CN208231815U - Crawl promotes mobile manipulator - Google Patents
Crawl promotes mobile manipulator Download PDFInfo
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- CN208231815U CN208231815U CN201820709128.9U CN201820709128U CN208231815U CN 208231815 U CN208231815 U CN 208231815U CN 201820709128 U CN201820709128 U CN 201820709128U CN 208231815 U CN208231815 U CN 208231815U
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Abstract
The utility model discloses crawls to promote mobile manipulator, belong to coiled material manufacturing machine field, crawl promotes mobile manipulator, including mechanical sliding rail, positioning sliding block is socketed on the machinery sliding rail, the positioning sliding block is slidably connected with mechanical sliding rail, the positioning sliding block lower end is fixedly connected with robot base plate, drive shaft there are two being fixedly connected among the robot base plate, two drive shaft outer ends are rotatably connected to mechanical gripper, the robot base plate front end is fixedly connected with sub-folder fixed frame, guide rail sliding plate is slidably connected in the sub-folder fixed frame, the guide rail sliding plate left and right ends are fixedly connected to side shaft, the side shaft is rotatably connected to flexible bull stick far from guide rail sliding plate one end, the flexible bull stick is fixedly connected with sub-folder handgrip far from side shaft one end, sub-folder shaft is equipped on the downside of drive shaft, sub-folder Shaft is fixedly connected with robot base plate, may be implemented to stablize coiled material, and facilitate manipulator stablizes crawl.
Description
Technical field
The utility model relates to coiled material manufacturing machine fields, promote mobile manipulator more specifically to crawl.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument, feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently, manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The shortcomings that existing crawl promotion mobile manipulator is that during grabbing coiled material, volume is easily touched in manipulator lower end
Material causes coiled material to roll, and grabs unstable.
Utility model content
1. technical problems to be solved
Aiming at the problems existing in the prior art, the purpose of this utility model is to provide crawls to promote mobile manipulator,
It may be implemented to stablize coiled material, and facilitate manipulator stablizes crawl.
2. technical solution
To solve the above problems, the utility model adopts the following technical scheme.
Crawl promotes mobile manipulator, including mechanical sliding rail, is socketed with positioning sliding block, the positioning on the machinery sliding rail
Sliding block is slidably connected with mechanical sliding rail, and the positioning sliding block lower end is fixedly connected with robot base plate, in the robot base plate
Between be fixedly connected there are two drive shaft, two drive shaft outer ends are rotatably connected to mechanical gripper, the manipulator base
Front edge of board is fixedly connected with sub-folder fixed frame, and guide rail sliding plate is slidably connected in the sub-folder fixed frame, and the guide rail sliding plate is left
Right both ends are fixedly connected to side shaft, and the side shaft is rotatably connected to flexible bull stick far from guide rail sliding plate one end, described to stretch
Contracting bull stick is fixedly connected with sub-folder handgrip far from side shaft one end, is equipped with sub-folder shaft, the sub-folder on the downside of the drive shaft
Shaft is fixedly connected with robot base plate, and the sub-folder handgrip is rotatablely connected close to flexible bull stick one end and sub-folder shaft, described
Guide rail sliding plate lower end is fixedly connected with support rod, and the upper support rod lower end is fixedly connected with to guide plate, when running fix sliding block
Afterwards, coiled material is contacted on to guide plate, drives sub-folder handgrip to close up around the rotation of sub-folder shaft, coiled material is fixed, be convenient for mechanical gripper
Crawl is stablized to coiled material.
Further, oblong aperture is offered among the guide rail sliding plate, is equipped in the oblong aperture and is stablized fixture block, it is described steady
Determine fixture block to be fixedly connected with robot base plate, is coated with lubricating oil at left and right sides of the oblong aperture, it is sliding in guide rail by stablizing fixture block
Sliding in plate, convenient for limiting the moving range of guide rail sliding plate.
Further, sub-folder fixed frame upper end is fixedly connected with extension spring, under the extension spring and side shaft
End is fixedly connected, and after stablizing, pulls side shaft homing by extension spring.
Further, contact clamping plate is equipped on the downside of the sub-folder handgrip, the contact clamping plate is solid close to sub-folder handgrip one end
Surely it is connected with smooth shaft, the smooth shaft and sub-folder handgrip are rotatablely connected, and the contact clamping plate is far from smooth shaft one end
It is fixedly connected with gel layer, the gel layer is fixedly connected with rubber pad far from contact clamping plate one end, clamping plate is contacted by setting,
Convenient for being bonded for enhancing sub-folder handgrip and coiled material, stablizing effect is promoted.
3. beneficial effect
Compared with the prior art, utility model has the advantages that
(1) after running fix sliding block, coiled material is contacted on to guide plate this programme, and sub-folder handgrip is driven to turn around sub-folder shaft
Dynamic circuit connector is held together, and coiled material is fixed, and is grabbed convenient for mechanical gripper to stablizing for coiled material.
