CN209793785U - Manipulator and rim loading and unloading device - Google Patents
Manipulator and rim loading and unloading device Download PDFInfo
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- CN209793785U CN209793785U CN201920259012.4U CN201920259012U CN209793785U CN 209793785 U CN209793785 U CN 209793785U CN 201920259012 U CN201920259012 U CN 201920259012U CN 209793785 U CN209793785 U CN 209793785U
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Abstract
The utility model provides a unloader on manipulator and rim relates to the material and transports technical field, the utility model provides a manipulator includes first drive arrangement, removes seat, second drive arrangement and is used for the centre gripping arm of centre gripping material, wherein: the first driving device is connected with the moving seat and is used for driving the moving seat to be close to or far away from the material; the second driving device is respectively connected with the moving seat and the clamping arm and is used for driving the clamping arm to rotate relative to the moving seat. The utility model provides a manipulator can effectual reduction workman's amount of labour, improves material machining efficiency, guarantees staff's personal safety.
Description
Technical Field
The utility model belongs to the technical field of the material transfer technique and specifically relates to a unloader on manipulator and rim.
background
the tubeless automobile rim can be through the welding technological process of scarfing cinder at the in-process of production, and the rim is serious through the welding back generates heat at this in-process, leans on the manual work to carry to next process scarfing cinder, then probably causes the scald, and the manual handling inefficiency.
Therefore, how to provide a manipulator with high transfer efficiency and a rim loading and unloading device is one of the technical problems to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a unloader on manipulator and rim can effectual reduction workman's amount of labour, improves material machining efficiency, guarantees staff's personal safety.
In order to achieve the above object, the utility model provides a following technical scheme:
In a first aspect, the present invention provides a manipulator, including first drive arrangement, removal seat, second drive arrangement and the centre gripping arm that is used for the centre gripping material, wherein:
The first driving device is connected with the moving seat and is used for driving the moving seat to be close to or far away from the material;
The second driving device is respectively connected with the moving seat and the clamping arm and is used for driving the clamping arm to rotate relative to the moving seat.
Furthermore, the first driving device comprises a mounting seat and a first driving mechanism connected with the mounting seat, a first guide rail is arranged on the mounting seat, and the first driving mechanism is used for driving the movable seat to slide along the first guide rail.
Further, the first driving mechanism comprises a first motor and a transmission assembly, and the transmission assembly is connected with the first motor and the movable base respectively.
Further, the transmission assembly comprises a lead screw and at least one nut in threaded connection with the lead screw, the lead screw is connected with a power output shaft of the first motor, and the nut is connected with the movable base.
Further, the second driving device comprises a second motor and a speed reducer, the speed reducer is respectively connected with the second motor and the clamping arm, and the speed reducer is used for driving the clamping arm to rotate relative to the moving seat.
Further, the clamping arm includes connecting arm, first jaw and second jaw, wherein:
the connecting arm is connected with the movable seat through a second driving device;
The first clamping jaw and the second clamping jaw are connected with the connecting arm, and the first clamping jaw and the second clamping jaw are matched to clamp materials.
Further, a third driving device is arranged between the first clamping jaw and the connecting arm and used for driving the first clamping jaw to be close to or far away from the second clamping jaw;
and a fourth driving device is arranged between the second clamping jaw and the connecting arm and is used for driving the second clamping jaw to be close to or far away from the first clamping jaw.
Furthermore, a second guide rail is arranged on the third driving device, and the first clamping jaw is connected with the second guide rail in a sliding manner;
and a third guide rail is arranged on the fourth driving device, and the second clamping jaw is connected with the third guide rail in a sliding manner.
Furthermore, the third driving device comprises a first cylinder body and a first push rod, the first cylinder body is connected with the connecting arm, one end of the first push rod is connected with the first cylinder body in a sliding mode, and the other end of the first push rod is connected with the first clamping jaw;
The fourth driving device comprises a second cylinder body and a second push rod, the second cylinder body is connected with the connecting arm, one end of the second push rod is connected with the second cylinder body in a sliding mode, and the other end of the second push rod is connected with the second clamping jaw.
The second aspect of the present invention provides a rim loading and unloading device, including any one of the manipulators in the first aspect.
