CN112407939A - Manipulator for feeding and taking materials - Google Patents
Manipulator for feeding and taking materials Download PDFInfo
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- CN112407939A CN112407939A CN202011226710.8A CN202011226710A CN112407939A CN 112407939 A CN112407939 A CN 112407939A CN 202011226710 A CN202011226710 A CN 202011226710A CN 112407939 A CN112407939 A CN 112407939A
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- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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Abstract
The invention discloses a manipulator for feeding and taking materials, which comprises a supporting base, a main supporting column, an auxiliary supporting piece, a lifting device, a positioning transmission device and a mechanical clamping assembly, wherein one end of the main supporting column is limited and fixed with the supporting base through a locking bolt; a positioning transmission device is transversely arranged on the lifting device in a relatively sliding manner, is fixed with the mechanical clamping assembly and controls the horizontal working point position of the manipulator; the mechanical clamping assembly is used for fixedly clamping the material to be taken and conveyed left and right, so that the material to be conveyed is completely clamped into the mechanical clamping assembly.
Description
Technical Field
The invention relates to the technical field of manipulator transportation equipment, in particular to a manipulator for feeding and taking materials.
Background
In the process of transporting and transferring product materials, the structure of the clamp is related to the precision and the speed of the assembly line work. In the prior art, a manipulator is generally adopted for clamping and conveying materials, but when the manipulator is used for clamping materials with irregular surface shapes in work, the phenomenon that individual materials are not clamped tightly or the materials are damaged due to uneven distribution of clamping force is easy to occur; if these disadvantages can be effectively overcome, it will produce great practical significance in the packaging and production line, and therefore it is necessary to provide a manipulator for feeding and taking materials to solve the above problems.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a manipulator for feeding and taking materials comprises a supporting base, a main supporting column, an auxiliary supporting piece, a lifting device, a positioning transmission device and a mechanical clamping assembly, wherein an installation notch for embedding and fixing the main supporting column is formed in the middle of the upper end face of the supporting base, one end of the main supporting column is limited and fixed with the supporting base through a locking bolt, the auxiliary supporting piece is vertically fixed on the upper end face of the supporting base, the auxiliary supporting piece is connected and fixed with the main supporting column and supports the column body of the main supporting column laterally, the lifting device is vertically fixed on the main supporting column and used for controlling the working height of the vertical face of the manipulator;
a positioning transmission device is transversely arranged on the lifting device in a relatively sliding manner, is fixed with the mechanical clamping assembly and controls the horizontal working point position of the manipulator;
the mechanical clamping assembly is used for fixedly clamping the material to be taken and delivered left and right, so that the material to be delivered is completely clamped into the mechanical clamping assembly and is transported at a fixed point.
As a preferred technical scheme of the present invention, the lifting device comprises a rotary screw, an external transmission gear box, a transverse guide rod, a bearing seat and a guide member, wherein an external mounting frame is vertically fixed on a column body of the main support column, the rotary screw is vertically arranged in the external mounting frame in a manner that the rotary screw can relatively rotate through the bearing seat, and one end of the rotary screw is fixed with the external transmission gear box and is driven in a bidirectional circumferential rotation manner through the external transmission gear box;
the rotary screw is engaged and driven by threads to form a guide part, a transverse guide rod transversely penetrates through the guide part and is fixed in the guide part, one end of the transverse guide rod is limited to slide with the auxiliary supporting part, and the auxiliary supporting part supports the side position; and the transverse guide rod is provided with a positioning transmission device in a sliding manner.
As a preferred technical scheme of the present invention, the positioning transmission device includes a driving guide seat, a rotating shaft, transmission chain members and a fine adjustment telescopic cylinder, wherein the driving guide seat adopts a built-in driving wheel to transversely limit and slide on a transverse guide rod, the transmission chain members are longitudinally and symmetrically distributed on the transverse guide rod, and one end of the transmission chain member is fixedly connected with the driving guide seat;
a rotating shaft body is vertically arranged on the lower end face of the driving guide seat, a fine adjustment telescopic cylinder is arranged below the rotating shaft body, and the fine adjustment telescopic cylinder is controlled to perform unidirectional circumferential rotation adjustment;
the output end of the fine adjustment telescopic cylinder is fixedly connected with the mechanical clamping assembly, and the clamping working height of the mechanical clamping assembly is finely adjusted.
