporting rod and right supporting rod and the side contact of article when not lifting, the operation of tightening up of automatic fixture when conveniently lifting the action bars on next step, and the top of supporting the clamp splice is equipped with the top spring, make when the device removes the centre gripping back to the article, support the clamp splice and can be automatic re-setting under the effect of top spring, snatch and transport all the other articles in order to be ready for next time, the practicality and the flexibility of the device have been improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view after disassembly of the present invention.
Fig. 3 is a schematic structural view of the automatic clamping mechanism of the present invention.
Fig. 4 is a schematic view of the configuration of the present invention for grasping and transferring an article.
FIG. 5 is a schematic view of the present invention showing the structure of the release of the object.
Fig. 6 is an enlarged schematic view of the portion a of fig. 1 according to the present invention.
Fig. 7 is an enlarged schematic view of the portion B of fig. 2 according to the present invention.
Fig. 8 is an enlarged view of the portion C of fig. 3 according to the present invention.
In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. a support plate; 2. installing a vertical rod; 3. a multipurpose cross bar; 4. an operating lever; 5. mounting the cylinder; 6. an automatic clamping mechanism; 7. supporting the clamping block; 101. b, rotating the block; 102. positioning holes; 401. a linkage rod; 402. a tension spring; 601. a left clamping rod; 602. a right clamping rod; 6011. a rotating block a; 6012. a linkage block; 6013. a linkage groove; 6014. a connecting projection; 6015. an avoidance groove; 701. and (4) a spring is supported.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
as shown in figures 1 to 8:
the invention provides an automatic material taking manipulator which comprises a supporting plate 1, a multipurpose cross rod 3, an operating rod 4, an installation cylinder 5, an automatic clamping mechanism 6 and a supporting clamping block 7, wherein the supporting plate is fixedly connected with the multipurpose cross rod; two ends of the supporting plate 1 are fixedly connected with mounting upright rods 2; the middle part of the bottom surface of the multipurpose cross rod 3 is fixedly connected with the top of the rod body of the mounting upright rod 2; the outer end of the top surface of the multipurpose cross rod 3 is provided with a fixing hole, and the multipurpose cross rod 3 can be screwed and fixed at the material taking end of the mechanical arm through a screw of the fixing hole; the operating rod 4 is inserted in the middle of the supporting plate 1; the bottom surface of the mounting cylinder 5 is fixedly connected to the top of the rod body of the operating rod 4, and an electric push rod inside the mechanical arm can be sleeved and fixed inside the top surface of the mounting cylinder 5; the automatic clamping mechanism 6 consists of a left clamping rod 601 and a right clamping rod 602; the rod bodies of the left clamping rod 601 and the right clamping rod 602 of the automatic clamping mechanism 6 are of a broken line structure, the middle parts of the left clamping rod 601 and the right clamping rod 602 are provided with rotating blocks a6011, the two ends of the supporting plate 1 are provided with rotating blocks b101, and the rotating blocks a6011 of the left clamping rod 601 and the right clamping rod 602 are respectively and rotatably connected inside the rotating blocks b101 at the two ends of the supporting plate 1 through pin rods, as shown in the attached drawings 1 and 2, the design enables the left clamping rod 601 and the right clamping rod 602 to change and rotate along with the lifting of the operating rod 4 by taking the rotating blocks b101 as the circle center, so that the distance between the left clamping rod 601 and the right clamping rod 602 is changed, objects with different sizes can be clamped, and the adaptability of the device is improved; the bottom parts of the left clamping rod 601 and the right clamping rod 602 are respectively provided with an arc-shaped avoiding groove 6015, and the arc-shaped radius of the avoiding groove 6015 is larger than the rotation radius of the supporting clamping block 7, as shown in fig. 1, fig. 2, fig. 3 and fig. 6, the design ensures that the left clamping rod 601 and the right clamping rod 602 do not obstruct the rotation of the supporting clamping block 7, so that the supporting clamping block 7 can be stably clamped at the two ends of an object, and sufficient friction force is provided to grab and transfer the object, thereby improving the stability of the device; one supporting clamping block 7 is movably connected to one side of the bottom of each of the left clamping rod 601 and the right clamping rod 602 of the automatic clamping mechanism 6; the top of supporting clamp splice 7 is equipped with the spring piece, and the inside of spring piece is equipped with top spring 701, the both ends difference fixed connection of top spring 701 is inside the inside of spring piece and left supporting rod 601, the body of rod of right supporting rod 602, as shown in figure 1, figure 2 and figure 6, top spring 701 can make when the device removes the centre gripping back to the article, support clamp splice 7 and can be automatic re-setting under top spring 701's effect, snatch and transport all the other articles in preparation for the next time, the practicality and the flexibility of the device have been improved.