The utility model provides a unloader on manipulator and rim can produce following beneficial effect:
When using above-mentioned manipulator, first drive arrangement drive removes the seat and is close to waiting to transport the material, and second drive arrangement drive centre gripping arm is clockwise or anticlockwise rotation for removing the seat afterwards for the tip of centre gripping arm can snatch the material, snatch the material back when the centre gripping arm, and second drive arrangement drive centre gripping arm antiport, meanwhile, first drive arrangement drive removes the seat and is close to the station of unloading, and the centre gripping arm releases the material, realizes the transportation of material.
Compared with the prior art, the utility model discloses the manipulator that the first aspect provided can realize the transportation of material, especially overweight or material temperature is higher when the material, and during inconvenient workman's transport, can effectual reduction workman's amount of labour, improve material machining efficiency, guarantee staff's personal safety.
Compared with the prior art, the utility model discloses the unloader on rim that the second aspect provided can go up the unloading fast to the rim, need not rely on artifical transport, effectively avoids causing personnel to scald, improves rim production efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a front view of a robot provided in an embodiment of the present invention;
Fig. 2 is a top view of a robot provided in an embodiment of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
Fig. 4 is an internal structural view of a third driving device according to an embodiment of the present invention.
icon: 1-a first drive; 11-a mounting seat; 111-a first guide rail; 12-a first drive mechanism; 121-a first motor; 122-a transmission assembly; 1221-lead screw; 1222-a nut; 2-a movable seat; 3-a second drive; 31-a second motor; 32-a reducer; 4-a clamping arm; 41-a linker arm; 42-a first jaw; 43-a second jaw; 5-a third drive device; 6-fourth drive means.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
the following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
Fig. 1 is a front view of a robot provided in an embodiment of the present invention; fig. 2 is a top view of a robot provided in an embodiment of the present invention; FIG. 3 is a cross-sectional view A-A of FIG. 2; fig. 4 is an internal structural view of a third driving device according to an embodiment of the present invention.
The object of the present embodiment is to provide a manipulator, as shown in fig. 1 to 3, comprising a first driving device 1, a moving seat 2, a second driving device 3 and a clamping arm 4 for clamping a material, wherein:
the first driving device 1 is connected with the moving seat 2, and the first driving device 1 is used for driving the moving seat 2 to be close to or far away from the material;
the second driving device 3 is respectively connected with the movable base 2 and the clamping arm 4, and the second driving device 3 is used for driving the clamping arm 4 to rotate relative to the movable base 2.
when using above-mentioned manipulator, first drive arrangement drive removes the seat and is close to waiting to transport the material, and second drive arrangement drive centre gripping arm is clockwise or anticlockwise rotation for removing the seat afterwards for the tip of centre gripping arm can snatch the material, snatch the material back when the centre gripping arm, and second drive arrangement drive centre gripping arm antiport, meanwhile, first drive arrangement drive removes the seat and is close to the station of unloading, and the centre gripping arm releases the material, realizes the transportation of material.
Compared with the prior art, the utility model discloses the manipulator that the embodiment of the first aspect provided can realize the transportation of material, especially overweight or material temperature is higher when the material, and during inconvenient workman's transport, can effectual reduction workman's amount of labour, improve material machining efficiency, guarantee staff's personal safety.
It should be noted that the first driving device 1 may be any structure capable of driving the movable base 2 to move closer to or away from the material, such as a hydraulic cylinder, a pneumatic cylinder, a linear motor, and the first driving device 1 may also be a combination of a motor and a transmission mechanism, which converts the rotary motion into the linear motion. In summary, the specific structure of the first driving device 1 can be various, and is not listed here.
in at least one embodiment, as shown in fig. 3, in order to make the movable base 2 more stably approach or move away from the material, the first driving device 1 includes a mounting base 11 and a first driving mechanism 12 connected to the mounting base 11, a first rail 111 is disposed on the mounting base 11, the movable base 2 is slidably connected to the first rail 111, and the first driving mechanism 12 is configured to drive the movable base 2 to slide along the first rail 111.
when the material removing device is used, the mounting base 11 can be fixed on an external object, the first driving mechanism 12 drives the moving base 2 to slide forward along the first guide rail 111 to be close to a material, and drives the moving base 2 to slide backward along the first guide rail 111 to be away from the material, and in the process, the first guide rail 111 has a certain guiding effect, so that the moving base 2 can be guaranteed to stably move relative to the mounting base 11.
specifically, as shown in fig. 1 to 3, the first driving mechanism 12 includes a first motor 121 and a transmission assembly 122, and the transmission assembly 122 is connected to the first motor 121 and the movable base 2, respectively. The transmission assembly 122 can convert the rotation motion of the first motor 121 into a linear motion, so as to drive the movable base 2 to move along the first guide rail 111.