As a preferred technical scheme of the invention, the mechanical clamping assembly comprises a fixed frame body, a connecting piece, a fixed support rod, a sliding piece, a locking clamping arm and a transverse jacking arm, wherein the left side and the right side of the lower side in the fixed frame body are respectively provided with the locking clamping arm and the transverse jacking arm, and the locking clamping arm effectively clamps and locks one side of a material to be taken and delivered so as to keep the material in a static state during taking and delivering; the transverse jacking arm is a main bearing end and is used for transversely and locally jacking the material to be taken and delivered and is matched with the locking clamping arm to carry out clamping work;
the lower terminal surface of the fixed support body is vertically provided with a connecting piece, one end of the fixed supporting rod is transversely fixed in the fixed support body through the connecting piece, and a sliding piece is installed on an output arm rod of the transverse jacking arm and is connected with the fixed supporting rod in a sliding mode so as to assist in supporting the transverse jacking arm in the clamping work.
As a preferred technical scheme of the invention, the locking clamping arm comprises a connecting frame piece, an electric telescopic rod, an outer shaft sleeve, a sliding guide piece, a rotating motor, a connecting rod and a clamping piece, wherein one end of the connecting frame piece is transversely fixed on a fixed frame body through a built-in bearing in a relatively rotating way, the rotating motor is arranged outside the fixed frame body, the output end of the rotating motor is connected and driven with the connecting frame piece through a gear meshing effect, the outer shaft sleeve is transversely sleeved on one side of the connecting frame piece,
a connecting rod is symmetrically connected to the upper end and the lower end of the annular connecting piece in an up-and-down symmetrical mode, and a clamping piece is mounted at one end of the connecting rod and is used for limiting and clamping;
an electric telescopic rod is transversely arranged in the connecting frame piece, a sliding guide piece is fixed at the output end of the electric telescopic rod, and the other end of the connecting rod slides in the sliding guide piece in a limiting manner, so that when the electric telescopic rod is adjusted in a telescopic manner, the electric telescopic rod controls the effective clamping distance between the clamping pieces;
and a plurality of reinforcing ribs are arranged on the periphery of the circumference of the connecting frame piece.
As a preferred technical scheme of the invention, the clamping piece comprises an arc-shaped pressing plate, a support piece, a mounting seat and elastic clamping pieces, the support piece is symmetrically hinged on the mounting seat, the elastic clamping pieces are arranged on the support piece,
and the elastic clamping piece supporting piece is provided with an inward concave type arc-shaped pressing plate.
As a preferred technical scheme of the invention, the transverse jacking arm comprises a main clamping arm, an outer fixing sleeve, an adjustable cylinder I, an adjustable cylinder II and a vibration gap reducing device, wherein the outer fixing sleeve is mounted on the lower end face of the fixing frame body, one end of the outer fixing sleeve is rotatably connected with the main clamping arm, the adjustable cylinder I and the adjustable cylinder II are mounted in the outer fixing sleeve in parallel, and output ends of the adjustable cylinder I and the adjustable cylinder II are hinged with the main clamping arm and independently extend and retract relative to each other;
still be provided with the vibration and subtract the crack device between outer fixed cover and the main centre gripping arm, the vibration subtracts the crack device and provides slight reciprocating oscillation to main centre gripping arm when carrying out clamping work to make and wait to get and send and reach the limit laminating state between material and the main centre gripping arm.
