CN209850914U - Parallel manipulator and material handling system - Google Patents

Abstract

The utility model discloses a run-in manipulator, the on-line screen storage device comprises a base, fixed welding has the bracing piece on the upper surface of base, the top fixed mounting of bracing piece has the bearing frame, the interference is connected with the pivot in the bearing frame, the right-hand member interference of pivot is connected with the lantern ring, the symmetric welding has two connecting blocks on the lantern ring, L type mounting panel has been linked firmly on the bracing piece, fixed mounting has two articulated seats on the L type mounting panel, three-phase asynchronous machine's output shaft runs through square frame's right side board, and be connected through shaft coupling and lead screw transmission, fixed mounting has the slide bar between square frame's the left and right sides inboard surface, threaded connection has two sliders on the lead screw. The utility model also provides a materials handling system, including foretell parallel manipulator. The manipulator has a good angle adjusting function, and can be provided with different clamps; this material handling system has improved handling efficiency.

Description

Parallel manipulator and material handling system

Technical Field

The utility model relates to a material handling technical field specifically is a parallel manipulator and material handling system.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The parallel manipulators for the existing material handling system only have the up-and-down handling function, and can only be provided with fixed clamps, so that the requirements of the modern material handling system can not be well met.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a parallel manipulator and a material handling system, wherein the manipulator has good angle adjusting function and can be provided with different clamps; the material handling system improves handling efficiency to solve the problems set forth in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: a parallel manipulator comprises a base, wherein a support rod is fixedly welded on the upper surface of the base, a bearing seat is fixedly installed at the top end of the support rod, a rotating shaft is connected in the bearing seat in an interference manner, a lantern ring is connected at the right end of the rotating shaft in an interference manner, two connecting blocks are symmetrically welded on the lantern ring, an L-shaped mounting plate is fixedly connected onto the support rod, two hinge seats are fixedly installed on the L-shaped mounting plate, first electric cylinders are hinged onto the two hinge seats, and the output ends of the two first electric cylinders are respectively and fixedly installed on the two connecting blocks;

fixed mounting has square frame in the pivot, fixed mounting has three-phase asynchronous machine on square frame's the right side board surface, rotate through the bearing between the inboard surface of the left and right sides of square frame and install the lead screw, three-phase asynchronous machine's output shaft runs through square frame's right side board, and through the shaft coupling with the screw drive is connected, fixed mounting has the slide bar between the inboard surface of the left and right sides of square frame, threaded connection has two sliders on the lead screw, two the other end of slider all with slide bar sliding connection, the middle part fixed mounting of slider has the second electric jar, fixed mounting has the mounting panel on the output of second electric jar.

Preferably, limiting plates are fixedly welded on the left side and the right side of the sliding rod, and travel switches are fixedly mounted on the limiting plates.

Preferably, a control switch is fixedly mounted on the supporting rod and is electrically connected with the first electric cylinder, the three-phase asynchronous motor and the second electric cylinder through wires.

Preferably, the first electric cylinder and the second electric cylinder are both servo electric cylinders.

Preferably, a rubber pad is fixedly bonded on the lower surface of the base, and a plurality of positioning holes are formed in the right sides of the base and the rubber pad.

Preferably, a plurality of reinforcing ribs are fixedly welded between the base and the supporting rod.

The utility model also provides a materials handling system, including foretell parallel manipulator.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the connecting block and the lantern ring are driven to rotate by the two first electric cylinders hinged on the hinge seat, so that the rotating shaft rotates to change the angle of the manipulator, and the manipulator has a good angle adjusting function;

2. the lead screw is driven to rotate by the three-phase asynchronous motor, so that the two sliding blocks are driven to move oppositely or oppositely, the distance between the two second electric cylinders is changed, and different clamps can be arranged on the two mounting plates;

3. the material handling system with the manipulator can be used for installing different fixtures, adjusts the angle of the handled materials, and improves the handling efficiency.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic top view of the present invention;

fig. 3 is a schematic diagram of the positive and negative rotation control principle of the three-phase asynchronous motor of the present invention.

