CN203973530U - A kind of transposition clamping manipulator - Google Patents

A kind of transposition clamping manipulator Download PDF

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Publication number
CN203973530U
CN203973530U CN201320893851.4U CN201320893851U CN203973530U CN 203973530 U CN203973530 U CN 203973530U CN 201320893851 U CN201320893851 U CN 201320893851U CN 203973530 U CN203973530 U CN 203973530U
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CN
China
Prior art keywords
manipulator
compression bar
transposition clamping
transposition
fixed
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.)
Expired - Fee Related
Application number
CN201320893851.4U
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Chinese (zh)
Inventor
秦宝荣
蔡欢
刘江
余敏文
陈勇
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Jiang University Of Technology
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Jiang University Of Technology
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Publication date
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Priority to CN201320893851.4U priority Critical patent/CN203973530U/en
Application granted granted Critical
Publication of CN203973530U publication Critical patent/CN203973530U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A kind of transposition clamping manipulator, comprising: the platform framework moving for supporting transposition clamping manipulator horizontal direction; Four guide rollers that move for transposition clamping manipulator horizontal direction; For two gears that drive transposition clamping manipulator horizontal direction to move; For engaging with gear, ensure a pair of tooth bar that gear moves; Described a pair of tooth bar is separately fixed on platform framework; For four bearing blocks of supporting driving shaft; For the reducing motor that drives transposition clamping manipulator horizontal direction to move; For driving the electric rotating machine of whirligig rotation; In manipulator claw-plate, be provided with between long compression bar and short compression bar and long compression bar and manipulator claw-plate and short compression bar and long compression bar respectively by bearing pin be flexibly connected ensure certain angle deflection and clamping force evenly.The utility model object is to realize medium-sized and small enterprises mechanization production, raises the efficiency, and alleviates intensity of workers.