As a preferred technical scheme of the present invention, the vibration gap reducing device includes a linear oscillator, an arc-shaped guide disc, a stay bar and a connecting spring, wherein the stay bar is installed at one end of the main clamping arm, the arc-shaped guide disc is fixed in the outer fixing sleeve, and the stay bar slides along an arc track of the arc-shaped guide disc;
and a linear oscillator is vertically fixed in the outer fixed sleeve, the output end of the linear oscillator is hinged with the stay bar and oscillates in an amplitude swing mode through reciprocating contraction of the linear oscillator and the auxiliary main clamping arm,
and a plurality of groups of connecting springs are also arranged between the support rod and the outer fixed sleeve.
Compared with the prior art, the invention provides a manipulator for feeding and taking materials, which has the following beneficial effects:
in the invention, the fixed point adjustment of the clamping work of the device main body is realized through the lifting device and the positioning transmission device, the material is fastened and clamped by the mechanical clamping assembly to complete the feeding and taking work, a fine adjustment telescopic cylinder is also arranged in the positioning transmission device to accurately adjust the vertical height of the clamping work surface so that the mechanical clamping assembly can be completely contacted and clamped with the material, in the clamping process, the locking clamping arm and the transverse jacking arm are used for matched clamping, specifically, the transverse jacking arm is used for locally jacking the material to be fully contacted with the locking clamping arm, then the locking clamping arm is used for locking and clamping, in the clamping process, the inclination angle of the work surface of the clamping device can be driven and adjusted through a rotating motor, so that the clamping device can work vertically or horizontally to adapt to the irregular end surface of the material, and an adjustable cylinder I and an adjustable cylinder II are arranged in the transverse jacking arm up and down, the adjustable cylinder I and the adjustable cylinder II can independently extend and retract, so that the main clamping arm is in a local inclined state before clamping, and materials can conveniently enter between the main clamping arm and a clamping piece; or the clamping device is of an inclined bearing structure, so that the internal supporting effect is improved; the main clamping arm is also provided with a vibration gap reducing device which can effectively improve auxiliary vibration so as to facilitate the material and the main clamping arm to reach a limit attaching state and prevent the material from generating local motion in the feeding and taking process.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the lifting device of the present invention;
FIG. 3 is a schematic view of the positioning actuator of the present invention;
FIG. 4 is a schematic view of a mechanical clamping assembly according to the present invention;
FIG. 5 is a schematic view of the locking clamp arm of the present invention;
FIG. 6 is a partial schematic view of a chuck of the present invention;
FIG. 7 is a schematic view of the structure of the lateral pressing arm according to the present invention;
FIG. 8 is an enlarged view taken at A in FIG. 7;
in the figure: 1 main support column, 101 support base, 102 auxiliary support piece, 2 lifting device, 201 external mounting rack, 202 rotating screw, 203 bearing seat, 204 guide piece, 205 transverse guide rod, 206 external transmission gear box, 3 positioning transmission device, 301 driving guide seat, 302 transmission chain piece, 303 rotating shaft body, 304 fine adjustment telescopic cylinder, 4 mechanical clamping components, 401 fixed frame body, 402 connecting piece, 403 fixed support rod, 404 sliding piece, 5 locking clamping arm, 501 connecting frame piece, 502 external shaft sleeve, 503 ring connecting piece, 504 connecting rod, 505 electric telescopic rod, 506 sliding guide piece, 507 rotating motor, 508 reinforcing rib, 6 transverse jacking arm, 601 adjustable cylinder I, 602 adjustable cylinder II, 603 external fixed sleeve, 7 clamping piece, 701 mounting seat, 702 supporting piece, 703 arc-shaped pressure plate 704, elastic clamping piece, 8 main clamping arm, 9 vibration gap reducing device, 901 linear oscillator, 902 connecting spring, 903 arc-shaped guide disc, 904 a brace.