As shown in fig. 1 and 3, in order to simplify the structure of the transmission assembly 122, the transmission assembly 122 may include a lead screw 1221 and at least one nut 1222 threadedly coupled to the lead screw 1221, wherein the lead screw 1221 is coupled to the power output shaft of the first motor 121, and the nut 1222 is coupled to the movable base 2.
when the power output shaft of the first motor 121 rotates forwards, the screw 1221 rotates forwards, and since the nut 1222 is in threaded connection with the screw 1221, and the nut 1222 is connected with the moving seat 2, the nut 1222 rotates forwards relative to the screw 1221, so as to drive the moving seat 2 to approach to the material along the first guide rail 111; when the power output shaft of first motor 121 reverses in the same way, lead screw 1221 reverses thereupon, because nut 1222 and lead screw 1221 threaded connection, and nut 1222 is connected with removal seat 2, and nut 1222 reverses for lead screw 1221 to the material is kept away from along first guide rail 111 to the drive of removal seat 2.
It should be noted that the second driving device 3 may be a rotating motor, or may be a combination of a linear motion device such as a hydraulic cylinder or a pneumatic cylinder and a transmission mechanism, and converts the linear motion into a rotational motion. In summary, the specific structure of the second driving device 3 can be various, and is not listed here.
Specifically, as shown in fig. 1, the second driving device 3 includes a second motor 31 and a speed reducer 32, the speed reducer 32 is respectively connected to the second motor 31 and the clamping arm 4, and the speed reducer 32 is used for driving the clamping arm 4 to rotate relative to the movable base 2.
The speed reducer 32 is connected to a power output shaft of the second motor 31, and the output rotation speed of the second motor 31 is reduced by the speed reducer 32 and then transmitted to the clamp arm 4. Thereby bringing the gripping arm 4 into rotation with respect to the mobile seat 2.
In at least one embodiment, the plane of rotation of the gripping arm 4 is perpendicular to the direction of movement of the mobile seat 2, i.e. the axis of rotation of the gripping arm 4 is parallel to the direction of movement of the mobile seat 2, so that a rotation along a direction perpendicular to the direction of movement of the mobile seat 2, with a constant length of the gripping arm 4, allows a greater area to be swept.
In some embodiments, as shown in fig. 1, in order to make the area swept by the above-mentioned gripping arm 4 when it rotates larger, the gripping arm 4 comprises a connecting arm 41, a first jaw 42 and a second jaw 43, wherein: the connecting arm 41 is connected with the movable base 2 through the second driving device 3; the first clamping jaw 42 and the second clamping jaw 43 are connected with the connecting arm 41, and the first clamping jaw 42 and the second clamping jaw 43 are matched to clamp materials.
Specifically, the connecting arm 41 is perpendicular to the moving direction of the moving base 2, and one end of the connecting arm 41 is connected to the second driving device 3 and the other end is connected to the first clamping jaw 42 and the second clamping jaw 43. When the second driving device 3 includes the second motor 31 and the decelerator 32, the end of the power output shaft of the decelerator 32 is provided with a connecting seat, and the connecting arm 41 is connected with the power output shaft of the decelerator 32 through the connecting seat.