Wherein, the top of the commentaries on classics piece a6011 of left clamping rod 601 and right clamping rod 602 all is equipped with linkage piece 6012, and linkage piece 6012's inside is equipped with linkage groove 6013, the direction of the slope of linkage piece 6012 of left clamping rod 601 and right clamping rod 602 is opposite, and linkage piece 6012 of left clamping rod 601 and right clamping rod 602 is dislocation design, as shown in figure 1, figure 2, figure 3 and figure 8, this design makes left clamping rod 601 and right clamping rod 602 when the lift of following action bars 4 rotates, can independently rotate, mutual noninterference has improved the flexibility of the device.
Wherein, the rod body of the operating rod 4 is designed to be a square rod, the middle part of the top surface of the support plate 1 is provided with a square positioning hole 102, the rod body of the operating rod 4 penetrates through the positioning hole 102, two sides of the middle part of the rod body of the operating rod 4 are provided with linkage rods 401, the linkage rods 401 are inserted into a linkage groove 6013 of a linkage block 6012, the inner diameter width of the linkage groove 6013 is the same as the diameter length of the linkage rods 401, as shown in figure 1, figure 2, figure 3 and figure 8, the design enables the operating rod 4 to move in the linkage groove 6013 of the linkage block 6012 through the linkage rods 401 when the operating rod 4 is lifted, the left clamping rod 601 and the right clamping rod 602 are driven to synchronously move in opposite directions, so as to realize the grabbing and releasing of an object, and when the operating rod 4 is lifted, the automatic clamping mechanism 6 can automatically tighten under the action of the gravity of the grabbed object and the tension spring 402, as shown in figure, and the heavier the article is, the effort of centre gripping is just bigger more, can match the required clamping force of the article of different weight voluntarily, prevents that the phenomenon that drops and the too big damage caused the article of clamping force of article in the transportation from taking place, simple structure, and use and easy maintenance have improved the device's stability and adaptability.
Wherein, the cross-sectional shape of the supporting clamp block 7 is triangular, and the bevel edge surface of the supporting clamp block 7 is provided with a serrated anti-skid layer, the bottoms of the left clamping rod 601 and the right clamping rod 602 are provided with a connecting protrusion 6014, and the supporting clamp block 7 is rotatably connected inside the connecting protrusion 6014, as shown in fig. 1, fig. 2 and fig. 6, the triangular design of the supporting clamp block 7 enables the device to be smoothly inserted and clamped at both ends of an object, and when the lifting operating rod 4 clamps the object, the supporting clamp block 7 can rotate along the connecting protrusion 6014, the inclined edges are all flatly laid on the side surface of the object to clamp the object, the object to be transported can be ensured to have enough contact area with the supporting clamp block 7, and the surface of the supporting clamp block 7 is provided with the anti-skid layer to further prevent the object from falling off in the process of capturing and transporting, when the device is in use, personnel cannot directly contact with the object to be captured and transported, the personal safety of operators is protected, and the stability and the flexibility of the device are improved.
Wherein, the bottom of action bars 4 is equipped with the spring groove, and the inside in spring groove is equipped with extension spring 402, and the both ends of extension spring 402 are fixed connection respectively in the inside in spring groove and the bottom plate body of backup pad 1 locating hole 102, as shown in fig. 2 and fig. 7, extension spring 402 can guarantee that device action bars 4 can make the support clamp splice 7 of left supporting rod 601 and right supporting rod 602 contact with the side of article when not lifting, and automatic fixture 6's tightening operation when convenient lifting action bars 4 on next step has improved the flexibility of device.