Detailed Description
Referring to fig. 1, the present invention provides a technical solution: a manipulator for feeding and taking materials comprises a supporting base 101, a main supporting column 1, auxiliary supporting pieces 102, a lifting device 2, a positioning transmission device 3 and a mechanical clamping assembly 4, wherein an installation notch for embedding and fixing the main supporting column 1 is formed in the middle of the upper end face of the supporting base 101, one end of the main supporting column 1 is limited and fixed with the supporting base 101 through a locking bolt, the auxiliary supporting pieces 102 are vertically fixed on the upper end face of the supporting base 101, the auxiliary supporting pieces 102 are connected and fixed with the main supporting column 1 and laterally support the column body of the main supporting column 1, the lifting device 2 is vertically fixed on the main supporting column 1, and the lifting device 2 is used for controlling the vertical plane working height of the manipulator;
a positioning transmission device 3 is transversely arranged on the lifting device 2 in a relatively sliding manner, and the positioning transmission device 3 is fixed with the mechanical clamping assembly 4 and controls the horizontal working point position of the manipulator;
Referring to fig. 2, in the present embodiment, the lifting device 2 includes a rotary screw 202, an outer transmission gear box 206, a transverse guide rod 205, a bearing seat 203, and a guide 204, wherein an outer mounting frame 201 is vertically fixed on a column body of the main support column 1, the rotary screw 202 is vertically arranged in the outer mounting frame 201 and can rotate relatively through the bearing seat 203, and one end of the rotary screw 202 is fixed with the outer transmission gear box 206 and is driven by the outer transmission gear box 206 in a bidirectional circular rotation manner;
the rotating screw 202 is in threaded engagement with a guide 204, a transverse guide rod 205 penetrates and is fixed in the guide 204 in the transverse direction, one end of the transverse guide rod 205 is limited to slide with the auxiliary support part 101, and the auxiliary support part 101 supports the side part; the transverse guide rod 205 is provided with a positioning transmission device 3 in a sliding manner, so that the support stability of the transverse guide rod is improved.
Referring to fig. 3, in this embodiment, the positioning transmission device 3 includes a driving guide seat 301, a rotating shaft 303, a transmission chain element 302 and a fine adjustment telescopic cylinder 304, wherein the driving guide seat 301 slides on the transverse guide rod 205 in a transverse limited manner by using a built-in driving wheel, the transmission chain element 302 is longitudinally and symmetrically distributed on the transverse guide rod 205, and one end of the transmission chain element 302 is fixedly connected with the driving guide seat;
a rotating shaft body 303 is vertically arranged on the lower end surface of the driving guide seat 301, a fine adjustment telescopic cylinder 304 is arranged below the rotating shaft body 303, and the fine adjustment telescopic cylinder 304 is controlled to perform unidirectional circumferential rotation adjustment;
the output end of the fine adjustment telescopic cylinder 304 is fixedly connected with the mechanical clamping assembly 4, the clamping working height of the mechanical clamping assembly 4 is finely adjusted, and after the clamping height is preliminarily determined by the lifting device, the fine adjustment telescopic cylinder controls the range of the clamping height so as to facilitate the mechanical clamping assembly to quickly clamp the workpiece.
Referring to fig. 4, in this embodiment, the mechanical clamping assembly 4 includes a fixed frame 401, a connecting member 402, a fixed support rod 403, a sliding member 404, a locking clamping arm 5, and a transverse pushing arm 6, where the locking clamping arm 5 and the transverse pushing arm 6 are even provided on the left and right sides of the inner lower side of the fixed frame 401, and the locking clamping arm 5 effectively clamps and locks one side of the material to be taken and delivered, so that the material is kept in a static state during taking and delivering; the transverse jacking arm 6 is a main bearing end, and the transverse jacking arm 6 transversely and locally jacks the material to be taken and delivered and is matched with the locking clamping arm 5 to clamp the material;
the lower end face of the fixed frame body 401 is vertically provided with a connecting piece 402, one end of the fixed support rod 403 is transversely fixed in the fixed frame body 401 through the connecting piece 402, a sliding piece 404 is installed on an output arm rod of the transverse jacking arm 6 and is in sliding connection with the fixed support rod 403 through the sliding piece 404, so that the transverse jacking arm can be supported in an auxiliary mode in the clamping work, the locking clamping arm and the transverse jacking arm respectively play different clamping roles, and the locking clamping arm clamps irregular end faces of materials in a multi-angle mode, so that the clamping stability is improved; the transverse jacking arm is used for carrying out main jacking support on the other end of the material.
