CN112454343A - Material conveying manipulator with rotary lifting base - Google Patents
Material conveying manipulator with rotary lifting base Download PDFInfo
- Publication number
- CN112454343A CN112454343A CN202011277538.9A CN202011277538A CN112454343A CN 112454343 A CN112454343 A CN 112454343A CN 202011277538 A CN202011277538 A CN 202011277538A CN 112454343 A CN112454343 A CN 112454343A
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- CN
- China
- Prior art keywords
- base
- fixed mounting
- mounting
- rotating
- seat
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a material conveying manipulator with a rotary lifting base, which comprises a base, wherein a mounting seat is fixedly arranged on the upper end surface of the base, a mounting column is fixedly arranged on the upper end surface of the mounting seat, a lifting mechanism is arranged at the upper end of the mounting column, a rotating mechanism is arranged on the lifting mechanism, a rotating column is arranged in the rotating mechanism, and a connector is fixedly arranged at the upper end of the rotating column. And poor clamping effect.
Description
Technical Field
The invention relates to the technical field of material conveying, in particular to a material conveying manipulator with a rotary lifting base.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.
A manipulator that is used for the material to carry the field at present, the normal operating range is fixed, can't carry out the transfer position that nimble material was carried according to the in service behavior, and the centre gripping effect is relatively poor.
Disclosure of Invention
The present invention is directed to a material conveying manipulator with a rotary lifting base, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a material conveying manipulator with rotatory lift base, the on-line screen storage device comprises a base, fixed mounting has the mount pad on the up end of base, fixed mounting has the erection column on the up end of mount pad, the upper end of erection column is provided with elevating system, the last rotary mechanism that is provided with of elevating system, the inside rotation post that is provided with of rotary mechanism, the upper end fixed mounting who rotates the post has the connector, one side fixed mounting of connector has the connecting seat, fixed mounting has the second pneumatic cylinder on the connecting seat, the output fixed mounting of second pneumatic cylinder has the regulation seat, fixed mounting has the link on the regulation seat, the other end fixed mounting of link has the fixed plate, the lower terminal surface of fixed plate has the centre gripping subassembly through dead lever fixed mounting.
Preferably, telescopic rods which are symmetrically distributed are arranged between the connecting seat and the adjusting seat.
Preferably, elevating system includes the mounting panel, mounting panel fixed mounting is in the upper end of erection column, fixed mounting has first pneumatic cylinder on the lower terminal surface of mounting panel, the output fixed mounting of first pneumatic cylinder has the fixing base, the bottom of fixing base is provided with the guide post, the inside at the erection column is pegged graft to the guide post, rotary mechanism sets up on the fixing base.
Preferably, rotary mechanism includes the dustcoat, dustcoat fixed mounting is in the outside of fixing base, rotate on the up end of fixing base and install the rotation platform, the up end and the rotation post fixed connection that rotate the platform, be provided with the bearing between rotation post and the dustcoat, the inside fixed mounting of dustcoat has driving motor, driving motor's output and rotate and be connected through driving disc and drive belt transmission between the post.
Preferably, the centre gripping subassembly includes the bedplate, rotate on the preceding terminal surface of bedplate and install bilateral symmetry's intermittent gear, fixed mounting has the actuating lever on the intermittent gear, the other end of actuating lever rotates installs the holding frame, be provided with the trace between the lower extreme of holding frame and bedplate, be rotation connection between trace and holding frame and the bedplate, be provided with the rack between the intermittent gear.
Preferably, the seat plate is fixedly provided with an electric push rod, the output end of the electric push rod is fixedly connected with the rack, the rack is provided with a connecting plate, the connecting plate is fixedly provided with guide rods which are symmetrically distributed, the seat plate is fixedly provided with a guide cylinder corresponding to the position of the guide rods, and the guide rods are inserted into the guide cylinder.
Preferably, the clamping frame is fixedly provided with a non-slip mat.
Preferably, a reinforcing rib is arranged between the mounting seat and the mounting column, and a reinforcing rib is arranged between the connector and the connecting seat.
