CN202864454U - Adjustable clamping mobile manipulator - Google Patents

Adjustable clamping mobile manipulator Download PDF

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Publication number
CN202864454U
CN202864454U CN 201220535268 CN201220535268U CN202864454U CN 202864454 U CN202864454 U CN 202864454U CN 201220535268 CN201220535268 CN 201220535268 CN 201220535268 U CN201220535268 U CN 201220535268U CN 202864454 U CN202864454 U CN 202864454U
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CN
China
Prior art keywords
manipulator
slide block
cylinder
guide
guide rod
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.)
Withdrawn - After Issue
Application number
CN 201220535268
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Chinese (zh)
Inventor
朱立洲
干立军
缪建清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NINGBO JIANGCHEN AUTOMATION EQPT CO Ltd
Original Assignee
NINGBO JIANGCHEN AUTOMATION EQPT CO Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by NINGBO JIANGCHEN AUTOMATION EQPT CO Ltd filed Critical NINGBO JIANGCHEN AUTOMATION EQPT CO Ltd
Priority to CN 201220535268 priority Critical patent/CN202864454U/en
Application granted granted Critical
Publication of CN202864454U publication Critical patent/CN202864454U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses an adjustable clamping mobile manipulator, which comprises a worktable, an upper manipulator and a lower manipulator, wherein the worktable is provided with a support plate in a sliding mode, the support plate is driven by a vertical driving mechanism, support seats are vertically arranged on the two sides of the support plate, a guide rod is arranged between the two support seats in the horizontal direction, a sliding plate is arranged on the guide rod in a sliding mode, the sliding plate is driven by a horizontal mobile mechanism, a positioning slot is arranged in the middle of the sliding plate, an upper manipulator slider and a lower manipulator slider are arranged in the positioning slot, the upper manipulator slider is connected with the upper manipulator, the lower manipulator slider is connected with the lower manipulator, the upper manipulator slider and the lower manipulator slider are driven through an opening-closing drive mechanism to be relatively opened or closed in the positioning slot, and a positioning block which is fixed on the sliding plate and can be replaced is arranged between the upper manipulator slider and the lower manipulator slider. By adopting the structure, the adjustable clamping mobile manipulator adjusts closing journey by replacing the size of the positioning block, thereby achieving the purpose of clamping different sizes of products, being short in replacement time, being short in running stop time of equipment, and greatly improving use efficiency of the equipment.