Referring to fig. 5, in this embodiment, the locking clamping arm 5 includes a connection frame 501, an electric telescopic rod 505, an outer bushing 502, a sliding guide 506, a rotating electrical machine 507, a connecting rod 504 and a clamping member 7, wherein one end of the connection frame 501 is transversely fixed on the fixing frame 401 through a built-in bearing, the rotating electrical machine 507 is installed outside the fixing frame 401, an output end of the rotating electrical machine 507 is connected and driven with the connection frame 501 through a gear engagement function, the outer bushing 502 is transversely sleeved on one side of the connection frame 501,
a ring connecting piece 503 is fixed at the other end of the outer shaft sleeve 502, a connecting rod 504 is symmetrically connected with the ring connecting piece 504 from top to bottom, and a clamping piece 7 is installed at one end of the connecting rod 504 and is limited and clamped by the clamping piece 7;
an electric telescopic rod 505 is transversely installed in the connecting frame 501, a sliding guide 506 is fixed at the output end of the electric telescopic rod 505, and the other end of the connecting rod 504 slides in the sliding guide 506 in a limiting manner, so that when the electric telescopic rod 505 is adjusted in a telescopic manner, the effective clamping distance between the clamping pieces is controlled;
the periphery of the connecting frame 501 is also provided with a plurality of reinforcing ribs 508, so that the clamping stability of the device is improved.
Referring to fig. 6, in this embodiment, the clamping member 7 includes an arc-shaped pressing plate 703, a support 702, a mounting seat 701 and elastic clamping pieces 704, the support 702 is symmetrically hinged on the mounting seat 701, the elastic clamping pieces 704 are disposed on the support 702,
and the elastic clamping piece 704 and the supporting piece 702 are provided with concave arc-shaped pressing plates 703.
Referring to fig. 7, in this embodiment, the transverse jacking arm 6 includes a main clamping arm 8, an outer fixing sleeve 603, a first adjustable cylinder 601, a second adjustable cylinder 602, and a vibration gap reducing device 9, where the outer fixing sleeve 603 is installed on the lower end surface of the fixing frame 401, one end of the outer fixing sleeve 603 is rotatably connected to the main clamping arm 8, the first adjustable cylinder 601 and the second adjustable cylinder 602 are installed in the outer fixing sleeve 603 in parallel, and output ends of the first adjustable cylinder 601 and the second adjustable cylinder 602 are both hinged to the main clamping arm 8 and extend and retract independently;
a vibration gap reducing device 9 is further arranged on one side of the main clamping arm 8, the vibration gap reducing device 9 provides slight reciprocating oscillation for the main clamping arm 8 when the main clamping arm 8 is clamped, and the material to be taken and conveyed and the main clamping arm 8 reach a limit fit state; when the first adjustable cylinder extends out relative to the second adjustable cylinder or is in an inclined bearing structure during clamping, the internal supporting effect is improved.
Referring to fig. 8, in this embodiment, the vibration gap reducing device includes a linear oscillator 901, an arc-shaped guide disc 903, a stay 904 and a connecting spring 902, where the stay 904 is installed at one end of the main clamping arm 8, the arc-shaped guide disc 903 is fixed in the outer fixing sleeve 603, and the stay 904 slides along an arc track of the arc-shaped guide disc 903;
moreover, a linear oscillator 901 is vertically fixed in the external fixing sleeve 603, the output end of the linear oscillator 901 is hinged with the stay 904, and the amplitude swing is carried out by the reciprocating contraction oscillation auxiliary main clamping arm 8,
a plurality of groups of connecting springs 902 are arranged between the stay 904 and the outer fixing sleeve 603.