(2) oblong aperture is offered among guide rail sliding plate, is equipped in oblong aperture and is stablized fixture block, stablizes fixture block and robot base plate
It is fixedly connected, is coated with lubricating oil at left and right sides of oblong aperture, is slided in guide rail sliding plate by stablizing fixture block, it is sliding convenient for limitation guide rail
The moving range of plate.
(3) sub-folder fixed frame upper end is fixedly connected with extension spring, and extension spring is fixedly connected with side shaft lower end, is convenient for
After stabilization, shaft homing in side is pulled by extension spring.
(4) contact clamping plate is equipped on the downside of sub-folder handgrip, contact clamping plate is fixedly connected with smooth turn close to sub-folder handgrip one end
Axis, smooth shaft and sub-folder handgrip are rotatablely connected, and are contacted clamping plate far from smooth shaft one end and are fixedly connected with gel layer, gel layer
It is fixedly connected with rubber pad far from contact clamping plate one end, clamping plate is contacted by setting, convenient for enhancing the patch of sub-folder handgrip and coiled material
It closes, promotes stablizing effect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram in Fig. 1 at A；
Fig. 3 is the structural schematic diagram in Fig. 1 at B；
Fig. 4 is the structural schematic diagram of the utility model open configuration.
Figure label explanation:
1 mechanical sliding rail, 2 positioning sliding blocks, 3 robot base plates, 4 drive shafts, 5 mechanical grippers, 6 sub-folder fixed frames, 7 guide rails
Slide plate, 8 side shafts, 9 flexible bull sticks, 10 sub-folder handgrips, 11 sub-folder shafts, 12 smooth shafts, 13 contact clamping plates, support rod on 14,
Guide plate, 16 stable fixture blocks, 17 extension springs are supported on 15.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model；The technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe；Obviously；The described embodiments are only a part of the embodiments of the utility model；Rather than whole
Embodiment, based on the embodiments of the present invention；Those of ordinary skill in the art are without making creative work
Every other embodiment obtained；It fall within the protection scope of the utility model.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " top/bottom end " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention, in addition, term " first ", " second " are only used for description mesh
, it is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " being provided with ", " be arranged/connect ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, can also be with
It is to be detachably connected, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be with
Indirectly connected through an intermediary, it can be the connection inside two elements.For the ordinary skill in the art, may be used
The concrete meaning of above-mentioned term in the present invention is understood with concrete condition.
Embodiment 1:
Fig. 1-4 is please referred to, crawl promotes mobile manipulator, including mechanical sliding rail 1, and positioning is socketed on mechanical sliding rail 1 and is slided
Block 2, positioning sliding block 2 are slidably connected with mechanical sliding rail 1, and 2 lower end of positioning sliding block is fixedly connected with robot base plate 3, manipulator base
Drive shaft 4 there are two being fixedly connected among plate 3, two 4 outer ends of drive shaft are rotatably connected to mechanical gripper 5, manipulator base
3 front end of plate is fixedly connected with sub-folder fixed frame 6, and guide rail sliding plate 7, guide rail sliding plate 7 or so two are slidably connected in sub-folder fixed frame 6
End is fixedly connected to side shaft 8, and side shaft 8 is rotatably connected to flexible bull stick 9 far from 7 one end of guide rail sliding plate, and the bull stick 9 that stretches is remote
It is fixedly connected with sub-folder handgrip 10 from 8 one end of side shaft, is equipped with sub-folder shaft 11, sub-folder shaft 11 and machine on the downside of drive shaft 4
Tool chiral substrate 3 is fixedly connected, and sub-folder handgrip 10 is rotatablely connected close to flexible 9 one end of bull stick and sub-folder shaft 11, under guide rail sliding plate 7
End is fixedly connected with support rod 14, and upper 14 lower end of support rod is fixedly connected with to guide plate 15, after running fix sliding block 2, coiled material
It is contacted with the upper guide plate 15 that supports, drives sub-folder handgrip 10 to close up around the rotation of sub-folder shaft 11, pass through 10 lower end of sub-folder handgrip and coiled material
Fitting, coiled material is fixed, and is grabbed convenient for mechanical gripper 5 to stablizing for coiled material, is offered oblong aperture among guide rail sliding plate 7, rectangular
It is equipped in hole and stablizes fixture block 16, stablized fixture block 16 and be fixedly connected with robot base plate 3, be coated with lubricating oil at left and right sides of oblong aperture,
Slided in guide rail sliding plate 7 by stablizing fixture block 16, convenient for limit guide rail sliding plate 7 moving range, make guide rail sliding plate 7 can only on
Lower slider, 6 upper end of sub-folder fixed frame are fixedly connected with extension spring 17, and extension spring 17 is fixedly connected with 8 lower end of side shaft, just
When idle, side shaft 8 is pulled to move down by extension spring 17, and then drive 7 homing of guide rail sliding plate, under sub-folder handgrip 10
Side is equipped with contact clamping plate 13, contacts clamping plate 13 close to 10 one end of sub-folder handgrip and is fixedly connected with smooth shaft 12, smooth shaft 12
It is rotatablely connected with sub-folder handgrip 10, contacts clamping plate 13 far from smooth 12 one end of shaft and be fixedly connected with gel layer, gel layer is separate
Contact 13 one end of clamping plate is fixedly connected with rubber pad, clamping plate 13 is contacted by setting, convenient for enhancing sub-folder handgrip 10 and coiled material
Fitting promotes stablizing effect.