Description

A kind of adjustable clamping mobile manipulator
(1) technical field
The utility model relates to a kind of manipulator, relates in particular to a kind of adjustable clamping mobile manipulator.
(2) background technology
Bearing need to clean, detect, be coated with the handover of wet goods inter process in process of production, and existing method is to move by manipulator, and the size of manipulator is to design according to the oad of being transferred product, thereby adapts to the product of different model.When the product of mobile different size, need to be replaced with corresponding manipulator, because complicated structure, thereby cause the replacing time longer, equipment time out of service is longer, causes the equipment service efficiency to reduce.
(3) summary of the invention
Have above-mentioned deficiency in the prior art in order to overcome, the utility model provides short adjustable clamping mobile manipulator of a kind of simple in structure, easy to use, replacing time.
The technical scheme in the invention for solving the technical problem is: a kind of adjustable clamping mobile manipulator, comprise bench board, and be located at manipulator on this bench board, described manipulator is comprised of at least one pair of symmetrically arranged upper manipulator and lower manipulator, laterally be provided with a supporting plate on the described bench board, this supporting plate is driven by longitudinal driving mechanism can be along described bench board straight skidding, the both sides of described supporting plate vertically are provided with bearing, laterally be provided with guide rod between this two bearing, being slidingly equipped with one on this guide rod can be along the slide plate of described guide rod transverse shifting by the transverse moving mechanism driving, the middle part of this slide plate offers positioning groove, be provided with the upper manipulator slide block of captiveing joint with described upper manipulator and the lower manipulator slide block of captiveing joint with described lower manipulator in this positioning groove, drive and in described positioning groove, relatively to open or to draw in by a folding driver train between described upper manipulator slide block and the lower manipulator slide block, and the outside of the outside of described upper manipulator slide block and lower manipulator slide block can contact with the two side of described positioning groove respectively, is provided with between the inboard of the inboard and lower manipulator slide block of described upper manipulator slide block to be fixed on the described slide plate and removable locating piece.
Further, described folding driver train is the folding cylinder, and this folding cylinder is slidedly arranged on the described guide rod, and described upper manipulator slide block links to each other with a cylinder barrel with described folding cylinder in the lower manipulator slide block, another mouth with described folding cylinder links to each other, and is rational in infrastructure.
Further, described guide rod comprises top guide bar and lower guide rod, the two ends of described slide plate are slidingly installed on described top guide bar and the lower guide rod by the slide plate contiguous block, described folding cylinder is slidingly installed on the described lower guide rod, described upper manipulator slide block and lower manipulator slide block are slidingly installed on the described top guide bar, and structure is more reasonable.
Further, the outside that is positioned at described upper manipulator slide block on the described slide plate is provided with the manipulator energy disperser, and the outside that is positioned at described lower manipulator slide block on the described slide plate is provided with lower manipulator energy disperser.When the slide plate slippage, the two side of the positioning groove on the slide plate strikes the outside of manipulator slide block and the outside of lower manipulator slide block easily, perhaps when the folding cylinder makes upper manipulator slide block with relative the opening of lower manipulator slide block, the outside of the outside of upper manipulator slide block and lower manipulator slide block strikes the two side of the positioning groove on the slide plate easily, and upper manipulator energy disperser can play buffering and the upper relative effect of opening stroke with lower manipulator slide block of manipulator slide block of restriction with lower manipulator energy disperser.
Further, described upper manipulator and lower manipulator are 3 pairs, and described 3 upper manipulators are connected by upper manipulator connecting panel, described upper manipulator connecting panel links to each other with described upper manipulator slide block, and described 3 lower manipulators are connected by lower manipulator connecting panel, and described lower manipulator connecting panel links to each other with described lower manipulator slide block, simple in structure, and disposable three products are moved forward one by one, can realize three stations processing, production efficiency is high.
Further, described transverse moving mechanism is the transverse shifting cylinder, and the cylinder barrel of this transverse shifting cylinder is fixed therein on the described bearing, and the mouth of this transverse shifting cylinder is connected with described slide plate, and is rational in infrastructure.
Further, being equipped with on described two bearings can be respectively and the contacted transverse shifting energy disperser in the two ends of described slide plate.When slide plate during along the guide rod slippage, the two ends of slide plate strike two bearings easily, and the transverse shifting energy disperser can play the effect of buffering and restriction slide plate stroke.