Specifically, when the material is delivered, the vertical plane working height of the manipulator is controlled through the lifting device, so that the mechanical clamping assembly can initially contact the material, and fixed-point adjustment of clamping work of the device main body is realized through the positioning transmission device; in the material clamping link, the locking clamping arm and the transverse jacking arm are matched for clamping, particularly, the transverse jacking arm is used for fully contacting the local jacking of the material with the locking clamping arm, then the locking clamping arm is used for locking and clamping, the height fine adjustment of a clamping surface can be performed through the fine adjustment telescopic cylinder, and the clamping efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the inventive concept within the technical scope of the present invention, and the technical solution and the inventive concept thereof should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides a manipulator for sending get material, its includes supporting pedestal (101), main tributary dagger (1), supplementary support piece (102), elevating gear (2), location transmission (3) and mechanical clamping component (4), wherein, the up end middle part of supporting pedestal (101) is equipped with and is used for embedding fixed the installation notch of main tributary dagger (1), the one end of main tributary dagger (1) is passed through locking bolt and is spacing fixed with supporting pedestal (101), the up end of supporting pedestal (101) is vertical to be fixed with supplementary support piece (102), should supplementary support piece (102) are connected fixedly with main tributary dagger (1) to carry out the side to its shaft and strut, its characterized in that: a lifting device (2) is vertically fixed on the main supporting column (1), and the lifting device (2) is used for controlling the vertical plane working height of the manipulator;
a positioning transmission device (3) is transversely arranged on the lifting device (2) in a relatively sliding manner, and the positioning transmission device (3) is fixed with the mechanical clamping assembly (4) and controls the horizontal working point position of the manipulator;
the mechanical clamping assembly (4) is used for fixedly clamping the materials to be taken and delivered left and right, so that the materials to be delivered are completely clamped into the mechanical clamping assembly and are transported at fixed points.
2. A manipulator for material conveying and reclaiming as claimed in claim 1, wherein: the lifting device (2) comprises a rotary screw rod (202), an outer transmission gear box (206), a transverse guide rod (205), a bearing seat (203) and a guide piece (204), wherein an outer mounting frame (201) is vertically fixed on a main support column (1), the rotary screw rod (202) is vertically arranged in the outer mounting frame (201) in a manner that the rotary screw rod can relatively rotate through the bearing seat (203), an outer transmission gear box (206) is fixed at one end of the rotary screw rod (202), and bidirectional circumferential rotary driving is carried out through the outer transmission gear box (206);
the rotary screw rod (202) is in threaded engagement transmission with a guide piece (204), a transverse guide rod (205) penetrates through and is fixed in the guide piece (204) in the transverse direction, one end of the transverse guide rod (205) is limited to slide with the auxiliary supporting piece (101), and the auxiliary supporting piece (101) supports at the side position; the transverse guide rod (205) is provided with a positioning transmission device (3) in a sliding way.
3. A manipulator for material delivery and retrieval as claimed in claim 2, wherein: the positioning transmission device (3) comprises a driving guide seat (301), a rotating shaft body (303), a transmission chain piece (302) and a fine adjustment telescopic cylinder (304), wherein the driving guide seat (301) slides on a transverse guide rod (205) in a transverse limiting manner by adopting a built-in driving wheel, the transmission chain piece (302) is longitudinally and symmetrically distributed on the transverse guide rod (205), and one end of the transmission chain piece (302) is fixedly connected with the driving guide seat;
a rotary shaft body (303) is vertically arranged on the lower end face of the driving guide seat (301), a fine adjustment telescopic cylinder (304) is arranged below the rotary shaft body (303), and the fine adjustment telescopic cylinder (304) is controlled to perform unidirectional circumferential rotation adjustment;
the output end of the fine adjustment telescopic cylinder (304) is fixedly connected with the mechanical clamping assembly (4), and the clamping working height of the mechanical clamping assembly (4) is finely adjusted.
