CN209139206U - A kind of Material Sorting manipulator - Google Patents

Abstract

The utility model discloses a material sorting manipulator, which comprises a base. Wheel hubs are installed on the four corner edges of the lower end face of the base, a driving motor is fixedly installed on the lower end face of the inner cavity of the base, and a center of the upper end face of the base is provided with a driving motor. Through holes, the motor main shaft of the drive motor passes through the through holes on the upper end face of the base, and the upper end of the motor main shaft is sleeved inside the connection support main shaft and connected with the rotary table, and the lower end face of the support main shaft is fixedly installed on the base. The upper end face, the upper end face of the supporting main shaft is provided with a connecting flange, and the supporting main shaft is connected to the rotary table through the connecting flange. The utility model improves the clamping device, so that the material is more firmly clamped in the process of sorting materials. , the operation is safer and has higher practical value.

Description

A material sorting robot

technical field

The utility model relates to the technical field of industrial robots, in particular to a material sorting manipulator.

Background technique

The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. The main working feature of the manipulator is an automatic operation device that can imitate some action functions of the human hand and is used to grab, carry objects or operate tools according to a fixed program. The feature is that it can be programmed to complete a variety of expected operations, and the structure and performance have the advantages of both human and robotic machines.

Since most industrial production environments are relatively dangerous, there is a greater risk in using manual sorting of materials produced in this environment, and the existing manipulators mainly use the suction force of the suction cup or the clamping force of the claw during the clamping process. Such a clamping device has no anti-shock ability, and the clamped material is easy to fall off when it is impacted or the movement speed of the manipulator changes greatly.

Utility model content

The purpose of the present invention is to provide a material sorting manipulator to solve the problems raised in the above background technology.

To achieve the above object, the utility model provides the following technical solutions:

A material sorting manipulator includes a base, a wheel hub is installed on the four corner edges of the lower end face of the base, a driving motor is fixedly installed on the lower end face of the inner cavity of the base, and a through hole is arranged at the center of the upper end face of the base, and the The motor main shaft of the drive motor passes through the through hole on the upper end face of the base, and the upper end of the motor main shaft is sleeved inside the connecting support main shaft and connected with the rotary table, and the lower end face of the supporting main shaft is fixedly installed on the upper end face of the base to support the main shaft The upper end face of the rotary table is provided with a connecting flange, and the supporting spindle is connected to the rotating table through the connecting flange, the center of the upper end face of the rotating table is fixedly connected with a right-angle connecting rod, and the front and rear edges of the upper end of the rotating table are vertically installed with guide side plates , the front end of the right-angle connecting rod is fixedly welded to the rear end surface of the first hydraulic cylinder, and the front end of the first hydraulic cylinder is provided with a hydraulic push rod. The front end of the hydraulic push rod is connected to the first telescopic rod. One end is slidably sleeved inside the hydraulic pusher, the other end of the first telescopic rod is fixedly installed on the right end face of the longitudinal conversion table, the lower end face of the longitudinal conversion table is fixedly connected to the second hydraulic cylinder, and the lower end of the second hydraulic cylinder A second telescopic rod is connected, and the lower end face of the second telescopic rod is fixed and welded on the upper end face of the clamping device.

Preferably, the guide side plate is installed at the front and rear ends of the right-angle connecting rod, and a through hole is provided in the middle of the left and right end faces of the guide side plate, a guide rod is installed inside the through hole, and one end of the guide rod penetrates through the through hole and extends to the outer side of the right end of the guide side plate, and the other end of the guide rod is fixed and welded on the right end face of the longitudinal conversion table.

Preferably, the lower end of the clamping device is provided with an inner cavity, the central position of the inner cavity is provided with a suction cup, the surrounding side walls of the clamping device are all provided with installation holes, and the front end of the installation hole is fixedly installed with a sleeve through the sealing end cover The inside of the sleeve is slidably installed with a connecting rod, the outer wall of the connecting rod is sleeved with a spring, the front end of the connecting rod is provided with a rubber gasket, and the upper end of the suction cup communicates with the inside of the second hydraulic cylinder through an internal pipeline. The compression lumen is connected.

Preferably, the front end surface of the connecting flange is provided with four threaded holes distributed in a circumferential array, and locking bolts are installed inside the threaded holes, and the upper end surface of the locking bolts is fixedly connected to the rotary table through nuts.