Further, described bench board is provided with guide rail, and described supporting plate is extended with guide holder downwards, is concaved with the guide groove towards described guide openings on this guide holder, and described guide rail places also can be along described guide groove slippage, smooth slippage in the described guide groove.
Further, described longitudinal driving mechanism is for vertically moving cylinder, and this cylinder barrel that vertically moves cylinder is fixed on the described bench board, and this mouth and described supporting plate that vertically moves cylinder fixes, and is rational in infrastructure.
The utility model in use, when the folding cylinder moves, thereby manipulator slide block and relative gathering the in of lower manipulator slide block in the drive, thereby manipulator and relative gathering the in of lower manipulator in the drive, and still leaving the space that product is put between upper manipulator and the lower manipulator, the size in its space can determine according to the location block size, when the product of clamping different size, just can reach the effect of changing manipulator by changing the location block size, change very convenient.And locating piece can be fixed by screws on the slide plate, only need to back out screw when changing locating piece, then suitable locating piece is fixed by screws on the slide plate to get final product; Also can be by a sleeve be set at slide plate, and locating piece is located in the sleeve, only needs take out in sleeve when changing locating piece, then puts into suitable locating piece and gets final product.
The utility model is when transferring product, the folding cylinder makes manipulator and relative the opening of lower manipulator, thereby then vertically moving the air cylinder driven supporting plate moves to the product position along the upper manipulator of guide rail slippage drive and lower manipulator, when upper manipulator and lower manipulator are positioned at the both sides of product, the folding cylinder makes manipulator and lower relative closing up of manipulator, thereby clamp product, then thereby transverse shifting air cylinder driven slide plate is transferred to next station along the guide rod transverse shifting with product, then the folding cylinder makes manipulator and relative the opening of lower manipulator, thereby unclamp product, thereby then vertically move the air cylinder driven supporting plate and move to vertical initial point along the upper manipulator of guide rail travelling backwards drive and lower manipulator, thereby last transverse shifting air cylinder driven slide plate moves to horizontal initial point along the upper manipulator of guide rod travelling backwards drive and lower manipulator, and a circulation finishes.
The beneficial effects of the utility model are: adopt said structure, thereby can reach the stroke of regulating the manipulator closure by changing the location block size, to reach the purpose of clamping different size product, change very convenient, and the replacing time is short, the time weak point that equipment is out of service has improved the equipment service efficiency greatly.
(4) description of drawings
Fig. 1 is block diagram of the present utility model.
Fig. 2 is front view of the present utility model.
Fig. 3 is birds-eye view of the present utility model.
Fig. 4 is left view of the present utility model.
(5) specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
With reference to Fig. 1~Fig. 4, a kind of adjustable clamping mobile manipulator, comprise bench board 1, and be located at manipulator on this bench board 1, described manipulator is comprised of at least one pair of symmetrically arranged upper manipulator 2 and lower manipulator 3, laterally be provided with a supporting plate 4 on the described bench board 1, this supporting plate 4 is driven by longitudinal driving mechanism can be along described bench board 1 straight skidding, the both sides of described supporting plate 4 vertically are provided with bearing 5, laterally be provided with guide rod between this two bearing 5, being slidingly equipped with one on this guide rod can be along the slide plate 6 of described guide rod transverse shifting by the transverse moving mechanism driving, the middle part of this slide plate 6 offers positioning groove 7, be provided with the upper manipulator slide block 8 of captiveing joint with described upper manipulator 2 and the lower manipulator slide block 9 of captiveing joint with described lower manipulator 3 in this positioning groove 7, drive and relatively to open or draw in that described positioning groove 7 is interior by a folding driver train between described upper manipulator slide block 8 and the lower manipulator slide block 9, and the outside of the outside of described upper manipulator slide block 8 and lower manipulator slide block 9 can contact with the two side of described positioning groove 7 respectively, is provided with between the inboard of the inboard and lower manipulator slide block 9 of described upper manipulator slide block 8 to be fixed on the described slide plate 6 and removable locating piece 10.
Described folding driver train is folding cylinder 11, this folding cylinder 11 is slidedly arranged on the described guide rod, described upper manipulator slide block 8 links to each other with a cylinder barrel with described folding cylinder 11 in the lower manipulator slide block 9, and another mouth with described folding cylinder 11 links to each other, and is rational in infrastructure.Described guide rod comprises top guide bar 12 and lower guide rod 13, the two ends of described slide plate 6 are slidingly installed on described top guide bar 12 and the lower guide rod 13 by slide plate contiguous block 14, described folding cylinder 11 is slidingly installed on the described lower guide rod 13, described upper manipulator slide block 8 and lower manipulator slide block 9 are slidingly installed on the described top guide bar 12, and structure is more reasonable.