4. A manipulator for material conveying and reclaiming as claimed in claim 1, wherein: the mechanical clamping assembly (4) comprises a fixed frame body (401), a connecting piece (402), a fixed support rod (403), a sliding piece (404), a locking clamping arm (5) and a transverse jacking arm (6), wherein the locking clamping arm (5) and the transverse jacking arm (6) are respectively arranged on the left side and the right side of the lower side in the fixed frame body (401), and the locking clamping arm (5) effectively clamps and locks one side of a material to be taken and delivered so as to keep the material in a static and fixed state during the material taking and delivery; the transverse jacking arm (6) is a main bearing end, and the transverse jacking arm (6) transversely and locally jacks the material to be taken and conveyed and is matched with the locking clamping arm (5) to clamp the material;
the lower terminal surface of fixed support body (401) is vertical to be provided with connecting piece (402), the one end of fixed branch (403) is passed through connecting piece (402) and is transversely fixed in fixed support body (401), install slider (404) on the output armed lever of horizontal top pressure arm (6), and pass through slider (404) and fixed branch (403) sliding connection to carry out auxiliary stay to horizontal top pressure arm in the clamping work.
5. A manipulator for material conveying and reclaiming as claimed in claim 4 wherein: the locking clamping arm (5) comprises a connecting frame piece (501), an electric telescopic rod (505), an outer shaft sleeve (502), a sliding guide piece (506), a rotating motor (507), a connecting rod (504) and a clamping piece (7), wherein one end of the connecting frame piece (501) is transversely fixed on a fixed frame body (401) through a built-in bearing in a relatively rotating way, the rotating motor (507) is installed outside the fixed frame body (401), the output end of the rotating motor (507) is connected and driven with the connecting frame piece (501) through a gear meshing effect, the outer shaft sleeve (502) is transversely sleeved on one side of the connecting frame piece (501),
a ring connecting piece (503) is fixed at the other end of the outer shaft sleeve (502), connecting rods (504) are symmetrically connected with the ring connecting piece (504) up and down, and a clamping piece (7) is mounted at one end of each connecting rod (504) and is limited and clamped by the clamping piece (7);
an electric telescopic rod (505) is transversely installed in the connecting frame piece (501), a sliding guide piece (506) is fixed at the output end of the electric telescopic rod (505), and the other end of the connecting rod (504) slides in the sliding guide piece (506) in a limiting manner, so that when the electric telescopic rod (505) is adjusted in a telescopic manner, the effective clamping distance between the clamping pieces is controlled;
the periphery of the connecting frame piece (501) is also provided with a plurality of reinforcing ribs (508).
6. A manipulator for material conveying and reclaiming as claimed in claim 5, wherein: the clamping piece (7) comprises an arc-shaped pressing plate (703), supporting pieces (702), a mounting seat (701) and elastic clamping pieces (704), the supporting pieces (702) are symmetrically hinged on the mounting seat (701), the elastic clamping pieces (704) are arranged on the supporting pieces (702),
and the elastic clamping piece (704) and the support piece (702) are provided with concave arc-shaped pressing plates (703).
7. A manipulator for material conveying and reclaiming as claimed in claim 4 wherein: the transverse jacking arm (6) comprises a main clamping arm (8), an outer fixing sleeve (603), a first adjustable cylinder (601), a second adjustable cylinder (602) and a vibration gap reducing device (9), wherein the outer fixing sleeve (603) is installed on the lower end face of the fixing frame body (401), one end of the outer fixing sleeve (603) is rotatably connected with the main clamping arm (8), the first adjustable cylinder (601) and the second adjustable cylinder (602) are installed in the outer fixing sleeve (603) in parallel, and the output ends of the first adjustable cylinder (601) and the second adjustable cylinder (602) are hinged to the main clamping arm (8) and extend and retract independently;
one side of the main clamping arm (8) is also provided with a vibration gap reducing device (9), and the vibration gap reducing device (9) provides slight reciprocating oscillation for the main clamping arm (8) when the main clamping arm is clamped, so that the material to be taken and delivered and the main clamping arm (8) reach a limit attaching state.