In use, during above running fix sliding block 2 to coiled material, coiled material upper end and upper support under guide plate 15 are terminated
It touches, guide plate 15 is supported in promotion and is moved up, above support guide plate 15 and upper support rod 14 and guide rail sliding plate 7 is driven to move up, guide rail sliding plate 7 is consolidated in sub-folder
Determine sliding in frame 6, and side shaft 8 is driven to move up, and then drives flexible bull stick 9 to rotate around side shaft 8, while driving sub-folder handgrip
10 rotate around sub-folder shaft 11,10 lower end of sub-folder handgrip and cylinder contacts, and are rotated by contacting clamping plate 13 around smooth shaft 12,
It is bonded fixation with coiled material, to realize before mechanical gripper 5 grabs coiled material, coiled material is fixed.
It is described above；The only preferable specific embodiment of the utility model；But the protection scope of the utility model is not
It is confined to this；Anyone skilled in the art is within the technical scope disclosed by the utility model；It is practical according to this
Novel technical solution and its improvement design is subject to equivalent substitution or change；It should all cover in the protection scope of the utility model
It is interior.
Claims (4)
1. crawl promotes mobile manipulator, including mechanical sliding rail (1), positioning sliding block (2) are socketed on the machinery sliding rail (1),
The positioning sliding block (2) is slidably connected with mechanical sliding rail (1), it is characterised in that: positioning sliding block (2) lower end is fixedly connected with
Robot base plate (3), is fixedly connected with that there are two drive shaft (4), two drive shafts among the robot base plate (3)
(4) outer end is rotatably connected to mechanical gripper (5), and robot base plate (3) front end is fixedly connected with sub-folder fixed frame (6), institute
It states and is slidably connected guide rail sliding plate (7) in sub-folder fixed frame (6), guide rail sliding plate (7) left and right ends are fixedly connected to side
Shaft (8), the side shaft (8) are rotatably connected to flexible bull stick (9) far from guide rail sliding plate (7) one end, the flexible bull stick (9)
It is fixedly connected with sub-folder handgrip (10) far from side shaft (8) one end, is equipped with sub-folder shaft (11) on the downside of the drive shaft (4),
The sub-folder shaft (11) is fixedly connected with robot base plate (3), the sub-folder handgrip (10) close to flexible bull stick (9) one end with
Sub-folder shaft (11) rotation connection, guide rail sliding plate (7) lower end is fixedly connected with support rod (14), under the upper support rod (14)
End is fixedly connected with to guide plate (15).
2. crawl according to claim 1 promotes mobile manipulator, it is characterised in that: opened among the guide rail sliding plate (7)
Equipped with oblong aperture, it is equipped with and stablizes fixture block (16) in the oblong aperture, the stable fixture block (16) and robot base plate (3) fixed company
It connects, is coated with lubricating oil at left and right sides of the oblong aperture.
3. crawl according to claim 1 promotes mobile manipulator, it is characterised in that: sub-folder fixed frame (6) upper end
It is fixedly connected with extension spring (17), the extension spring (17) is fixedly connected with side shaft (8) lower end.
4. crawl according to claim 1 promotes mobile manipulator, it is characterised in that: set on the downside of the sub-folder handgrip (10)
Have contact clamping plate (13), the contact clamping plate (13) is fixedly connected with smooth shaft (12), institute close to sub-folder handgrip (10) one end
It states smooth shaft (12) and sub-folder handgrip (10) to be rotatablely connected, the contact clamping plate (13) is fixed far from smooth shaft (12) one end
It is connected with gel layer, the gel layer is fixedly connected with rubber pad far from contact clamping plate (13) one end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820709128.9U CN208231815U (en) | 2018-05-14 | 2018-05-14 | Crawl promotes mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820709128.9U CN208231815U (en) | 2018-05-14 | 2018-05-14 | Crawl promotes mobile manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208231815U true CN208231815U (en) | 2018-12-14 |
Family
ID=64582788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820709128.9U Active CN208231815U (en) | 2018-05-14 | 2018-05-14 | Crawl promotes mobile manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208231815U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774302A (en) * | 2019-12-10 | 2020-02-11 | 天津君昊齿轮加工有限公司 | Manipulator suitable for different gears snatch |
-
2018
- 2018-05-14 CN CN201820709128.9U patent/CN208231815U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774302A (en) * | 2019-12-10 | 2020-02-11 | 天津君昊齿轮加工有限公司 | Manipulator suitable for different gears snatch |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191224 Address after: 528000 A District, Shishan science and Technology Industrial Zone, Nanhai District, Guangdong, Foshan Patentee after: Guangdong Shicheng Plastic Machinery Co., Ltd. Address before: 223800 Tong Dao Avenue, Suqian economic and Technological Development Zone, Jiangsu Patentee before: Suqian Gettel Plastic Co.,Ltd. |