The outside that is positioned at described upper manipulator slide block 8 on the described slide plate 6 is provided with manipulator energy disperser 15, and the outside that is positioned at described lower manipulator slide block 9 on the described slide plate 6 is provided with lower manipulator energy disperser 16.When slide plate 6 slippage, the two side of the positioning groove 7 on the slide plate 6 strikes the outside of manipulator slide block 8 and the outside of lower manipulator slide block 9 easily, perhaps when folding cylinder 11 makes upper manipulator slide block 8 with lower manipulator slide block 9 relative opening, the outside of the outside of upper manipulator slide block 8 and lower manipulator slide block 9 strikes the two side of the positioning groove 7 on the slide plate 6 easily, and upper manipulator energy disperser 15 can play buffering and the upper manipulator slide block 8 of restriction and lower manipulator slide block 9 relative effects of opening stroke with lower manipulator energy disperser 16.
Described upper manipulator 2 and lower manipulator 3 are 3 pairs, and described 3 upper manipulators 2 are connected by upper manipulator connecting panel 17, described upper manipulator connecting panel 17 links to each other with described upper manipulator slide block 8, described 3 lower manipulators 3 are connected by lower manipulator connecting panel 18, described lower manipulator connecting panel 18 links to each other with described lower manipulator slide block 9, and is simple in structure, and disposable three products moved forward one by one, can realize three station processing, production efficiency is high.
Described transverse moving mechanism is transverse shifting cylinder 19, and the cylinder barrel of this transverse shifting cylinder 19 is fixed therein on the described bearing 5, and the mouth of this transverse shifting cylinder 19 is connected with described slide plate 6, and is rational in infrastructure.Being equipped with on described two bearings 5 can be respectively and the contacted transverse shifting energy disperser 20 in the two ends of described slide plate 6.When slide plate 6 during along the guide rod slippage, the two ends of slide plate 6 strike two bearings 5 easily, and transverse shifting energy disperser 20 can play the effect of buffering and restriction slide plate 6 strokes.
Described bench board 1 is provided with guide rail 21, and described supporting plate 4 is extended with guide holder 22 downwards, is concaved with the guide groove towards described guide rail 21 openings on this guide holder 22, and described guide rail 21 places also can be along described guide groove slippage, smooth slippage in the described guide groove.Described longitudinal driving mechanism is for vertically moving cylinder 23, and this cylinder barrel that vertically moves cylinder 23 is fixed on the described bench board 1, and this mouth and described supporting plate 4 that vertically moves cylinder 23 fixes, and is rational in infrastructure.
The utility model in use, when 11 action of folding cylinder, thereby manipulator slide block 8 and lower manipulator slide block 9 relative gatherings in the drive, thereby manipulator 2 and lower manipulator 3 relative gatherings in the drive, and still leave the space that product is put between upper manipulator 2 and the lower manipulator 3, the size in its space can determine according to the size of locating piece 10, when the product of clamping different size, just can reach the effect of changing manipulator by the size of changing locating piece 10, change very convenient, and the replacing time is short, and the time weak point that equipment is out of service has improved the equipment service efficiency greatly.And locating piece can be fixed by screws on the slide plate, only need to back out screw when changing locating piece, then suitable locating piece is fixed by screws on the slide plate to get final product; Also can be by a sleeve be set at slide plate, and locating piece is located in the sleeve, only needs take out in sleeve when changing locating piece, then puts into suitable locating piece and gets final product.
The utility model is when transferring product, folding cylinder 11 makes manipulator 2 and lower manipulator 3 relative opening, thereby then vertically moving cylinder 23 driving arm plates 4 moves to the product position along the upper manipulator 2 of guide rail 21 slippages drive and lower manipulator 3, when upper manipulator 2 and lower manipulator 3 are positioned at the both sides of product, folding cylinder 11 makes manipulator 2 and lower 3 relative closing up of manipulator, thereby clamp product, thereby then transverse shifting cylinder 19 drives slide plate 6 and along the guide rod transverse shifting product is transferred to next station, then folding cylinder 11 makes manipulator 2 and lower manipulator 3 relative opening, thereby unclamp product, thereby then vertically move cylinder 23 driving arm plates 4 and move to vertical initial point along the upper manipulator 2 of guide rail 21 travelling backwards drive and lower manipulator 3, thereby last transverse shifting cylinder 19 drives slide plate 6 and moves to horizontal initial point along the upper manipulator 2 of guide rod travelling backwards drive and lower manipulator 3, and a circulation finishes.

