CN208744826U - A kind of automatic manipulator - Google Patents
A kind of automatic manipulator Download PDFInfo
- Publication number
- CN208744826U CN208744826U CN201821633211.9U CN201821633211U CN208744826U CN 208744826 U CN208744826 U CN 208744826U CN 201821633211 U CN201821633211 U CN 201821633211U CN 208744826 U CN208744826 U CN 208744826U
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- China
- Prior art keywords
- hinged
- fixed link
- slide bar
- hydraulic cylinder
- shell
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Abstract
A kind of automatic manipulator, belong to automated machine field, the purpose of the utility model is to provide a kind of automatic manipulators, when solving on current most of factory lines in order to which a workpiece is gone to another platform from a platform, manual handling is generallyd use in order to avoid workpiece is impaired, therefore working efficiency is low, and people is difficult to draw oneself up grip when carrying workpiece every time, therefore the problem of will cause many industry losses.A kind of automatic manipulator, including large arm, forearm and pedestal；Large arm is installed on the base, and forearm is mounted in large arm；The large arm includes first hydraulic cylinder, second hydraulic cylinder and fixed link, the bottom end of fixed link and first hydraulic cylinder it is hinged on the base, the top of first hydraulic cylinder is hinged on the side of fixed link, and the bottom end of second hydraulic cylinder is hinged on the other side of fixed link.This reality is novel to be can replace people and is accurately placed to object, and grip is consistent when can carry object every time, effectively avoids industrial loss.
Description
Technical field
The utility model relates to a kind of mechanical arms, and in particular to a kind of automatic manipulator belongs to automated machine field.
Background technique
With the development of society, intelligent automation mechanical digital product is increasingly advanced practical, many people can be helped high
Effect accurately completes various intractable work, goes to a workpiece from a platform on current most of factory lines
When another platform, manual handling is generallyd use in order to avoid workpiece is impaired, therefore working efficiency is low, and people is difficult to draw oneself up
Grip when workpiece is carried every time, therefore will cause many industry losses.
Utility model content
The purpose of the utility model is to provide a kind of automatic manipulator, solve on current most of factory lines
When in order to which a workpiece being gone to another platform from a platform, manual handling is generallyd use in order to avoid workpiece is impaired, therefore
Working efficiency is low, and people is difficult to draw oneself up grip when carrying workpiece every time, therefore will cause asking for many industry losses
Topic.
A kind of automatic manipulator, including large arm, forearm and pedestal；Large arm is installed on the base, and forearm is mounted on large arm
On；
The large arm includes first hydraulic cylinder, second hydraulic cylinder and fixed link, and the bottom end of fixed link and first hydraulic cylinder is equal
Hingedly on the base, the top of first hydraulic cylinder is hinged on the side of fixed link, and the bottom end of second hydraulic cylinder is hinged on fixed link
The other side, second hydraulic cylinder top is hinged on forearm；
The forearm includes rotating mechanism and clamping device；One end of rotating mechanism is hinged in fixed link, the other end with
Clamping device is connected.
Preferably, rotating mechanism includes first shell, fixed block and first servo motor；One end of fixed block is hinged on solid
In fixed pole, the other end is fixedly connected with first shell, and first servo motor, the output shaft of first servo motor are equipped in shell
It is fixedly connected with clamping device.
Preferably, clamping device includes second shell, electric pushrod, sleeve, the first slide bar, support spring, connector, stretches
Contracting bar, grip block and buffer gear；Second shell bottom end is fixedly connected with the output shaft of first servo motor, on the inside of second shell
Bottom end is provided with installation groove, and electric pushrod is equipped in installation groove, and the movable end of electric pushrod and one end of sleeve are fixed
Connection, sleeve are socketed on the first slide bar and connect with the first sliding bar, and the top of the first slide bar and the side of connector are solid
It is fixed to connect, it is provided with support spring on the first slide bar, one end of support spring is resisted against on sleeve, and the other end is resisted against connector
Side, the both ends of connector are respectively hinged with a telescopic rod respectively, and the output end of telescopic rod is fixedly connected with grip block, shell
Two sides be mounted on buffer unit, one end of buffer unit and telescopic rod and grip block are rotatablely connected.