Wherein, the connecting seat can be detachably connected with the connecting arm 41, and the position of the connecting arm 41 relative to the connecting seat is adjustable. Specifically, the connecting base may be provided with a locking bolt, and when the locking bolt is loosened, the position of the adjustable connecting arm 41 relative to the connecting base; when the locking bolt is tightened, it locks the position of the connecting arm 41 relative to the connecting socket. Taking fig. 1 as an example for specific description, when it is required to shorten the area swept by the connecting arm 41 during rotation, the connecting arm 41 can be moved downwards to reduce the rotation radius of the first clamping jaw 42 and the second clamping jaw 43; when it is desired to enlarge the area swept by the rotation of the connecting arm 41, the connecting arm 41 can be moved upward to increase the radius of rotation of the first jaw 42 and the second jaw 43.
in some embodiments, as shown in fig. 3, a third driving device 5 is provided between the first clamping jaw 42 and the connecting arm 41, and the third driving device 5 is used for driving the first clamping jaw 42 to approach or move away from the second clamping jaw 43; a fourth driving device 6 is arranged between the second clamping jaw 43 and the connecting arm 41, and the fourth driving device 6 is used for driving the second clamping jaw 43 to approach or move away from the first clamping jaw 42.
When the material needs to be clamped, the third driving device 5 drives the first clamping jaw 42 to be close to the second clamping jaw 43, and the fourth driving device 6 drives the second clamping jaw 43 to be close to the first clamping jaw 42; when it is not required to clamp the material, the third drive means 5 drives the first jaw 42 away from the second jaw 43 and the fourth drive means 6 drives the second jaw 43 away from the first jaw 42 to release the material.
In some embodiments, in order to enable the first clamping jaw 42 and the second clamping jaw 43 to move relatively stably relative to the connecting arm 41, the third driving device 5 is provided with a second guide rail, and the first clamping jaw 42 is slidably connected with the second guide rail; and a third guide rail is arranged on the fourth driving device 6, and the second clamping jaw 43 is connected with the third guide rail in a sliding manner.
When the third driving device 5 drives the first clamping jaw 42 to approach or depart from the second clamping jaw 43, the first clamping jaw 42 can slide along the second guide rail, and the second guide rail plays a certain guiding role, so that the movement process of the first clamping jaw 42 is more stable. The third guide rail is arranged to make the movement process of the second clamping jaw 43 more stable.
As shown in fig. 3, the first jaw 42 and the second jaw 43 have an L-shaped cross section.
It should be noted that, all the structures capable of driving the first clamping jaw 42 to approach or depart from the second clamping jaw 43 may be the third driving device 5 mentioned in the above embodiments, for example: the third driving means 5 may be a hydraulic cylinder, a pneumatic cylinder or a linear motor.
In some embodiments, as shown in fig. 3 and 4, the third driving device 5 comprises a first cylinder and a first push rod, the first cylinder is connected with the connecting arm 41, one end of the first push rod is connected with the first cylinder in a sliding way, and the other end of the first push rod is connected with the first clamping jaw 42; the fourth driving device 6 comprises a second cylinder and a second push rod, the second cylinder is connected with the connecting arm 41, one end of the second push rod is connected with the second cylinder in a sliding manner, and the other end of the second push rod is connected with the second clamping jaw 43.
Specifically, when the third driving device 5 is provided with a second guide rail and the fourth driving device 6 is provided with a third guide rail, the second guide rail is disposed outside the first cylinder, and the third guide rail is disposed outside the second guide rail.
in at least one embodiment, as shown in fig. 4, in order to avoid the problem that the material may fall off due to unstable clamping caused by unstable oil pressure, the third driving device 5 and the fourth driving device 6 are both single-acting cylinders, that is, a disc spring is arranged in the first cylinder body, when hydraulic oil is introduced, the hydraulic oil pushes the first push rod to move outwards, so that the first clamping jaw 42 is far away from the second clamping jaw 43, and the distance between the first clamping jaw 42 and the second clamping jaw 43 is enlarged; when hydraulic oil is not introduced, the first push rod retracts under the action of the disc spring, so that the first clamping jaw 42 is close to the second clamping jaw 43, the distance between the first clamping jaw 42 and the second clamping jaw 43 is shortened, and materials can be clamped at the moment.
The utility model discloses the embodiment of the second aspect provides a unloader on rim, the utility model discloses the unloader on rim that the embodiment of the second aspect provided includes above-mentioned manipulator.