8. A manipulator for material conveying and reclaiming as claimed in claim 7, wherein: the vibration gap reducing device (9) comprises a linear oscillator (901), an arc-shaped guide disc (903), a support rod (904) and a connecting spring (902), wherein the support rod (904) is installed at one end of the main clamping arm (8), the arc-shaped guide disc (903) is fixed in the outer fixing sleeve (603), and the support rod (904) slides along the arc-shaped track of the arc-shaped guide disc (903);
moreover, a linear oscillator (901) is vertically fixed in the outer fixing sleeve (603), the output end of the linear oscillator (901) is hinged with the stay bar (904) and oscillates in amplitude by reciprocating contraction of the linear oscillator (901) and the auxiliary main clamping arm (8),
a plurality of groups of connecting springs (902) are arranged between the stay bar (904) and the outer fixing sleeve (603).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011226710.8A CN112407939B (en) | 2020-11-04 | 2020-11-04 | Manipulator for feeding and taking materials |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011226710.8A CN112407939B (en) | 2020-11-04 | 2020-11-04 | Manipulator for feeding and taking materials |
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| CN112407939A true CN112407939A (en) | 2021-02-26 |
| CN112407939B CN112407939B (en) | 2022-01-25 |
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| CN202011226710.8A Active CN112407939B (en) | 2020-11-04 | 2020-11-04 | Manipulator for feeding and taking materials |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114262928A (en) * | 2021-12-29 | 2022-04-01 | 苏州肯美特设备集成有限公司 | Over-and-under type hardware fitting electroplating device |
| CN114837186A (en) * | 2022-05-13 | 2022-08-02 | 中铁一局集团有限公司 | Supplementary construction equipment of muscle retaining wall installation |
| CN117682319A (en) * | 2024-02-02 | 2024-03-12 | 常州昂晟自动化科技有限公司 | Automatic handling equipment of sheet metal |
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| CN107485442A (en) * | 2017-09-19 | 2017-12-19 | 上海市第十人民医院 | A kind of orthopedic nail extractor |
| CN208276978U (en) * | 2018-06-15 | 2018-12-25 | 东莞市晋铭自动化设备有限公司 | It is a kind of automatically to cut packing machine |
| CN109250268A (en) * | 2018-09-07 | 2019-01-22 | 曾金玉 | A kind of ceramics water vat handling device |
| CN109514531A (en) * | 2018-11-30 | 2019-03-26 | 东莞理工学院 | A kind of manipulator |
| CN209467835U (en) * | 2019-01-14 | 2019-10-08 | 深圳市惟禾自动化设备有限公司 | Automatic charging docking machine |
| CN210709464U (en) * | 2019-10-15 | 2020-06-09 | 广东为尔润智能装备有限公司 | Full-automatic overturning material moving machine |
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| CN114262928A (en) * | 2021-12-29 | 2022-04-01 | 苏州肯美特设备集成有限公司 | Over-and-under type hardware fitting electroplating device |
| CN114262928B (en) * | 2021-12-29 | 2024-01-05 | 苏州肯美特设备集成股份有限公司 | Lifting type hardware fitting electroplating equipment |
| CN114837186A (en) * | 2022-05-13 | 2022-08-02 | 中铁一局集团有限公司 | Supplementary construction equipment of muscle retaining wall installation |
| CN114837186B (en) * | 2022-05-13 | 2024-04-19 | 中铁一局集团有限公司 | Reinforced retaining wall installation auxiliary construction equipment |
| CN117682319A (en) * | 2024-02-02 | 2024-03-12 | 常州昂晟自动化科技有限公司 | Automatic handling equipment of sheet metal |
| CN117682319B (en) * | 2024-02-02 | 2024-04-12 | 常州昂晟自动化科技有限公司 | Automatic handling equipment of sheet metal |
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