The specific use mode and function of the embodiment are as follows:
in the invention, when the device is arranged on a mechanical arm for use, an electric push rod in the mechanical arm is connected in an installation cylinder 5 at the top of an operating rod 4, the device is fixed at the operating end of the mechanical arm through a screw hole of a multipurpose cross rod 3, the device can be used together with the mechanical arm and a controller to realize the grabbing and transferring of objects, when the device is used independently, the cross rod at the top of the operating rod 4 is held, the inner end of the multipurpose cross rod 3 is hooked by a forefinger, the device can be used for transferring the objects, when the operating rod 4 is pressed down, the operating rod 4 controls a left clamping rod 601 and a right clamping rod 602 to rotate by taking a rotating block b101 as a circle center through a linkage rod 401 to change the distance between the left clamping rod 601 and the right clamping rod 602, and a linkage block 6012 of the left clamping rod 601 and the right clamping rod 602 is designed to enable the left clamping rod 601 and the right clamping rod 602 to rotate independently without mutual, therefore, objects with different sizes can be clamped and inserted into two sides of the object to be transported, as shown in fig. 5, after the downward pressure on the operation rod 4 is removed, the tension spring 402 can jack up the operation rod 4, so that the supporting clamping blocks 7 of the left clamping rod 601 and the right clamping rod 602 are contacted with the side surfaces of the object, the tightening operation of the automatic clamping mechanism 6 is facilitated when the operation rod 4 is lifted up next step, the supporting clamping blocks 7 can rotate along the connecting bulges 6014, the left clamping rod 601 and the right clamping rod 602 are internally provided with and avoid grooves 6015, the rotation of the supporting clamping blocks 7 is not hindered, so that the supporting clamping blocks 7 can be stably clamped at two ends of the object, the inclined edges are all tiled at the side surfaces of the object, the object to be clamped can be ensured to have enough contact area with the supporting clamping blocks 7, the surface of the supporting clamping blocks 7 is provided with an anti-slip layer, and the object is further prevented from falling off in the grabbing and transporting processes, when the device is used, a person cannot directly contact with a grabbed and transported object, the personal safety of the operator is protected, the operating rod 4 is continuously lifted, the operating rod 4 can move in the linkage groove 6013 of the linkage block 6012 through the linkage rod 401 to drive the left clamping rod 601 and the right clamping rod 602 to synchronously move in different directions, so that the object can be grabbed and released, when the operating rod 4 is lifted, the automatic clamping mechanism 6 can automatically tighten under the action of the gravity of the grabbed object and the tension spring 402 as shown in figure 4, the heavier the object is, the larger the clamping acting force is, the clamping force required by the objects with different weights can be automatically matched, the phenomena that the object falls off and the object is damaged due to the overlarge clamping force in the transportation process are prevented, the device is simple in structure and convenient to use and maintain, when the object is transported to a required place, the index finger hooks the inner side of the multipurpose transverse rod 3 to press the operating rod 4 downwards, the automatic clamping mechanism 6 can be controlled to release the clamping of the object, the device is pulled out, at this time, the top spring 701 can enable the supporting clamping block 7 to automatically reset under the action of the top spring 701 so as to grab and transfer the rest of the object next time, as shown in fig. 5, the operation is repeated, and the rest of the object can be continuously transferred.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (8)
1. The utility model provides an automatic change material taking manipulator which characterized in that: comprises a supporting plate (1), a multipurpose cross rod (3), an operating rod (4), an installation cylinder (5), an automatic clamping mechanism (6) and a supporting clamping block (7); two ends of the supporting plate (1) are fixedly connected with mounting upright rods (2); the middle part of the bottom surface of the multipurpose cross rod (3) is fixedly connected to the top of the rod body of the mounting upright rod (2); the outer end of the top surface of the multipurpose cross rod (3) is provided with a fixing hole, and the multipurpose cross rod (3) can be screwed and fixed at the material taking end of the mechanical arm through a screw of the fixing hole; the operating rod (4) is inserted in the middle of the support plate (1); the bottom surface of the mounting cylinder (5) is fixedly connected to the top of the rod body of the operating rod (4), and an electric push rod inside the mechanical arm can be sleeved and fixed inside the top surface of the mounting cylinder (5); the automatic clamping mechanism (6) consists of a left clamping rod (601) and a right clamping rod (602); the supporting clamping block (7) is movably connected with one of the left clamping rod (601) and the right clamping rod (602) of the automatic clamping mechanism (6).