The utility model discloses the unloader has on the rim that the embodiment of the second aspect provided the utility model provides a manipulator can go up unloading to the rim fast, need not rely on artifical transport, effectively avoids causing personnel to scald, improves rim production efficiency.
finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A manipulator, characterized by, includes first drive arrangement (1), removes seat (2), second drive arrangement (3) and is used for centre gripping arm (4) of centre gripping material, wherein:
The first driving device (1) is connected with the moving seat (2), and the first driving device (1) is used for driving the moving seat (2) to approach or depart from the material;
the second driving device (3) is respectively connected with the moving seat (2) and the clamping arm (4), and the second driving device (3) is used for driving the clamping arm (4) to rotate relative to the moving seat (2).
2. The manipulator according to claim 1, wherein the first driving device (1) comprises a mounting base (11) and a first driving mechanism (12) connected to the mounting base (11), a first guide rail (111) is provided on the mounting base (11), and the first driving mechanism (12) is used for driving the movable base (2) to slide along the first guide rail (111).
3. The manipulator according to claim 2, characterized in that said first drive mechanism (12) comprises a first motor (121) and a transmission assembly (122), said transmission assembly (122) being connected to said first motor (121) and to said mobile seat (2), respectively.
4. the manipulator according to claim 3, characterized in that the transmission assembly (122) comprises a lead screw (1221) and at least one nut (1222) in threaded connection with the lead screw (1221), the lead screw (1221) being connected to a power output shaft of the first motor (121), the nut (1222) being connected to the mobile seat (2).
5. The manipulator according to claim 1, characterized in that the second drive means (3) comprise a second motor (31) and a reducer (32), the reducer (32) being connected to the second motor (31) and the gripping arm (4), respectively, the reducer (32) being adapted to rotate the gripping arm (4) with respect to the mobile seat (2).
6. The manipulator according to claim 1, characterized in that the gripping arm (4) comprises a connecting arm (41), a first jaw (42) and a second jaw (43), wherein:
The connecting arm (41) is connected with the movable seat (2) through a second driving device (3);
The first clamping jaw (42) and the second clamping jaw (43) are connected with the connecting arm (41), and the first clamping jaw (42) and the second clamping jaw (43) are matched to clamp materials.
7. A manipulator according to claim 6, characterized in that a third driving device (5) is provided between the first jaw (42) and the connecting arm (41), the third driving device (5) being adapted to drive the first jaw (42) towards or away from the second jaw (43);
A fourth driving device (6) is arranged between the second clamping jaw (43) and the connecting arm (41), and the fourth driving device (6) is used for driving the second clamping jaw (43) to be close to or far away from the first clamping jaw (42).
8. The manipulator according to claim 7, characterized in that a second guide rail is provided on the third driving device (5), and the first clamping jaw (42) is connected with the second guide rail in a sliding manner;
And a third guide rail is arranged on the fourth driving device (6), and the second clamping jaw (43) is in sliding connection with the third guide rail.
9. The manipulator according to claim 7, characterized in that the third driving means (5) comprise a first cylinder connected to the connecting arm (41) and a first push rod connected at one end to the first cylinder in a sliding manner and at the other end to the first jaw (42);
Fourth drive arrangement (6) include second cylinder body and second push rod, the second cylinder body with linking arm (41) are connected, the one end of second push rod with second cylinder body sliding connection, the other end with second clamping jaw (43) are connected.
10. A rim loading and unloading device, characterized by comprising a manipulator according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920259012.4U CN209793785U (en) | 2019-02-28 | 2019-02-28 | Manipulator and rim loading and unloading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920259012.4U CN209793785U (en) | 2019-02-28 | 2019-02-28 | Manipulator and rim loading and unloading device |
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| Publication Number | Publication Date |
|---|---|
| CN209793785U true CN209793785U (en) | 2019-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920259012.4U Active CN209793785U (en) | 2019-02-28 | 2019-02-28 | Manipulator and rim loading and unloading device |
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| CN (1) | CN209793785U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746937A (en) * | 2019-02-28 | 2019-05-14 | 山东小鸭精工机械有限公司 | Manipulator and wheel rim handling equipment |
-
2019
- 2019-02-28 CN CN201920259012.4U patent/CN209793785U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746937A (en) * | 2019-02-28 | 2019-05-14 | 山东小鸭精工机械有限公司 | Manipulator and wheel rim handling equipment |
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