Compared with the prior art, the invention has the beneficial effects that: the utility model provides a material conveying manipulator with rotatory lift base, through elevating system, rotary mechanism cooperation second pneumatic cylinder sets up, conveniently adjust the distance of centre gripping subassembly apart from connecting seat department, the centre gripping subassembly conveniently goes up and down and shifts, it is big to carry the transfer range, it is nimble convenient to use, the telescopic link has played the guide effect, drive fixing base elevating movement through first pneumatic cylinder, drive through driving motor, make the relative fixing base of rotation post rotate, thereby drive centre gripping subassembly and material and shift the transport, it removes to drive the rack through electric putter, rack and intermittent gear cooperation, it carries out centre gripping and locking to drive the supporting frame through the actuating lever to open and shut, fastening degree through the slipmat improvement centre gripping, the strengthening rib improves the intensity of junction. The invention relates to a material conveying manipulator with a rotary lifting base, which has the advantages of enlarging the material conveying transfer range, being flexible and convenient to use, stable in clamping effect, high in connection strength and the like by arranging a driving motor, a rack, an anti-slip pad and the like, and solves the problems that the conventional manipulator used in the field of material conveying is fixed in the operation range, cannot flexibly adjust the transfer position of material conveying according to the use condition and is poor in clamping effect.
Drawings
FIG. 1 is a schematic diagram of a material handling robot having a rotating lift base;
FIG. 2 is a schematic diagram of a rotary mechanism in a material handling robot having a rotary elevator base;
fig. 3 is a schematic diagram of a gripping assembly in a material handling robot having a rotating elevator base.
In the figure: 1-base, 2-mounting base, 3-mounting column, 4-mounting plate, 5-first pneumatic cylinder, 6-guide column, 7-rotating mechanism, 8-rotating column, 9-connecting head, 10-connecting base, 11-second pneumatic cylinder, 12-adjusting base, 13-telescopic rod, 14-connecting frame, 15-fixing plate, 16-fixing rod, 17-clamping component, 18-fixing base, 19-rotating table, 20-reinforcing rib, 21-outer housing, 22-driving motor, 23-driving disk, 24-driving belt, 25-seat plate, 26-electric push rod, 27-rack, 28-intermittent gear, 29-driving rod, 30-linkage rod, 31-clamping frame, 32-anti-slip pad, 33-connecting plate, 34-guide rod and 35-guide cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, the present invention provides a technical solution: a material conveying manipulator with a rotary lifting base comprises a base 1, wherein a mounting seat 2 is fixedly arranged on the upper end surface of the base 1, the upper end surface of the mounting seat 2 is fixedly provided with a mounting column 3, the upper end of the mounting column 3 is provided with a lifting mechanism, the lifting mechanism is provided with a rotating mechanism, a rotating column 8 is arranged in the rotating mechanism, the upper end of the rotating column 8 is fixedly provided with a connector 9, one side of the connector 9 is fixedly provided with a connecting seat 10, a second pneumatic cylinder 11 is fixedly arranged on the connecting seat 10, an adjusting seat 12 is fixedly arranged at the output end of the second pneumatic cylinder 11, the adjusting seat 12 is fixedly provided with a connecting frame 14, the other end of the connecting frame 14 is fixedly provided with a fixing plate 15, the lower end surface of the fixed plate 15 is fixedly provided with a clamping component 17 through a fixed rod 16.
Through the setting of elevating system, rotary mechanism cooperation second pneumatic cylinder 11, conveniently adjust the distance of centre gripping subassembly 17 apart from connecting seat 10 department, centre gripping subassembly 17 conveniently goes up and down and shifts, carries the transfer scope big, and it is nimble convenient to use.
And telescopic rods 13 which are symmetrically distributed are arranged between the connecting seat 10 and the adjusting seat 12.
The telescopic rod 13 plays a guiding role.
Elevating system includes mounting panel 4, 4 fixed mounting of mounting panel are in the upper end of erection column 3, fixed mounting has first pneumatic cylinder 5 on the lower terminal surface of mounting panel 4, the output fixed mounting of first pneumatic cylinder 5 has fixing base 18, the bottom of fixing base 18 is provided with guide post 6, guide post 6 pegs graft in the inside of erection column 3, rotary mechanism sets up on fixing base 18.
