CN207548738U

CN207548738U - It can the oblique manipulator for clamping and lifting

Info

Publication number: CN207548738U
Application number: CN201721573116.XU
Authority: CN
Inventors: 刘勇英
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-11-22
Filing date: 2017-11-22
Publication date: 2018-06-29
Anticipated expiration: 2027-11-22

Abstract

The oblique manipulator for clamping and lifting of energy that the utility model is announced, including supporting rack, the fixed frame being slidably connected with supporting rack, it is capable of the clamping device of clamping workpiece, the elevating mechanism lifted to clamping device, to the rotating mechanism that clamping device is rotated, inclined leaning device, the mobile mechanism moved horizontally to clamping device are carried out to clamping device；The workpiece on both ends inclined-plane can be clamped, after the completion of clamping, be moved horizontally, lifted, the process of rotation angle, the convenient transfer that stack operation or another process are carried out to workpiece is simple in structure, has a wide range of application.

Description

It can the oblique manipulator for clamping and lifting

Technical field

The utility model is related to manipulator production equipment field, more particularly to a kind of oblique machinery for clamping and lifting of energy Hand.

Background technology

It in production technical field, needs to clamp workpiece and move, another work is put into from a process In sequence, such as during stacking, manipulator is needed to clamp stacking to the stacking on production line and carries out unified heap It puts, more for example, in figuline building blocks, manipulator is needed to stack molding figuline building blocks, pass through Robot actions energy Enough greatly improve the efficiency of work；Documents：Application number, 201320895030.4, a kind of entitled " stacking machine clamping machinery In the utility model of hand ", which can carry out stacking the clamping of multi-angle, and can move horizontally position, but can only All it is that the stacking faced directly is clamped to both ends of the surface, and can not be lifted after clamping, it is impossible to solves the code that both ends of the surface are inclined-plane The clamping of pile, and cannot be lifted after clamping.

Utility model content

The purpose of the utility model is to overcome, with insufficient, providing one kind being capable of oblique clamping workpiece the shortcomings that the prior art And the manipulator that can be lifted after the completion of clamping.

The purpose of this utility model is achieved through the following technical solutions：The oblique manipulator for clamping and lifting of energy, including branch Support, the fixed frame being slidably connected with supporting rack are capable of the clamping device of clamping workpiece, the lifting lifted to clamping device Mechanism to the rotating mechanism that clamping device is rotated, carries out inclined leaning device to clamping device, clamping device is carried out The mobile mechanism moved horizontally；The clamping device is arranged on leading truck including leading truck, two and transportable clamp hand And the clamp hand driving mechanism of driving clamp hand；The elevating mechanism includes the lifting cylinder being fixed on fixed frame, lifting cylinder Output shaft connect by a bindiny mechanism with rotating mechanism；The rotating mechanism include electric rotating machine, electric rotating machine it is defeated Shaft is fixedly connected with leading truck；The bindiny mechanism include be fixedly connected with the output shaft of lifting cylinder bearing, middle part with The T shapes of the output shaft rotation connection of lifting cylinder stick up bar, and two straight lines that the leaning device includes being fixed on fixed frame are held Promoting the circulation of qi cylinder, output shaft and the T shapes of one of straight line execution cylinder are stuck up one of symmetrical two sides in bar and are connect, another Another symmetrical side that the output shaft of straight line execution cylinder sticks up bar with T shapes is connect, the T shapes stick up pass through in the middle part of bar after bearing with Electric rotating machine is fixedly connected；The mobile mechanism includes the horizontal air cylinder that the horizontal direction being fixed on supporting rack is placed, described The output terminal of horizontal air cylinder is fixedly connected with fixed frame.

As preferred embodiment, the clamp hand driving mechanism includes two gas for being separately fixed at leading truck both ends Cylinder, the equidirectional output of output shaft of two cylinders, the clamp hand are the straight panel of vertical direction, the output shaft of cylinder and corresponding folder Hand is fixedly connected.

In said program, the leading truck is equipped with the guide rail slided for clamp hand, and clamp hand is equipped with guide rail corresponding position and leads Slot.

In the scheme that can be replaced as another kind, the clamp hand driving mechanism is separately fixed at leading truck two including two The linear actuator at end, the output terminal opposite direction output of two linear actuators, the clamp hand are trisquare shape, one end of clamp hand It is fixedly connected with the output shaft of linear actuator, middle lower end and the leading truck of clamp hand are rotatablely connected.

As the scheme that other can be selected, the clamp hand driving mechanism is the parallel gripper cylinder with double output shaft, Two clamp hands are separately fixed on the output shaft of parallel gripper cylinder.

Preferably, the angle of the fixed frame and supporting rack is 90-120 degree, leading truck side parallel with fixed frame To extension.

Preferably, two straight line execution cylinders are distributed centered on lifting cylinder into axial symmetry.