Preferably, buffer gear includes casing, the second slide bar, limited block, buffer spring and connecting rod；One end of connecting rod
It is mounted on the side of second shell, the other end is connected with the side of casing, the second slide bar is provided in casing, on the second slide bar
It is provided with buffer spring, one end of slide bar is provided with retention bead, and one end of buffer spring is resisted against the other end in retention bead
It is resisted against on casing, the other end is provided with limited block, retention bead and grip block and telescopic rod is rotatablely connected.
Preferably, pedestal includes bottom plate, sucker, supporting block and the second servo motor；Supporting block lower end surface is symmetrically arranged with 4
A sucker.It is provided with installation groove in supporting block, the second servo motor, the output of the second servo motor are installed in installation groove
It is fixedly connected with a bottom plate on axis, is hinged with fixed link and first hydraulic cylinder on bottom plate.
The utility model has the beneficial effect that
1, the utility model can replace people and carry to object, greatly improve work efficiency.
2, the utility model can more accurately put object, and can guarantee holding when carrying object every time
Power is consistent, is effectively reduced the industry loss of frangible object.
3, it not will shake when the utility model carries object, effectively avoid the risk that object falls off when carrying.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of forearm；
In figure: 1- large arm, 2- forearm, 3- pedestal, 4- first hydraulic cylinder, 5- second hydraulic cylinder, 6- fixed link, 7- whirler
Structure, 8- clamping device, 9- first shell, 10- fixed block, 11- first servo motor, 12- second shell, 13- electric pushrod,
14- sleeve, the first slide bar of 15-, 16- support spring, 17- connector, 18- telescopic rod, 19- grip block, 20- buffer gear, 21-
Casing, the second slide bar of 22-, 23 limited blocks, 24- buffer spring, 25- connecting rod, 26- bottom plate, 27- sucker, 28- supporting block, 29-
Second servo motor.
Specific embodiment
As shown in Figure 1 to Figure 2, a kind of automatic manipulator, including large arm 1, forearm 2 and pedestal 3；Large arm 1 is mounted on base
On seat 3, forearm 2 is mounted in large arm 1；
The large arm 1 includes first hydraulic cylinder 4, second hydraulic cylinder 5 and fixed link 6, fixed link 6 and first hydraulic cylinder 4
Bottom end is hinged on pedestal 3, and the top of first hydraulic cylinder 4 is hinged on the side of fixed link 6, the bottom end hinge of second hydraulic cylinder 5
It connects in the other side of fixed link 6,5 top of second hydraulic cylinder is hinged on forearm 2；
The forearm 2 includes rotating mechanism 7 and clamping device 8；One end of rotating mechanism 7 is hinged in fixed link 6, another
End is connected with clamping device 8.
Further, rotating mechanism 7 includes first shell 9, fixed block 10 and first servo motor 11；The one of fixed block 10
End is hinged in fixed link 6, and the other end is fixedly connected with first shell 9, and first servo motor 11 is equipped in shell, and first watches
The output shaft for taking motor 11 is fixedly connected with clamping device 8.
Further, clamping device 8 includes second shell 12, electric pushrod 13, sleeve 14, the first slide bar 15, support bullet
Spring 16, connector 17, telescopic rod 18, grip block 19 and buffer gear 20；12 bottom end of second shell and first servo motor 11
Output shaft is fixedly connected, and 12 inner lower edge of second shell is provided with installation groove, and electric pushrod 13 is equipped in installation groove, electricity
The movable end of dynamic push rod 13 is fixedly connected with one end of sleeve 14, sleeve 14 be socketed on the first slide bar 15 and with the first slide bar 15
It is slidably connected, the top of the first slide bar 15 is fixedly connected with the side of connector 17, is provided with support spring on the first slide bar 15
16, one end of support spring 16 is resisted against on sleeve 14, and the other end is resisted against the side of connector 17, the both ends point of connector 17
A telescopic rod 18 it is not hinged with respectively, the output end of telescopic rod 18 is fixedly connected with grip block 19, and the two sides of shell are mounted on
Buffer unit, one end of buffer unit and telescopic rod 18 and grip block 19 are rotatablely connected.