Description

A kind of transposition clamping manipulator
Technical field
The utility model belongs to field of mechanical technique, relates to a kind of manipulator transposition clamping device, is specifically related to the required transposition clamping manipulator mechanism carrying out before building block secondary cut.
Background technology
Along with modern industry develops fast, enterprise now causes whole cutting flow process discontinuous by the limitation of building block cutting off machine and cutting technique, and production line automation degree is low, production efficiency is low, and artificial power consumption is large, poor working environment, and building block carrying process in easily collided, scrappage is high.Enterprise just progressively realizes mechanization production, and wherein replacing a dead lift transposition with manipulator transposition clamping device is exactly a kind of trend.But there are many problems in existing manipulator mechanism, for example clamping is unstable, the flexible stroke of oil cylinder location is inaccurate, only depend on oil cylinder clamping can not revise clamping dynamics, cause building block corner damage etc., existing transposition clamping manipulator is mainly applicable to the high occasion of required precision simultaneously, but manufacturing cost is higher, operating frequency is limited, is not suitable for medium-sized and small enterprises.So, in view of the above problems, seek one and can revise clamping dynamics, ensure that clamping is stable, clamping manipulator clamps synchronously and clamping efficiency a kind of transposition clamping manipulator high and that cost is low has become a kind of trend.
Summary of the invention
In view of above-mentioned present situation, the utility model provides a kind of transposition clamping manipulator, by clamping, rotate, move horizontally the adjustment of building block being carried out to position and angle, adopt transposition index dial to ensure the reciprocal transposition of 90 degree, thereby clamp compression bar adopts flexible connection to adapt to the variation of clamping multi-angle with stable simultaneously, enhance productivity, realize mechanization production.
The technical solution adopted in the utility model is:
A kind of transposition clamping manipulator described in the utility model, it is characterized in that: comprising: for the support frame of supported mechanical hand, supporting rail guidance tape, support tooth bar, for part frame on the manipulator of solid mechanical hand, for the electric rotating machine of rotary power is provided, for drive sprocket and the driven sprocket of transmitting rotary power, rotating shaft, for rotation-indexing table and the inductive switch support of accurate orientation angle, for the reducing motor of driving power is provided, shaft coupling, power transmission shaft, travelling gear, support rollers, manipulator beam slab, manipulator slide plate, manipulator claw-plate, long compression bar, short compression bar, block rubber, be welding for supporting the support frame that transposition clamping manipulator horizontal direction moves, and the level that ensures platform make that manipulator moves steadily and advance accurately, described supporting rail guidance tape is screwed on described support frame and described a pair of support tooth bar is separately fixed on support frame, two of the every sides of four guide rollers moving for transposition clamping manipulator horizontal direction, are separately fixed on the brace summer of part frame both sides on transposition clamping manipulator, described drive sprocket is fixed on electric rotating machine, and is connected with motor shaft flat key, described driven sprocket is fixed on rotating shaft and rotates together with rotating shaft, described index dial is fixed on rotating shaft, and the synchronism of guarantee and rotating shaft rotation, described power transmission shaft is connected with the reducing motor of advancing by shaft coupling and is arranged on mechanical fixed mount by bearing block, ensures the axiality of rotating shaft and reducing motor axle, described travelling gear is fixed on power transmission shaft and ensures synchronizes and rotates with power transmission shaft, and forms rack and pinion engagement with the tooth bar on support frame, thereby completes moving horizontally of manipulator by the rotation of the motor of advancing, described manipulator beam slab is fixed on manipulator rotating shaft, and the synchronism of guarantee and rotating shaft rotation, described manipulator slide plate and mechanical beam slab are slidably connected, and ensure that the straight line sliding is accurate and consider lubricated convenience, described manipulator claw-plate is fixedly connected with manipulator slide plate, and has increased reinforcement in order to gain in strength, described long compression bar is flexibly connected by bearing pin with manipulator claw-plate and can rotates to an angle, thus long compression bar with being flexibly connected of claw-plate can deflection certain angle can realize the adaptation of different angles and can make stressed evenly, described short compression bar is flexibly connected by bearing pin with long compression bar and can rotates to an angle, short compression bar makes the not only adaptation to different angles with being flexibly connected of long compression bar, more can reach difform adaptation, thereby reach the clamping without angle difformity fragment of brick, block rubber is fixed in short compression bar, because block rubber has elasticity, thereby ensured clamping force be uniformly distributed and can not damage building block.
For the electric rotating machine that drives whirligig be reducing motor with frequency converter, and with brake apparatus, in the time rotating to specified angle, can stop operating rapidly.
For driving reducing motor that transposition clamping manipulator moves horizontally with frequency converter, and with brake apparatus, in the time moving to assigned address, can stop operating rapidly.
Operation principle of the present utility model:
The utility model transposition clamping manipulator, described reducing motor drives two ends gear drive by two ends driving shaft, wheel and rack is intermeshing, and then drive on whole transposition clamping manipulator support frame in the horizontal direction and move, transposition clamping manipulator fixed mount both sides are fixed with four guide rollers, the described positioning and guiding roller of one two of sides moves on guide roller track plates, realize entirety location and guide effect, the described support roller of one two of sides plays support guide effect, described four rolling moves by horizontal direction, can realize transposition clamping manipulator locates at any time, the mode that multiple position clamps object,
Described electric rotating machine passes through to drive drive sprocket, chain, the driven sprocket fixing with it, and then drives whirligig to carry out 90 degree rotations, the rotation of whirligig driving mechanical paw, and then realize transposition clamping manipulator multi-angle clamping transposition.Described long compression bar is flexibly connected with described manipulator claw-plate, and described short compression bar is flexibly connected with described long compression bar, thereby ensures the adaptability of manipulator to clamping object various shape.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of transposition clamping manipulator of the present utility model.