In the figure: 1. a base; 2. a support bar; 3. a bearing seat; 4. a rotating shaft; 5. a collar; 6. connecting blocks; 7. an L-shaped mounting plate; 8. a hinged seat; 9. a first electric cylinder; 10. a square frame; 11. a three-phase asynchronous motor; 12. a screw rod; 13. a slide bar; 14. a slider; 15. a second electric cylinder; 16. mounting a plate; 17. a limiting plate; 18. a travel switch; 19. a control switch; 20. a rubber pad; 21. positioning holes; 22. and (4) reinforcing ribs.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a run-in manipulator, the on-line screen storage device comprises a base 1, fixed welding has bracing piece 2 on base 1's the upper surface, the top fixed mounting of bracing piece 2 has bearing frame 3, interference connection has pivot 4 in the bearing frame 3, the right-hand member interference of pivot 4 is connected with lantern ring 5, symmetrical welding has two connecting blocks 6 on the lantern ring 5, L type mounting panel 7 has been linked firmly on bracing piece 2, fixed mounting has two articulated seats 8 on the L type mounting panel 7, it has first electric jar 9 all to articulate on two articulated seats 8, the output of two first electric jars 9 is fixed mounting respectively on two connecting blocks 6, it drives connecting block 6 and lantern ring 5 rotation to articulate through two first electric jars 9 on articulated seat 8, and then make pivot 4 rotate, in order to change the angle of this manipulator, can make this manipulator possess good angle modulation function.

A square frame 10 is fixedly arranged on the rotating shaft 4, a three-phase asynchronous motor 11 is fixedly arranged on the outer surface of a right side plate of the square frame 10, a screw rod 12 is rotatably arranged between the inner surfaces of a left side plate and a right side plate of the square frame 10 through a bearing, an output shaft of the three-phase asynchronous motor 11 penetrates through the right side plate of the square frame 10 and is in transmission connection with the screw rod 12 through a coupler, a slide rod 13 is fixedly arranged between the inner surfaces of the left side plate and the right side plate of the square frame 10, two slide blocks 14 are in threaded connection with the screw rod 12, the threaded connection directions of the two slide blocks 14 and the screw rod 12 are opposite, so that the two slide blocks 14 move oppositely or oppositely, the other ends of the two slide blocks 14 are in sliding connection with the slide rod 13, a second electric cylinder 15 is fixedly arranged in the middle of the slide block, and then the two sliding blocks 14 are driven to move towards each other or move oppositely, and the distance between the two second electric cylinders 15 is changed, so that the two mounting plates 16 can be provided with different clamps.

During the forward starting process of the three-phase asynchronous motor 11, a starting button SB2 is pressed, a coil of a contactor KM1 is electrified, an auxiliary normally open contact of KM1 connected with SB2 in parallel is closed to ensure that the coil KMl is continuously electrified, a main contact of KM1 connected in series in a loop of the three-phase asynchronous motor 11 is continuously closed, and the three-phase asynchronous motor 11 continuously runs in the forward direction. When the three-phase asynchronous motor 11 stops, a stop button SB1 is pressed, the coil of the contactor KMl is powered off, the auxiliary contact of the KM1 which is connected with the coil SB2 in parallel is disconnected so as to ensure that the coil KMl loses power continuously, the main contact of the KMl which is connected in series in the loop of the three-phase asynchronous motor 11 is disconnected continuously, the stator power supply of the three-phase asynchronous motor 11 is cut off, and the three-phase asynchronous motor 11 stops rotating. During the reverse starting process of the three-phase asynchronous motor 11, a starting button SB3 is pressed, a coil of a contactor KM2 is electrified, an auxiliary normally open contact of KM2 connected with SB3 in parallel is closed, so that the coil of KM2 is continuously electrified, a main contact of KM2 connected in series in a loop of the three-phase asynchronous motor 11 is continuously closed, and the three-phase asynchronous motor 11 continuously runs in the reverse direction.

Specifically, limiting plates 17 are fixedly welded on the left side and the right side of the sliding rod 13, and travel switches 18 are fixedly mounted on the limiting plates 17. The travel switch 18 is electrically connected with the three-phase asynchronous motor 11, and through the arrangement of the travel switch 18 on the limit plate 17, the three-phase asynchronous motor 11 can be powered off when the sliding block 14 is in contact with the travel switch 18, so that the position of the sliding block 14 can be limited, and the sliding block 14 is prevented from colliding.