Compared with the prior art, the beneficial effect of the present utility model is: the utility model realizes the suction of the material by setting the suction cup, and at the same time, the spring and the sleeve connecting rod are arranged around the inner circumference of the clamping device, so as to realize the material to the connecting rod. The front-end rubber gasket is squeezed to compress the spring, so that the material is subjected to the dual action of air pressure suction and spring pressure during the clamping process; by setting the spring and the rubber gasket, the material has a buffering effect when it is impacted. At the same time, the material is protected from damage; by arranging the cooperation of two hydraulic cylinders and the driving motor, the movement of the clamping device in six directions is realized, so that the movement range of the clamping device is greatly increased; by setting the guide side plate and the guide rod With the cooperation, the stable and precise rotation of the longitudinal conversion table is realized; the convenient transportation of the whole device is realized by setting the wheel hub. Compared with the prior art, the utility model improves the clamping device, so that in the process of sorting the material, the clamping of the material is more reliable, the operation is safer, and the utility model has higher practical value.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

2 is a side view of a three-dimensional structure of the present utility model;

3 is a top view of the clamping device of the present invention.

In the picture: 1 base, 2 drive motor, 3 wheel hub, 4 support spindle, 5 connecting flange, 6 locking bolt, 7 rotary table, 8 guide side plate, 9 guide rod, 10 right angle connecting rod, 11 first hydraulic cylinder , 12 first telescopic rod, 13 longitudinal conversion table, 14 second hydraulic cylinder, 15 second telescopic rod, 16 clamping device, 17 sealing end cover, 18 sleeve, 19 spring, 20 rubber gasket, 21 suction cup.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Please refer to Figures 1-3, the utility model provides a technical solution:

A material sorting manipulator includes a base 1, a wheel hub 3 is installed on the four corner edges of the lower end face of the base 1, a drive motor 2 is fixedly installed on the lower end face of the inner cavity of the base 1, and a through hole is arranged at the center of the upper end face of the base 1. The motor spindle of the drive motor 2 passes through the through hole on the upper end surface of the base 1, and the upper end of the motor spindle is sleeved inside the support spindle 4, and the lower end surface of the support spindle 4 is fixedly installed on the upper end surface of the base 1 to support the spindle The upper end face of the 4 is provided with a connecting flange 5, and the front end face of the connecting flange 5 is provided with four threaded holes distributed in a circular array, and a locking bolt 6 is installed inside the threaded hole, and the upper end face of the locking bolt 6 passes through the nut. The rotary table 7 is fixedly connected, and the supporting spindle 4 is connected to the rotary table 7 through the connecting flange 5 .

A right-angle connecting rod 10 is fixedly connected to the center of the upper end face of the rotary table 7, and a guide side plate 8 is vertically installed at the front and rear edges of the upper end of the rotary table 7. The front end of the first hydraulic cylinder 11 is provided with a hydraulic push rod. The front end of the hydraulic push rod is connected to the first telescopic rod 12. One end of the first telescopic rod 12 is slidably sleeved inside the hydraulic push rod, and the other end of the first telescopic rod 12 is fixed. Installed on the right end face of the longitudinal conversion table 13, the lower end face of the longitudinal conversion table 13 is fixedly connected to the second hydraulic cylinder 14, the lower end of the second hydraulic cylinder 14 is connected to the second telescopic rod 15, and the lower end face of the second telescopic rod 15 is fixedly welded to the The upper end face of the clamping device 16 .

The guide side plate 8 is installed at the front and rear ends of the right-angle link 10, and a through hole is provided in the middle of the left and right end faces of the guide side plate 8. A guide rod 9 is installed inside the through hole, and one end of the guide rod 9 penetrates the through hole and extends. To the outer side of the right end of the guide side plate 8 , the other end of the guide rod 9 is fixedly welded to the right end surface of the longitudinal conversion table 13 .

The lower end of the clamping device 16 is provided with an inner cavity, the central position of the inner cavity is provided with a suction cup 21, and the surrounding side walls of the clamping device 16 are provided with installation holes, and the front end of the installation hole is fixedly installed with a sleeve through the sealing end cover 17. A connecting rod is slidably installed inside the cylinder 18 and the sleeve 18, the outer wall of the connecting rod is sleeved with a spring 19, the front end surface of the connecting rod is provided with a rubber gasket 20, and the upper end of the suction cup 21 communicates with the second hydraulic cylinder through an internal pipeline. The compression lumen inside 14 communicates.