Fig. 2 is transposition clamping manipulator schematic diagram of the present utility model.
Fig. 3 is transposition clamping manipulator front view of the present utility model.
Fig. 4 is part frame schematic diagram on transposition clamping manipulator of the present utility model.
Fig. 5 is that paw structural representation is divided in transposition clamping manipulator of the present utility model bottom.
Fig. 6 is that paw structure upward view is divided in transposition clamping manipulator of the present utility model bottom.
Fig. 7 is transposition clamping manipulator mobile platform framework schematic diagram of the present utility model.
Fig. 8 is rotating mechanism structural scheme of mechanism of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-8, the present invention is described further:
Described robot support framework 7 provides support platform for described transposition clamping manipulator 2, when building block arrives relevant position trigger switch, described the first hydraulic cylinder 6-3 and the second hydraulic cylinder 6-4 shrink simultaneously, thereby described the first hydraulic cylinder is fixedly connected with driving mechanical paw plate with hydraulic cylinder rod with described manipulator claw-plate 5-1 and moves together with hydraulic cylinder, described manipulator claw-plate 5-1 is fixedly connected with and then drives described skateboarding with described manipulator slide plate 5-3, thereby described manipulator slide plate and described manipulator beam slab 5-4 are slidably connected and ensure the linearity of manipulator left and right two claw-plate motions, but thereby described the first cylinder provides the larger identical object that reaches high-power cylinder location small-power cylinder clamping of power stroke than the second cylinder, can provide position accurately for transposition like this, so just, the flexible stretching motion of hydraulic cylinder is transformed into unclamping of manipulator and tensioning.Described mechanical claw-plate both sides are provided with long compression bar 5-6 and short compression bar 5-7 again, described long compression bar 5-6 is flexibly connected by bearing pin with described manipulator claw-plate, and can rotate suitable angle, so just make manipulator can to different angles place building block reach adaptive object; Secondly described short compression bar 5-7 is flexibly connected by bearing pin with described long compression bar, and can rotate suitable angle, so just makes manipulator reach adaptive object for difform building block; Described block rubber 5-8 is fixedly mounted in described little compression bar again, because block rubber has toughness and increased the friction between block surfaces, thereby clamping force is uniformly distributed and has avoided the damage to building block.
After building block is clamped, described reducing motor 2-11 provides driving power and described reducing motor to be fixed on described manipulator on part frame 4, described reducing motor is connected with described power transmission shaft 2-13 by shaft coupling 2-15, described spur gear 2-12 is fixedly connected with and is ensured synchronizeing of rotation by key with described power transmission shaft, described tooth bar 7-3 is fixed by screws in respectively on described robot support framework and with spur gear formative gear tooth bar and engages with described rail support plate 7-2, described support rollers 2-3 is fixed on described manipulator on part frame, the support rollers at described framework two ends is divided into two kinds, the roller of one end is not for fluting design one end is for slotting design, the roller that fluting designs like this can play again positioning action in the good rolling of described rail support plate and manipulator moved horizontally on guide rail and can not cause accident by offset direction.So just, rotatablely moving of reducing motor is transformed into moving horizontally of transposition clamping manipulator.
In the time that building block is sent to assigned address, described reducing motor 2-6 provides rotary power and with brake apparatus, ensure choosing dress precision from stopping operating at any time, described active minor sprocket is fixedly connected with described reducing motor, described driven sprocket 8-3 is fixedly connected with by key with described rotating shaft 8-5, described drive sprocket is connected and is ensured good rotary synchronous by chain with described driven sprocket, described rotating shaft and described manipulator beam slab are bolted to connection, in order to ensure the accuracy of circulation rotating 90, described index dial 8-4 is arranged on described hinge wheel and just the anglec of rotation of rotating shaft is reflected in the variation of index dial angle like this, and described inductive switch support 2-7 is arranged on described manipulator on part frame, and ensure that inductive switch installing hole accurately aligns with index dial breach.So just, completed the rotary indexing motion of manipulator and ensured the precision that circulation rotating 90 is spent.
Operation principle of the present utility model:
Below in conjunction with the drawings and specific embodiments, the utility model is described further:
In conjunction with Fig. 1 to 6, the utility model comprises that the motor 2-11 that advances drives both sides power transmission shaft 2-13 to rotate by shaft coupling 2-15, thereby drive both sides spur gear 2-12 to rotate, because it forms rack and pinion engagement with 6-3, and then the parallel that completes manipulator is realized multiposition clamping.Electric rotating machine 2-6 rotates and drives driver pinion to rotate, driver pinion and driven hinge wheel 2-10 form sprocket wheel combination, driven hinge wheel and rotating shaft 2-8 linking by key, rotation is passed to rotating shaft, rotating shaft and manipulator beam slab 4-4 link by bolt, and then the rotation of electric rotating machine is passed to manipulator, thereby complete the rotation of manipulator.Index dial 2-9 responds to its angle by inductive switch 2-7 and changes, thereby accurately control 90 degree running accuracies during the anglec of rotation reflection index dial of manipulator is changed, and completes precise positioning.Hydraulic cylinder 5-5 and manipulator claw-plate 5-2 link by bolt, manipulator claw-plate and manipulator slide plate 5-3 are slidably connected, the pushing compression bar 5-6 of machinery and manipulator claw-plate are by bearing pin active link, the little compression bar 5-7 of manipulator is by bearing pin and mechanical pushing compression bar active link, and block rubber 5-8 is fixed in little compression bar.Move as follows, the flexible driving mechanical paw plate of hydraulic cylinder slidably reciprocates on manipulator slide plate, realize its clamping and release, thereby can realizing the adaptation of different angles and can make stressed even by deflection certain angle with being flexibly connected of claw-plate of long compression bar, secondly little compression bar makes the not only adaptation to different angles with being flexibly connected of long compression bar, more can reach difform adaptation, thereby reach the clamping without angle difformity fragment of brick, greatly increased the scope of application of the utility model transposition clamping manipulator.