Further, buffer gear 20 includes casing 21, the second slide bar 22, limited block 23, buffer spring 24 and connecting rod
25；One end of connecting rod 25 is mounted on the side of second shell 12, and the other end is connected with the side of casing 21, sets in casing 21
It is equipped with the second slide bar 22, buffer spring 24 is provided on the second slide bar 22, one end of slide bar is provided with retention bead, buffer spring
24 one end is resisted against the other end in retention bead and is resisted against on casing 21, and the other end is provided with limited block 23, retention bead with
Grip block 19 and telescopic rod 18 are rotatablely connected.
Further, pedestal 3 includes bottom plate 26, sucker 27, supporting block 28 and the second servo motor 29；28 lower end of supporting block
Face is symmetrically arranged with 4 suckers 27.It is provided with installation groove in supporting block 28, the second servo motor is installed in installation groove
29, a bottom plate 26 is fixedly connected on the output shaft of the second servo motor 29, is hinged with fixed link 6 and first on bottom plate 26
Hydraulic cylinder 4.
The course of work of the present apparatus are as follows:
Firstly, the utility model is placed on assembly line, it is adsorbed on sucker 27 on placed side, the second servo motor 29
It is embedded in supporting block 28, the output shaft of the second servo motor 29 is fixedly connected with bottom plate 26, and the second servo motor 29 passes through bottom
Plate 26 drives large arm 1 and then forearm 2 is driven to rotate horizontally, by the positive and negative rotation and the rotary distance that control the second servo motor 29
To controlled level rotation position, make this practical object just carried facing towards needs, then first hydraulic cylinder 4 is with bottom plate 26
Fixed link 6 is driven for impetus, second hydraulic cylinder 5 is that impetus drives forearm 2 with fixed link 6, it is made to bend to the angle of needs
Degree, until the clamping device 8 on forearm 2, can be with isoelectric membrane until, then first servo motor 11 drives clamping device rotation
The angle of needs is gone to, electric pushrod 14 drives the first slide bar 15 and connector with elongated moving sleeve 14 by shrinking
17, connector 17 drives telescopic rod 18 to rotate on buffer gear 20 with grip block 19, loosens or presss from both sides to control folder 19 and hold plate
Tight object, the spring on the first slide bar 15 can buffer the thrust of electric pushrod, to effectively extend practical
Novel service life, when being clamped in order to avoid electric pushrod 13, generated pulling force is excessive, and slide bar 22 can be in casing
Sliding in 21, so that squeezing buffer spring 24 buffer to pulling force the hard contact for effectively avoiding grip block 19 Yu object
And object is caused to rupture, limited block 23 can be detached from casing 21 to avoid the second slide bar 22.
Claims (5)
1. a kind of automatic manipulator, it is characterised in that: including large arm (1), forearm (2) and pedestal (3)；Large arm (1) is mounted on
On pedestal (3), forearm (2) is mounted on large arm (1)；
The large arm (1) includes first hydraulic cylinder (4), second hydraulic cylinder (5) and fixed link (6), fixed link (6) and first hydraulic
The bottom end of cylinder (4) is hinged on pedestal (3), and the top of first hydraulic cylinder (4) is hinged on the side of fixed link (6), the second liquid
The bottom end of cylinder pressure (5) is hinged on the other side of fixed link (6), and second hydraulic cylinder (5) top is hinged on forearm (2)；
The forearm (2) includes rotating mechanism (7) and clamping device (8)；One end of rotating mechanism (7) is hinged on fixed link (6)
On, the other end is connected with clamping device (8).
2. a kind of automatic manipulator according to claim 1, it is characterised in that: the rotating mechanism (7) includes first
Shell (9), fixed block (10) and first servo motor (11)；One end of fixed block (10) is hinged on fixed link (6), the other end
Be fixedly connected, be equipped in shell first servo motor (11) with first shell (9), the output shaft of first servo motor (11) with
Clamping device (8) is fixedly connected.