2. The automated reclaiming robot of claim 1, wherein: the body of rod of left supporting rod (601) and right supporting rod (602) of automatic fixture (6) is the broken line structure, and the middle part of left supporting rod (601) and right supporting rod (602) is equipped with commentaries on classics piece a (6011), the both ends of backup pad (1) are equipped with commentaries on classics piece b (101), and the commentaries on classics piece a (6011) of left supporting rod (601) and right supporting rod (602) rotate respectively through the pin rod and connect inside commentaries on classics piece b (101) at backup pad (1) both ends.
3. The automated reclaiming robot of claim 1, wherein: the top of the rotating block a (6011) of the left clamping rod (601) and the right clamping rod (602) is provided with a linkage block (6012), the linkage block (6013) is arranged inside the linkage block (6012), the inclined directions of the linkage block (6012) of the left clamping rod (601) and the right clamping rod (602) are opposite, and the linkage block (6012) of the left clamping rod (601) and the right clamping rod (602) is in a staggered design.
4. The automated reclaiming robot of claim 1, wherein: the rod body of operating rod (4) is the design of square pole, and the middle part of backup pad (1) top surface is equipped with square locating hole (102), and the rod body of operating rod (4) passes the inside of locating hole (102), the both sides at the body of rod middle part of operating rod (4) are equipped with gangbar (401), and inside linkage groove (6013) of linkage piece (6012) are pegged graft to gangbar (401), the internal diameter width of linkage groove (6013) is the same with the diameter length of gangbar (401).
5. The automated reclaiming robot of claim 1, wherein: the cross-sectional shape of supporting clamp splice (7) is triangle-shaped, and the hypotenuse surface of supporting clamp splice (7) is equipped with the skid resistant course of cockscomb structure, the bottom of left side holding rod (601) and right holding rod (602) is equipped with link hump (6014), and supports clamp splice (7) and rotate the inside of connecting link hump (6014).
6. The automated reclaiming robot of claim 1, wherein: the bottom of left side holding rod (601) and right holding rod (602) all is equipped with curved groove (6015) of dodging, and dodges the radius of arc of groove (6015) and is greater than the turning radius who supports clamp splice (7).
7. The automated reclaiming robot of claim 1, wherein: the bottom of action bars (4) is equipped with the spring groove, and the inside in spring groove is equipped with extension spring (402), the both ends of extension spring (402) fixed connection respectively in the inside in spring groove and the bottom plate body of backup pad (1) locating hole (102).
8. The automated reclaiming robot of claim 1, wherein: the top of the supporting clamping block (7) is provided with a spring block, a top spring (701) is arranged inside the spring block, and two ends of the top spring (701) are fixedly connected inside the spring block and inside the rod body of the left clamping rod (601) and the right clamping rod (602) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010706870.6A CN111874608A (en) | 2020-07-21 | 2020-07-21 | Automatic change material taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010706870.6A CN111874608A (en) | 2020-07-21 | 2020-07-21 | Automatic change material taking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111874608A true CN111874608A (en) | 2020-11-03 |
Family
ID=73155056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010706870.6A Pending CN111874608A (en) | 2020-07-21 | 2020-07-21 | Automatic change material taking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111874608A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571437A (en) * | 2020-11-28 | 2021-03-30 | 河北机电职业技术学院 | Multi-operation type manipulator for intelligent manufacturing |
| CN112621152A (en) * | 2020-12-16 | 2021-04-09 | 新沂市承翔电子有限公司 | Clamping device for assembling electronic components |
| CN112978263A (en) * | 2021-02-05 | 2021-06-18 | 常州嘉业智能装备科技有限公司 | Transverse conveying device suitable for radiation environment |
| CN113172651A (en) * | 2021-04-20 | 2021-07-27 | 王荣伟 | Self-sensing anti-drop industrial manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730659A1 (en) * | 1995-02-16 | 1996-08-23 | Peugeot | Gripping claws for manipulator mounted on rotary barrel for use in car industry |