The utility model is had the following advantages relative to the prior art and effect：Horizontal air cylinder can make in mobile mechanism Workpiece clamped after horizontal direction movement, workpiece is facilitated to be stacked or be displaced to next process, in rotating mechanism Electric rotating machine can make clamp hand in horizontal plane 360 degree rotation, so as to the angle that adjustment clamp hand is facilitated to clamp workpiece, have Profit clamps the workpiece of different direction；Leaning device cathetus actuator is by pushing T shapes to stick up bar, and adjustment clamp hand is vertical Angle on face, so as to which clamp hand be enable to clamp the workpiece in the non-vertical face in both ends；The present apparatus is simple in structure, can complete the folder of workpiece The workpiece in the non-vertical face in both ends is held, lifts, rotates, moves horizontally and can clamp, application field is very wide.

Description of the drawings

Fig. 1 is the structural perspective of the utility model.

Fig. 2 is the side view of the utility model in Fig. 1.

Fig. 3 is the side view in another scheme that can be replaced.

Specific embodiment

The utility model is described in further detail with reference to embodiment and attached drawing, but the implementation of the utility model Mode is without being limited thereto.

According to Fig. 1 and the oblique manipulator for clamping and lifting of energy shown in Fig. 2, including supporting rack 1, slided with supporting rack 1 The fixed frame 2 of dynamic connection is capable of the clamping device 3 of clamping workpiece, to the elevating mechanism 4 that clamping device 3 is lifted, to clamping The rotating mechanism 5 that mechanism 3 is rotated, carries out clamping device 3 inclined leaning device 6, and horizontal shifting is carried out to clamping device 3 Dynamic mobile mechanism 7.

The clamping device 3 be arranged on leading truck 31 including leading truck 31, two and transportable clamp hand 32 and The clamp hand driving mechanism 33 of clamp hand 32 is driven, when clamp hand driving mechanism 33 acts, two clamp hands 32 are toward being located remotely from each other or phase Mutually close direction movement, so as to unload or clamping workpiece.The elevating mechanism 4 includes being fixed on fixed frame 2 and erecting To the lifting cylinder 41 of placement, the output shaft of lifting cylinder 41 connect Nogata by a bindiny mechanism 8 with rotating mechanism 5, is risen When sending down abnormally ascending cylinder 41 acts, workpiece can be transported to from low level that a high position is stacked or height is transported to low level and is added The conversion of work process.The rotating mechanism 5 includes electric rotating machine 51, and the output shaft of electric rotating machine 51 is fixed with leading truck 31 to be connected It connects, when electric rotating machine 51 acts, leading truck 31 can be made to be rotated by 360 ° in the horizontal plane, so as to adjust two clamp hands 32 The good angle clamped to workpiece.The bindiny mechanism 8 include be fixedly connected with the output shaft of lifting cylinder 41 bearing 81, The T shapes that the output shaft of middle part and lifting cylinder 41 is rotatablely connected stick up bar 82, and the leaning device 6 includes being fixed on fixed frame 2 Two straight line execution cylinders 61, the output shaft of one of straight line execution cylinder 61 sticks up symmetrical two sides in bar 82 with T shapes The connection of one of end, another symmetrical side that output shaft and the T shapes of another straight line execution cylinder 61 stick up bar 82 is connect, described T shapes are stuck up after 82 middle part of bar passes through bearing 81 to be fixedly connected with electric rotating machine 51；Two 61 self contained functions of straight line execution cylinder, so as to T shapes is made to stick up bar 82 and act on swing around the output shaft of lifting cylinder 41, sticking up the electric rotating machine 51 being connect in the middle part of bar 82 with T shapes follows It swings, so as to adjust two clamp hands 32 and the angle of horizontal plane, guarantees tilted direction and the workpiece on both ends inclined-plane is carried out Clamping.The mobile mechanism 7 includes the horizontal air cylinder 71 that the horizontal direction being fixed on supporting rack 1 is placed, the horizontal air cylinder 71 output terminal is fixedly connected with fixed frame 2, and when horizontal air cylinder 71 acts, 2 stress of fixed frame is slided on supporting rack 1, is led to The transmission of lifting cylinder 41, connection structure 8, electric rotating machine 51, leading truck 31 is crossed, two clamp hands 32 are moved along 1 direction of supporting rack It is dynamic, so as to be carried to workpiece.

In preferred embodiment, the clamp hand driving mechanism 33 is separately fixed at 31 both ends of leading truck including two The equidirectional output of output shaft of cylinder 33a, two cylinder 33a, the clamp hand 32 are the straight panel of vertical direction, and cylinder 33a's is defeated Shaft is fixedly connected with corresponding clamp hand 32, when clamping workpiece is needed, one of cylinder 33a actions, with the cylinder The clamp hand 32 of 33a connections is close toward another 32 direction of clamp hand；When needing to unload workpiece, another cylinder 33a actions, with this The clamp hand 32 of cylinder 33a connections and another clamp hand 32 are separate.In order to ensure that two clamp hands 32 take the air line, the leading truck 31 The guide rail 34 slided for clamp hand 32 is equipped with, clamp hand 32 is equipped with guide groove 35 with 32 corresponding position of guide rail.