Claims (3)

1. a transposition clamping manipulator, it is characterized in that: comprise the support frame for supported mechanical hand, supporting rail guidance tape, support tooth bar, for part frame on the manipulator of solid mechanical hand, for the electric rotating machine of rotary power is provided, for drive sprocket and the driven sprocket of transmitting rotary power, rotating shaft, for rotation-indexing table and the inductive switch support of accurate orientation angle, for the reducing motor of driving power is provided, shaft coupling, power transmission shaft, travelling gear, support rollers, manipulator beam slab, manipulator slide plate, manipulator claw-plate, long compression bar, short compression bar, block rubber, be welding for supporting the support frame that transposition clamping manipulator horizontal direction moves, and the level that ensures platform make that manipulator moves steadily and advance accurately, described supporting rail guidance tape is screwed on described support frame and described a pair of support tooth bar is separately fixed on support frame, two of the every sides of four guide rollers moving for transposition clamping manipulator horizontal direction, are separately fixed on the brace summer of part frame both sides on transposition clamping manipulator, described drive sprocket is fixed on electric rotating machine, and is connected with motor shaft flat key, described driven sprocket is fixed on rotating shaft and rotates together with rotating shaft, described index dial is fixed on rotating shaft, and the synchronism of guarantee and rotating shaft rotation, described power transmission shaft is connected with the reducing motor of advancing by shaft coupling and is arranged on mechanical fixed mount by bearing block, ensures the axiality of rotating shaft and reducing motor axle, described travelling gear is fixed on power transmission shaft and ensures synchronizes and rotates with power transmission shaft, and forms rack and pinion engagement with the tooth bar on support frame, thereby completes moving horizontally of manipulator by the rotation of the motor of advancing, described manipulator beam slab is fixed on manipulator rotating shaft, and the synchronism of guarantee and rotating shaft rotation, described manipulator slide plate and mechanical beam slab are slidably connected, described manipulator claw-plate is fixedly connected with manipulator slide plate, and has increased reinforcement, described long compression bar is flexibly connected by bearing pin with manipulator claw-plate and can rotates to an angle, long compression bar with being flexibly connected of claw-plate can deflection certain angle, described short compression bar is flexibly connected by bearing pin with long compression bar and can rotates to an angle, block rubber is fixed in short compression bar.
2. a kind of transposition clamping manipulator as claimed in claim 1, is characterized in that: for drive the electric rotating machine of whirligig be reducing motor with frequency converter, and with brake apparatus, in the time rotating to specified angle, can stop operating rapidly.
3. a kind of transposition clamping manipulator as claimed in claim 1, it is characterized in that: described for driving reducing motor that transposition clamping manipulator moves horizontally with frequency converter, and with brake apparatus, in the time moving to assigned address, can stop operating rapidly.
CN201320893851.4U 2013-12-31 2013-12-31 A kind of transposition clamping manipulator Expired - Fee Related CN203973530U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320893851.4U CN203973530U (en) 2013-12-31 2013-12-31 A kind of transposition clamping manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320893851.4U CN203973530U (en) 2013-12-31 2013-12-31 A kind of transposition clamping manipulator

Publications (1)

Publication Number Publication Date
CN203973530U true CN203973530U (en) 2014-12-03

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Application Number Title Priority Date Filing Date
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109822310A (en) * 2019-02-12 2019-05-31 合肥市春华起重机械有限公司 A kind of Relining manipulator portal structure
CN111362020A (en) * 2020-03-20 2020-07-03 刘雅钧 Efficient mechanical automatic unloading mechanism
CN112077437A (en) * 2020-09-11 2020-12-15 安徽瑞祥工业有限公司 Laser cladding welding system for mold
CN112392256A (en) * 2020-11-20 2021-02-23 戚明海 Beam slab pouring equipment

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109822310A (en) * 2019-02-12 2019-05-31 合肥市春华起重机械有限公司 A kind of Relining manipulator portal structure
CN111362020A (en) * 2020-03-20 2020-07-03 刘雅钧 Efficient mechanical automatic unloading mechanism
CN112077437A (en) * 2020-09-11 2020-12-15 安徽瑞祥工业有限公司 Laser cladding welding system for mold
CN112392256A (en) * 2020-11-20 2021-02-23 戚明海 Beam slab pouring equipment

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20141203

Termination date: 20161231

CF01 Termination of patent right due to non-payment of annual fee