| DE19830456A1 (en) * | 1997-07-09 | 1999-06-10 | Hermann Tretter | Bottle grab in bottle handling plant |
| CN102717389A (en) * | 2012-06-27 | 2012-10-10 | 中国石油大学(华东) | Design of replaceable simple-joint robot flexible hand |
| CN205320425U (en) * | 2015-12-30 | 2016-06-15 | 深圳市海鹏信电子股份有限公司 | Clamping mechanism |
| CN107322624A (en) * | 2017-08-24 | 2017-11-07 | 佛山伊贝尔科技有限公司 | A kind of sucking disc type mechanical hand |
| CN107378984A (en) * | 2017-07-07 | 2017-11-24 | 佛山市正略信息科技有限公司 | A kind of adjustable mechanical hand with locating rod |
| CN209190792U (en) * | 2018-12-05 | 2019-08-02 | 东北林业大学 | A kind of rotation clamping manipulator of industrial robot |
-
2020
- 2020-07-21 CN CN202010706870.6A patent/CN111874608A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730659A1 (en) * | 1995-02-16 | 1996-08-23 | Peugeot | Gripping claws for manipulator mounted on rotary barrel for use in car industry |
| DE19830456A1 (en) * | 1997-07-09 | 1999-06-10 | Hermann Tretter | Bottle grab in bottle handling plant |
| CN102717389A (en) * | 2012-06-27 | 2012-10-10 | 中国石油大学(华东) | Design of replaceable simple-joint robot flexible hand |
| CN205320425U (en) * | 2015-12-30 | 2016-06-15 | 深圳市海鹏信电子股份有限公司 | Clamping mechanism |
| CN107378984A (en) * | 2017-07-07 | 2017-11-24 | 佛山市正略信息科技有限公司 | A kind of adjustable mechanical hand with locating rod |
| CN107322624A (en) * | 2017-08-24 | 2017-11-07 | 佛山伊贝尔科技有限公司 | A kind of sucking disc type mechanical hand |
| CN209190792U (en) * | 2018-12-05 | 2019-08-02 | 东北林业大学 | A kind of rotation clamping manipulator of industrial robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571437A (en) * | 2020-11-28 | 2021-03-30 | 河北机电职业技术学院 | Multi-operation type manipulator for intelligent manufacturing |
| CN112621152A (en) * | 2020-12-16 | 2021-04-09 | 新沂市承翔电子有限公司 | Clamping device for assembling electronic components |
| CN112978263A (en) * | 2021-02-05 | 2021-06-18 | 常州嘉业智能装备科技有限公司 | Transverse conveying device suitable for radiation environment |
| CN113172651A (en) * | 2021-04-20 | 2021-07-27 | 王荣伟 | Self-sensing anti-drop industrial manipulator |
| CN113172651B (en) * | 2021-04-20 | 2022-08-05 | 汪永生 | Self-sensing anti-drop industrial manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111874608A (en) | Automatic change material taking manipulator | |
| US4787810A (en) | Method and apparatus for handling stacks of loose sheet material | |
| CN111252534B (en) | Carrying manipulator and carrying robot | |
| CN108907161A (en) | A kind of mold transport robot in foundry technology process | |
| CN113023565A (en) | Self-walking carrying device, self-walking trolley and production line | |
| CN107160425B (en) | Manipulator device for automatically clamping and carrying flexible cloth | |
| KR102067043B1 (en) | Brick-carrying device | |
| EP1132182A1 (en) | Robotic end effector with counter-rotating fingers | |
| CN113023557A (en) | Self-clamping jaw, feeding and discharging device and using method of self-clamping jaw | |
| CN211338549U (en) | Steel ingot clamp | |
| CN214030799U (en) | Full-automatic hanging scaffold grabbing mechanism | |
| US4807917A (en) | Bottle depalletizer tool | |
| US6220641B1 (en) | Cradle and pressure grippers | |
| JP2700869B2 (en) | Lid removal / attachment device for gutter | |
| CN111335601B (en) | Wood floor gripping device and installation robot | |
| GB2156312A (en) | Load handler | |
| CN218707023U (en) | Pneumatic mechanical gripper for transferring emergency disaster relief materials | |
| CN219906706U (en) | New energy automobile battery box lifts by crane frock | |
| CN215711139U (en) | Self-clamping jaw and feeding and discharging device | |
| CN218837818U (en) | Manual power assisting arm gripper device for carrying workpieces | |
| CN218062244U (en) | Drilling machine rod adding system and drilling machine | |
| CN215711168U (en) | Self-walking carrying device, self-walking trolley and production line | |
| CN210794922U (en) | Casket-like bowl presss from both sides and gets instrument | |
| CN211687951U (en) | Heavy clamp for aluminum profile | |
| CN221158504U (en) | Change work or material rest is used in forging transportation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201103 |
|
| RJ01 | Rejection of invention patent application after publication |