Working principle: First, use the hub 3 on the lower end of the base 1 to move the entire device to a suitable position, and use the drive motor 2 to drive the rotary table 7 to rotate to adjust the plane position of the clamping device 16 .

The first telescopic rod 12 is pushed to an appropriate position by the hydraulic push rod at the front end of the first hydraulic cylinder 11 , so that the clamping device 16 can be transported to the top of the material and the horizontal position can be adjusted.

Use the longitudinal conversion table 13 to change the movement direction, and open the second hydraulic cylinder 14 at the same time, so that the second hydraulic cylinder 14 pushes the second telescopic rod 15 to move downward, and the clamping device 16 at the lower end is used to clamp the material.

During the clamping process, since the second hydraulic cylinder 14 is communicated with the suction cup 21, a negative pressure is generated in the hole at the lower end of the suction cup 21, and the material is adsorbed inside the clamping device 16. When the material enters the inner cavity of the clamping device 16 , the material compresses the sleeve 18 and the connecting rod inside the clamping device 16 at the same time. Due to the internal sealing of the sleeve 18, the connecting rod moves to generate a squeezing force. While compressing the spring 17, the spring 17 also compresses the material to achieve further fixation.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes and modifications can be made to these embodiments without departing from the principles and spirit of the present invention , alternatives and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. a kind of Material Sorting manipulator, including pedestal (1), it is characterised in that: the lower end surface quadrangle edge of the pedestal (1) It is mounted on wheel hub (3), the inner cavity lower end surface of pedestal (1) is fixedly installed with driving motor (2), and in the upper surface of pedestal (1) Through-hole is provided at the heart, the electric machine main shaft of the driving motor (2) passes through the through-hole of pedestal (1) upper surface, and the electric machine main shaft Upper end be socketed in that connection supports main shaft (4) is internal and connect with turntable (7), and the lower end surface of the supports main shaft (4) is fixed It is mounted on the upper surface of pedestal (1), the upper surface of supports main shaft (4) is provided with connecting flange (5), and supports main shaft (4) passes through Connecting flange (5) connects turntable (7), is fixedly connected with right angle connecting rod (10) at the upper surface center of the turntable (7), revolves Guiding side plate (8) is vertically installed at the upper surface front and rear edges of turntable (7), the front end of the right angle connecting rod (10) is fixedly welded The front end of the rear end face of first hydraulic cylinder (11), the first hydraulic cylinder (11) is provided with hydraulic push rod, before the hydraulic push rod End connection the first telescopic rod (12), one end of first telescopic rod (12) are slidably socketed flexible in the inside of hydraulic thrust, first The other end of bar (12) is fixedly mounted on the right side of longitudinal transfer table (13), and the lower end surface of the longitudinal direction transfer table (13) is fixed It connects second hydraulic cylinder (14), the lower end of the second hydraulic cylinder (14) connects the second telescopic rod (15), second telescopic rod (15) lower end surface is fixedly welded on the upper surface of clamping device (16).

2. a kind of Material Sorting manipulator according to claim 1, it is characterised in that: the guiding side plate (8) is mounted on The front and back end of right angle connecting rod (10), and the left and right end face middle position for being oriented to side plate (8) is provided with through-hole, installation inside the through-hole Have guide rod (9), one end of the guide rod (9) through the through-hole and extends on the outside of the right end of guiding side plate (8), guide rod (9) the other end is fixedly welded on the right side of longitudinal transfer table (13).

3. a kind of Material Sorting manipulator according to claim 1, it is characterised in that: the lower end of the clamping device (16) It is provided with inner cavity, which is provided with sucker (21), offers installation on the surrounding side wall of clamping device (16) The front end in hole, the mounting hole is fixedly installed with sleeve (18) by end cover (17), the internal slide peace of the sleeve (18) Equipped with connecting rod, the outer wall of the connecting rod is socketed with spring (19), and the front end face of the connecting rod is provided with rubber sheet gasket (20), the sucker (21) upper end is connected to by the internal pipeline compression inner cavity internal with second hydraulic cylinder (14).

4. a kind of Material Sorting manipulator according to claim 1, it is characterised in that: the front end of the connecting flange (5) Face is provided with four threaded holes of circumference array distribution, and the inside of the threaded hole is equipped with clamping screw (6), the clamping screw (6) upper surface is fixedly connected with turntable (7) by nut.