Specifically, a control switch 19 is fixedly mounted on the support rod 2, and the control switch 19 is electrically connected with the first electric cylinder 9, the three-phase asynchronous motor 11 and the second electric cylinder 15 through wires. The first electric cylinder 9, the three-phase asynchronous motor 11 and the second electric cylinder 15 can be conveniently controlled by the control switch 19.

Specifically, the first electric cylinder 9 and the second electric cylinder 15 both adopt servo electric cylinders. The first electric cylinder 9 and the second electric cylinder 15 are conveniently controlled, and the control precision is high.

Specifically, a rubber pad 20 is fixedly bonded to the lower surface of the base 1, and a plurality of positioning holes 21 are formed in the right sides of the base 1 and the rubber pad 20. The rubber pad 20 can increase the friction force with the installation surface, and the positioning hole 21 is convenient for positioning the manipulator.

Specifically, a plurality of reinforcing ribs 22 are fixedly welded between the base 1 and the support rod 2. The connection strength of the base 1 and the support bar 2 can be enhanced.

The utility model also provides a materials handling system, including foretell parallel manipulator.

The working principle is as follows: the two first electric cylinders 9 hinged on the hinge base 8 drive the connecting block 6 and the lantern ring 5 to rotate, so that the rotating shaft 4 rotates to change the angle of the manipulator, the manipulator has a good angle adjusting function, the three-phase asynchronous motor 11 drives the screw rod 12 to rotate, the two sliding blocks 14 are driven to move oppositely or oppositely, the distance between the two second electric cylinders 15 is changed, and different clamps can be installed on the two installation plates 16; the material handling system with the manipulator can be used for installing different fixtures, adjusts the angle of the handled materials, and improves the handling efficiency.

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

Claims (7)

1. The utility model provides a parallel manipulator, includes base (1), its characterized in that: the support device comprises a base (1), wherein a support rod (2) is fixedly welded on the upper surface of the base (1), a bearing seat (3) is fixedly installed at the top end of the support rod (2), a rotating shaft (4) is connected in the bearing seat (3) in an interference manner, a lantern ring (5) is connected at the right end of the rotating shaft (4) in an interference manner, two connecting blocks (6) are symmetrically welded on the lantern ring (5), an L-shaped mounting plate (7) is fixedly connected onto the support rod (2), two hinging seats (8) are fixedly installed on the L-shaped mounting plate (7), first electric cylinders (9) are hinged onto the two hinging seats (8), and the output ends of the two first electric cylinders (9) are respectively and fixedly installed on the two connecting blocks (;

a square frame (10) is fixedly arranged on the rotating shaft (4), a three-phase asynchronous motor (11) is fixedly arranged on the outer surface of the right side plate of the square frame (10), a screw rod (12) is rotatably arranged between the inner surfaces of the left side plate and the right side plate of the square frame (10) through a bearing, the output shaft of the three-phase asynchronous motor (11) penetrates through the right side plate of the square frame (10), and is in transmission connection with the screw rod (12) through a coupler, a slide rod (13) is fixedly arranged between the inner surfaces of the left side plate and the right side plate of the square frame (10), the screw rod (12) is connected with two sliding blocks (14) in a threaded manner, the other ends of the two sliding blocks (14) are both connected with the sliding rod (13) in a sliding manner, the middle part fixed mounting of slider (14) has second electric jar (15), fixed mounting has mounting panel (16) on the output of second electric jar (15).

2. A parallel robot according to claim 1, wherein: limiting plates (17) are fixedly welded on the left side and the right side of the sliding rod (13), and travel switches (18) are fixedly mounted on the limiting plates (17).

3. A parallel robot according to claim 1, wherein: the support rod (2) is fixedly provided with a control switch (19), and the control switch (19) is respectively electrically connected with the first electric cylinder (9), the three-phase asynchronous motor (11) and the second electric cylinder (15) through leads.

4. A parallel robot according to claim 1, wherein: the first electric cylinder (9) and the second electric cylinder (15) both adopt servo electric cylinders.

5. The parallel robot of claim 1, wherein: the lower surface of the base (1) is fixedly bonded with a rubber pad (20), and a plurality of positioning holes (21) are formed in the right sides of the base (1) and the rubber pad (20).

6. A parallel robot according to claim 1, wherein: a plurality of reinforcing ribs (22) are fixedly welded between the base (1) and the supporting rod (2).

7. A materials handling system comprising a parallel robot according to any of claims 1-6.