The fixed seat 18 is driven to move up and down by the first pneumatic cylinder 5.
Rotary mechanism includes outer housing 21, outer housing 21 fixed mounting is in the outside of fixing base 18, rotate on the up end of fixing base 18 and install and rotate platform 19, the up end that rotates platform 19 with rotate 8 fixed connection of post, be provided with the bearing between rotation post 8 and the outer housing 21, the inside fixed mounting of outer housing 21 has driving motor 22, driving motor 22's output and rotation are connected through drive plate 23 and 24 transmissions of drive belt between the post 8.
Driven by a driving motor 22, the rotating column 8 rotates relative to the fixed seat 18, so as to drive the clamping assembly 17 and the material to be transferred and conveyed.
The centre gripping subassembly 17 includes bedplate 25, rotate on the preceding terminal surface of bedplate 25 and install bilateral symmetry's intermittent gear 28, fixed mounting has drive rod 29 on the intermittent gear 28, the other end of drive rod 29 rotates and installs holding frame 31, be provided with trace 30 between the lower extreme of holding frame 31 and bedplate 25, be rotation connection between trace 30 and holding frame 31 and bedplate 25, be provided with rack 27 between intermittent gear 28.
The utility model discloses a fixing device for a motor vehicle seat, including bedplate 25, rack 27, connecting plate 33, guide bar 34, guide cylinder 35, guide bar 34 pegs graft in the inside at guide cylinder 35, the last fixed mounting of bedplate 25 has electric putter 26, electric putter 26's output and rack 27 fixed connection, be provided with connecting plate 33 on the rack 27, fixed mounting has the guide bar 34 of symmetric distribution on the connecting plate 33, correspond guide bar 34 position department fixed mounting on the bedplate 25, guide bar 34 pegs graft.
The rack 27 is driven to move by the electric push rod 26, the rack 27 is matched with the intermittent gear 28, and the clamping frame 31 is driven to open and close by the driving rod 29 for clamping and locking.
The clamping frame 31 is fixedly provided with a non-slip pad 32.
The tightness of the grip is improved by the non-slip mat 32.
And a reinforcing rib 20 is arranged between the mounting seat 2 and the mounting column 3, and a reinforcing rib 20 is arranged between the connector 9 and the connecting seat 10.
The reinforcing ribs 20 improve the strength of the joint.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides a material conveying manipulator with rotatory lift base, includes base (1), its characterized in that: the upper end face of the base (1) is fixedly provided with a mounting seat (2), the upper end face of the mounting seat (2) is fixedly provided with a mounting column (3), the upper end of the mounting column (3) is provided with a lifting mechanism, the lifting mechanism is provided with a rotating mechanism, a rotating column (8) is arranged in the rotating mechanism, the upper end of the rotating column (8) is fixedly provided with a connector (9), a connecting seat (10) is fixedly arranged on one side of the connecting head (9), a second pneumatic cylinder (11) is fixedly arranged on the connecting seat (10), the output end of the second pneumatic cylinder (11) is fixedly provided with an adjusting seat (12), a connecting frame (14) is fixedly arranged on the adjusting seat (12), a fixing plate (15) is fixedly arranged at the other end of the connecting frame (14), the lower end surface of the fixing plate (15) is fixedly provided with a clamping assembly (17) through a fixing rod (16).
2. A material handling robot having a rotating lifting base, as set forth in claim 1, wherein: and telescopic rods (13) which are symmetrically distributed are arranged between the connecting seat (10) and the adjusting seat (12).
3. A material handling robot having a rotating lifting base, as set forth in claim 2, wherein: elevating system includes mounting panel (4), mounting panel (4) fixed mounting is in the upper end of erection column (3), fixed mounting has first pneumatic cylinder (5) on the lower terminal surface of mounting panel (4), the output fixed mounting of first pneumatic cylinder (5) has fixing base (18), the bottom of fixing base (18) is provided with guide post (6), peg graft in the inside of erection column (3) guide post (6), rotary mechanism sets up on fixing base (18).