Claims (9)

1. adjustable clamping mobile manipulator, comprise bench board, and be located at manipulator on this bench board, it is characterized in that: described manipulator is comprised of at least one pair of symmetrically arranged upper manipulator and lower manipulator, laterally be provided with a supporting plate on the described bench board, this supporting plate is driven by longitudinal driving mechanism can be along described bench board straight skidding, the both sides of described supporting plate vertically are provided with bearing, laterally be provided with guide rod between this two bearing, being slidingly equipped with one on this guide rod can be along the slide plate of described guide rod transverse shifting by the transverse moving mechanism driving, the middle part of this slide plate offers positioning groove, be provided with the upper manipulator slide block of captiveing joint with described upper manipulator and the lower manipulator slide block of captiveing joint with described lower manipulator in this positioning groove, drive and in described positioning groove, relatively to open or to draw in by a folding driver train between described upper manipulator slide block and the lower manipulator slide block, and the outside of the outside of described upper manipulator slide block and lower manipulator slide block can contact with the two side of described positioning groove respectively, is provided with between the inboard of the inboard and lower manipulator slide block of described upper manipulator slide block to be fixed on the described slide plate and removable locating piece.
2. according to adjustable clamping mobile manipulator claimed in claim 1, it is characterized in that: described folding driver train is the folding cylinder, this folding cylinder is slidedly arranged on the described guide rod, described upper manipulator slide block links to each other with a cylinder barrel with described folding cylinder in the lower manipulator slide block, and another mouth with described folding cylinder links to each other.
3. according to adjustable clamping mobile manipulator claimed in claim 2, it is characterized in that: described guide rod comprises top guide bar and lower guide rod, the two ends of described slide plate are slidingly installed on described top guide bar and the lower guide rod by the slide plate contiguous block, described folding cylinder is slidingly installed on the described lower guide rod, and described upper manipulator slide block and lower manipulator slide block are slidingly installed on the described top guide bar.
4. according to adjustable clamping mobile manipulator claimed in claim 3, it is characterized in that: the outside that is positioned at described upper manipulator slide block on the described slide plate is provided with the manipulator energy disperser, and the outside that is positioned at described lower manipulator slide block on the described slide plate is provided with lower manipulator energy disperser.
5. according to each described adjustable clamping mobile manipulator in the claim 1~4, it is characterized in that: described upper manipulator and lower manipulator are 3 pairs, and described 3 upper manipulators are connected by upper manipulator connecting panel, described upper manipulator connecting panel links to each other with described upper manipulator slide block, described 3 lower manipulators are connected by lower manipulator connecting panel, and described lower manipulator connecting panel links to each other with described lower manipulator slide block.
6. according to each described adjustable clamping mobile manipulator in the claim 1~4, it is characterized in that: described transverse moving mechanism is the transverse shifting cylinder, the cylinder barrel of this transverse shifting cylinder is fixed therein on the described bearing, and the mouth of this transverse shifting cylinder is connected with described slide plate.
7. according to adjustable clamping mobile manipulator claimed in claim 6, it is characterized in that: being equipped with on described two bearings can be respectively and the contacted transverse shifting energy disperser in the two ends of described slide plate.
8. according to each described adjustable clamping mobile manipulator in the claim 1~4, it is characterized in that: described bench board is provided with guide rail, described supporting plate is extended with guide holder downwards, be concaved with the guide groove towards described guide openings on this guide holder, described guide rail places also can be along described guide groove slippage in the described guide groove.
9. according to each described adjustable clamping mobile manipulator in the claim 1~4, it is characterized in that: described longitudinal driving mechanism is for vertically moving cylinder, this cylinder barrel that vertically moves cylinder is fixed on the described bench board, and this mouth and described supporting plate that vertically moves cylinder fixes.
CN 201220535268 2012-10-09 2012-10-09 Adjustable clamping mobile manipulator Withdrawn - After Issue CN202864454U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220535268 CN202864454U (en) 2012-10-09 2012-10-09 Adjustable clamping mobile manipulator

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Application Number Priority Date Filing Date Title
CN 201220535268 CN202864454U (en) 2012-10-09 2012-10-09 Adjustable clamping mobile manipulator

Publications (1)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102887364A (en) * 2012-10-09 2013-01-23 宁波江宸自动化装备有限公司 Adjustable clamping mobile manipulator
CN103274210A (en) * 2013-05-30 2013-09-04 宁波惠友精工机械有限公司 Adjustable multi-station material moving device
CN105598312A (en) * 2016-02-22 2016-05-25 佛山市南海区广工大数控装备协同创新研究院 Door plate bending and bidirectional feeding clamp based on robot
CN105642780A (en) * 2016-03-11 2016-06-08 扬州恒佳自动化设备有限公司 Tool used for bending robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102887364A (en) * 2012-10-09 2013-01-23 宁波江宸自动化装备有限公司 Adjustable clamping mobile manipulator
CN102887364B (en) * 2012-10-09 2015-08-26 宁波江宸自动化装备有限公司 A kind of adjustable clamping mobile manipulator
CN103274210A (en) * 2013-05-30 2013-09-04 宁波惠友精工机械有限公司 Adjustable multi-station material moving device
CN103274210B (en) * 2013-05-30 2016-04-13 宁波庄宏亿轴承有限公司 A kind of adjustable multiplex's displacement materials device
CN105598312A (en) * 2016-02-22 2016-05-25 佛山市南海区广工大数控装备协同创新研究院 Door plate bending and bidirectional feeding clamp based on robot
CN105642780A (en) * 2016-03-11 2016-06-08 扬州恒佳自动化设备有限公司 Tool used for bending robot

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C14 Grant of patent or utility model
GR01 Patent grant
RGAV Abandon patent right to avoid regrant
AV01 Patent right actively abandoned

Granted publication date: 20130410

Effective date of abandoning: 20150826