As shown in figure 3, as the scheme that another kind can replace, the clamp hand driving mechanism 33 is fixed respectively including two Linear actuator 33b at 31 both ends of leading truck, the output terminal opposite direction output of two linear actuator 33b, the clamp hand 32 be trisquare shape, and one end of clamp hand 32 is fixedly connected with the output shaft of linear actuator 33b, the middle lower end of clamp hand 32 and leading truck 31 rotation connections；When two linear actuator 33b are exported simultaneously, clamp hand 32 rotates around leading truck 31 and workpiece is carried out Clamping；When two linear actuator 33b are withdrawn simultaneously, clamp hand 32 carries out discharge to workpiece.

As the scheme that other can be selected, the clamp hand driving mechanism 33 is the parallel gripper cylinder with double output shaft (not having in attached drawing), two clamp hands are separately fixed on the output shaft of parallel gripper cylinder.

In order to preferably be distributed each component, through experiment, the angle of the fixed frame 2 and supporting rack 1 is 90-120 degree, support Frame 1 can effectively support fixed frame 2, and the parallel direction of the leading truck 31 and fixed frame 2 extends.

Similarly, in order to more preferably arrange, two straight line execution cylinders 61 are centered on lifting cylinder 41 into axial symmetry point Cloth.

Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned The limitation of embodiment, the change made under other any Spirit Essences and principle without departing from the utility model are modified, are replaced In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.

Claims

1. the oblique manipulator for clamping and lifting of energy, it is characterised in that：Including supporting rack, the fixation being slidably connected with supporting rack Frame is capable of the clamping device of clamping workpiece, to the elevating mechanism that clamping device is lifted, the rotation rotated to clamping device Rotation mechanism carries out inclined leaning device, the mobile mechanism moved horizontally to clamping device to clamping device；The clamping Mechanism is arranged on leading truck including leading truck, two and the clamp hand driving mechanism of transportable clamp hand and driving clamp hand； The elevating mechanism includes the lifting cylinder being fixed on fixed frame, and the output shaft of lifting cylinder passes through a bindiny mechanism and rotation Rotation mechanism connects；The rotating mechanism includes electric rotating machine, and the output shaft of electric rotating machine is fixedly connected with leading truck；The connection Mechanism includes the T shapes of the output shaft rotation connection of the bearing, middle part and the lifting cylinder that are fixedly connected with the output shaft of lifting cylinder Bar is stuck up, the leaning device includes two straight line execution cylinders being fixed on fixed frame, one of straight line execution cylinder Output shaft sticks up one of symmetrical two sides in bar with T shapes and connect, output shaft and the T shapes of another straight line execution cylinder stick up bar Another symmetrical side connection, the T shapes are stuck up pass through bearing in the middle part of bar after is fixedly connected with electric rotating machine；The mobile mechanism Including the horizontal air cylinder that the horizontal direction being fixed on supporting rack is placed, the output terminal of the horizontal air cylinder is fixed with fixed frame to be connected It connects.

2. the oblique manipulator for clamping and lifting of energy according to claim 1, it is characterised in that：The clamp hand driving mechanism The cylinder for being separately fixed at leading truck both ends including two, the equidirectional output of output shaft of two cylinders, the clamp hand is vertical The straight panel in direction, the output shaft of cylinder are fixedly connected with corresponding clamp hand.

3. the oblique manipulator for clamping and lifting of energy according to claim 2, it is characterised in that：The leading truck is equipped with For the guide rail that clamp hand slides, clamp hand is equipped with guide groove with guide rail corresponding position.

4. the oblique manipulator for clamping and lifting of energy according to claim 1, it is characterised in that：The clamp hand driving mechanism The linear actuator for being separately fixed at leading truck both ends including two, the output terminal opposite direction output of two linear actuators, The clamp hand is trisquare shape, and one end of clamp hand is fixedly connected with the output shaft of linear actuator, the middle lower end of clamp hand and leading truck Rotation connection.

5. the oblique manipulator for clamping and lifting of energy according to claim 1, it is characterised in that：The clamp hand driving mechanism For the parallel gripper cylinder with double output shaft, two clamp hands are separately fixed on the output shaft of parallel gripper cylinder.

6. the oblique manipulator for clamping and lifting of energy according to claim 1, it is characterised in that：The fixed frame and support The angle of frame is 90-120 degree, and the parallel direction of the leading truck and fixed frame extends.

7. the oblique manipulator for clamping and lifting of energy according to claim 1-6 any one, it is characterised in that：Two institutes Straight line execution cylinder is stated to be distributed into axial symmetry centered on lifting cylinder.