4. A material handling robot having a rotating lifting base, as set forth in claim 3, wherein: rotary mechanism includes outer housing (21), outer housing (21) fixed mounting is in the outside of fixing base (18), rotate on the up end of fixing base (18) and install rotation platform (19), the up end and the rotation post (8) fixed connection who rotates platform (19), be provided with the bearing between rotation post (8) and outer housing (21), the inside fixed mounting of outer housing (21) has driving motor (22), the output of driving motor (22) and rotate and be connected through driving disc (23) and drive belt (24) transmission between post (8).
5. The material handling robot having a rotating lift base of claim 4, wherein: centre gripping subassembly (17) include bedplate (25), rotate on the preceding terminal surface of bedplate (25) and install bilateral symmetry's intermittent gear (28), fixed mounting has drive rod (29) on intermittent gear (28), clamping frame (31) are installed in the other end rotation of drive rod (29), be provided with between the lower extreme of clamping frame (31) and bedplate (25) trace (30), be rotation connection between trace (30) and clamping frame (31) and bedplate (25), be provided with rack (27) between intermittent gear (28).
6. The material handling robot having a rotating lift base of claim 5, wherein: fixed mounting has electric putter (26) on bedplate (25), the output and rack (27) fixed connection of electric putter (26), be provided with connecting plate (33) on rack (27), fixed mounting has symmetric distribution's guide bar (34) on connecting plate (33), it has guide cylinder (35) to correspond guide bar (34) position department fixed mounting on bedplate (25), guide bar (34) are pegged graft in the inside of guide cylinder (35).
7. The material handling robot of claim 6, wherein: and the clamping frame (31) is fixedly provided with an antiskid pad (32).
8. The material handling robot having a rotating lift base of claim 7, wherein: be provided with strengthening rib (20) between mount pad (2) and erection column (3), be provided with strengthening rib (20) between connector (9) and connecting seat (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011277538.9A CN112454343A (en) | 2020-11-16 | 2020-11-16 | Material conveying manipulator with rotary lifting base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011277538.9A CN112454343A (en) | 2020-11-16 | 2020-11-16 | Material conveying manipulator with rotary lifting base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112454343A true CN112454343A (en) | 2021-03-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011277538.9A Pending CN112454343A (en) | 2020-11-16 | 2020-11-16 | Material conveying manipulator with rotary lifting base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112454343A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227736A (en) * | 2022-01-06 | 2022-03-25 | 思辟德智能科技江苏有限公司 | Robot gripper for feeding and discharging of ice skate |
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080073922A1 (en) * | 2006-09-27 | 2008-03-27 | Oceaneering International, Inc. | Double Sided Rack Manipulator Jaw Actuator System |
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN208468381U (en) * | 2018-06-29 | 2019-02-05 | 福州大学 | Loading and unloading manipulator structure |
| CN209491759U (en) * | 2019-02-01 | 2019-10-15 | 张庆松 | A kind of robot device of reliable clamping |
| CN210147612U (en) * | 2019-06-05 | 2020-03-17 | 东贝机电（江苏）有限公司 | Mechanical arm of machining center |
-
2020
- 2020-11-16 CN CN202011277538.9A patent/CN112454343A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080073922A1 (en) * | 2006-09-27 | 2008-03-27 | Oceaneering International, Inc. | Double Sided Rack Manipulator Jaw Actuator System |
| CN208468381U (en) * | 2018-06-29 | 2019-02-05 | 福州大学 | Loading and unloading manipulator structure |
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN209491759U (en) * | 2019-02-01 | 2019-10-15 | 张庆松 | A kind of robot device of reliable clamping |
| CN210147612U (en) * | 2019-06-05 | 2020-03-17 | 东贝机电（江苏）有限公司 | Mechanical arm of machining center |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227736A (en) * | 2022-01-06 | 2022-03-25 | 思辟德智能科技江苏有限公司 | Robot gripper for feeding and discharging of ice skate |
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN114507835B (en) * | 2022-03-15 | 2023-02-28 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
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| 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: 20210309 |
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| RJ01 | Rejection of invention patent application after publication |