3. a kind of automatic manipulator according to claim 1, it is characterised in that: the clamping device (8) includes second
Shell (12), electric pushrod (13), sleeve (14), the first slide bar (15), support spring (16), connector (17), telescopic rod
(18), grip block (19) and buffer gear (20)；Second shell (12) bottom end and the output shaft of first servo motor (11) are fixed
Connection, second shell (12) inner lower edge are provided with installation groove, electric pushrod (13), electric pushrod are equipped in installation groove
(13) movable end is fixedly connected with the one end of sleeve (14), sleeve (14) be socketed on the first slide bar (15) and with the first slide bar
(15) it is slidably connected, the top of the first slide bar (15) is fixedly connected with the side of connector (17), and the first slide bar is arranged on (15)
Have support spring (16), one end of support spring (16) is resisted against on sleeve (14), and the other end is resisted against the one of connector (17)
Side, the both ends of connector (17) are respectively hinged with a telescopic rod (18) respectively, and the output end of telescopic rod (18) is fixedly connected with folder
It holds plate (19), the two sides of shell are mounted on buffer unit, and one end and telescopic rod (18) of buffer unit and grip block (19) turn
Dynamic connection.
4. a kind of automatic manipulator according to claim 3, it is characterised in that: the buffer gear (20) includes casing
(21), the second slide bar (22), limited block (23), buffer spring (24) and connecting rod (25)；One end of connecting rod (25) is mounted on
The side of second shell (12), the other end are connected with the side of casing (21), are provided with the second slide bar (22) in casing (21),
It is provided on second slide bar (22) buffer spring (24), one end of slide bar is provided with retention bead, one end of buffer spring (24)
It is resisted against the other end in retention bead to be resisted against on casing (21), the other end is provided with limited block (23), retention bead and clamping
Plate (19) and telescopic rod (18) rotation connection.
5. a kind of automatic manipulator according to claim 1, it is characterised in that: the pedestal (3) include bottom plate (26),
Sucker (27), supporting block (28) and the second servo motor (29)；Supporting block (28) lower end surface is symmetrically arranged with 4 suckers (27)；
It is provided with installation groove in supporting block (28), is equipped in installation groove the second servo motor (29), the second servo motor (29)
Output shaft on be fixedly connected with a bottom plate (26), be hinged with fixed link (6) and first hydraulic cylinder (4) on bottom plate (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821633211.9U CN208744826U (en) | 2018-10-09 | 2018-10-09 | A kind of automatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821633211.9U CN208744826U (en) | 2018-10-09 | 2018-10-09 | A kind of automatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208744826U true CN208744826U (en) | 2019-04-16 |
Family
ID=66085579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821633211.9U Expired - Fee Related CN208744826U (en) | 2018-10-09 | 2018-10-09 | A kind of automatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208744826U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640123A (en) * | 2019-10-28 | 2020-01-03 | 徐州市万铭精密铸造有限公司 | Casting carrying cart |
| CN110668170A (en) * | 2019-12-05 | 2020-01-10 | 龙口市全工工程机械制造厂 | Split type folding mechanical tongs |
| CN111844088A (en) * | 2020-07-03 | 2020-10-30 | 中信机电制造公司科研设计院 | Hawk claw type manipulator |
-
2018
- 2018-10-09 CN CN201821633211.9U patent/CN208744826U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640123A (en) * | 2019-10-28 | 2020-01-03 | 徐州市万铭精密铸造有限公司 | Casting carrying cart |
| CN110640123B (en) * | 2019-10-28 | 2021-06-22 | 徐州市万铭精密铸造有限公司 | Casting carrying cart |
| CN110668170A (en) * | 2019-12-05 | 2020-01-10 | 龙口市全工工程机械制造厂 | Split type folding mechanical tongs |
| CN111844088A (en) * | 2020-07-03 | 2020-10-30 | 中信机电制造公司科研设计院 | Hawk claw type manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190416 Termination date: 20191009 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |