CN209868630U

CN209868630U - Multi-arm manipulator

Info

Publication number: CN209868630U
Application number: CN201920471881.3U
Authority: CN
Inventors: 乔亮; 姚哲
Original assignee: Dongguan Meisaite Automation Equipment Co Ltd
Current assignee: Dongguan Meisaite Automation Equipment Co Ltd
Priority date: 2019-04-09
Filing date: 2019-04-09
Publication date: 2019-12-31
Anticipated expiration: 2029-04-09

Abstract

The utility model discloses a multi-arm manipulator, including base, first hydraulic stem, second hydraulic stem and third hydraulic stem, first hydraulic stem is installed to the upper end of base, and the output outside fixedly connected with second hydraulic stem of first hydraulic stem, the outside fixedly connected with supporting shoe of second hydraulic stem, and the upper end internally mounted of supporting shoe has the third hydraulic stem, the connecting block is installed to the inside lower extreme of supporting shoe, and the connecting block is connected with the third hydraulic stem, the lower extreme fixedly connected with stopper of third hydraulic stem, the clamp splice is installed to the lower extreme of connecting block, and the internal surface of clamp splice has seted up first spout. This multi-arm manipulator, clamp splice are when carrying out the centre gripping to article, and 2 groups movable block of its lower extreme will carry out fixed work to article in step, abundant improvement the centre gripping efficiency of this manipulator, and multiunit supporting shoe, the effectual effect of carrying out multi-arm synchronous work on the assembly line that has realized.

Description

Multi-arm manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a multi-arm manipulator.

Background

With the continuous development of science and technology, various factories are gradually applied to manipulators, which can simulate certain motion functions of human hands and arms to grab and carry objects or operate automatic operation devices of tools according to fixed procedures, but the existing manipulators have certain defects, such as:

1. the existing manipulator is mostly single-arm when in use, and if multi-step operation is needed during working on a production line, the existing manipulator does not have the effect of multi-arm synchronous working, and further has certain use defects;

2. the existing manipulator is not firm enough when clamping an object, and the existing manipulator has the disadvantages of complicated structure, high cost and troublesome operation for a user.

Aiming at the problems, innovative design is urgently needed on the basis of the original mechanical arm structure.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi-arm manipulator to the manipulator that proposes in solving above-mentioned background does not possess multi-arm synchronous working's effect, and is firm inadequately when carrying out the centre gripping to the article, and the big multi-structure of current manipulator is more complicated, and the cost is expensive, leads to the more troublesome problem of user when the operation.

In order to achieve the above object, the utility model provides a following technical scheme: a multi-arm manipulator comprises a base, a first hydraulic rod, a second hydraulic rod and a third hydraulic rod, wherein the first hydraulic rod is installed at the upper end of the base, the second hydraulic rod is fixedly connected to the outer side of the output end of the first hydraulic rod, a supporting block is fixedly connected to the outer side of the second hydraulic rod, the third hydraulic rod is installed inside the upper end of the supporting block, a connecting block is installed at the lower end inside the supporting block and connected with the third hydraulic rod, a limiting block is fixedly connected to the lower end of the third hydraulic rod, a clamping block is installed at the lower end of the connecting block, a first sliding groove is formed in the inner surface of the clamping block and connected with the limiting block, a pull rope is installed outside the clamping block, a second sliding groove is formed in the lower end of the clamping block, a movable block is installed inside the second sliding groove, and a transmission gear is installed inside the lower end of, and the outside of drive gear is connected with the stay cord, drive gear's internally mounted has torsion spring, and torsion spring is connected with the clamp splice, the inside lower extreme fixedly connected with reset spring of clamp splice, and reset spring is connected with the outside of movable block.

Preferably, the number of the third hydraulic rods is 2 about the center point of the first hydraulic rod, and the output end of the third hydraulic rod is connected with the connecting block in a nested manner.

Preferably, the limiting block and the clamping block form a slidable structure through the first sliding groove, and the limiting block and the third hydraulic rod are of an integrated structure.

Preferably, the number of the clamping blocks is 2, the clamping blocks are symmetrically arranged about the central point of the connecting block, the clamping blocks are rotatably connected with the connecting block, and the inner surfaces of the clamping blocks are of concave-convex structures.

Preferably, the movable block is of an L-shaped structure, the movable block and the lower end of the clamping block form an elastic structure through a return spring, and the movable block and the clamping block form a slidable structure through a second sliding groove.

Preferably, the transmission gear is meshed with the movable block, and the transmission gear and the inside of the clamping block form an elastic structure through a torsion spring.

Compared with the prior art, the beneficial effects of the utility model are that: according to the multi-arm manipulator, when the clamping blocks clamp articles, 2 groups of movable blocks at the lower end of the clamping blocks can synchronously fix the articles, so that the clamping efficiency of the manipulator is fully improved, and the multi-arm synchronous operation effect on a production line is effectively realized through a plurality of groups of supporting blocks;

1. the movable blocks connected with the clamping blocks are arranged, and when the 2 groups of clamping blocks are opened and closed along with the pushing of the third hydraulic rod, the 2 groups of movable blocks at the lower ends of the clamping blocks can be folded and opened along with the third hydraulic rod, so that the clamping blocks are matched to clamp materials, the clamping limit stability of the device is fully improved, and the phenomenon that articles fall off easily is avoided;

2. the multi-arm synchronous multi-arm manipulator is provided with the multiple groups of supporting blocks, the effect of multi-arm synchronous work on the assembly line is effectively achieved, the whole manipulator is simple in structural design and easy to replace, the use is reliable, the failure rate is low, and the device is simpler and more convenient to maintain.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic cross-sectional view of the connecting block of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2 according to the present invention;

fig. 4 is a schematic view of the top view structure of the present invention.

In the figure: 1. a base; 2. a first hydraulic lever; 3. a second hydraulic rod; 4. a support block; 5. a third hydraulic lever; 6. connecting blocks; 7. a limiting block; 8. a clamping block; 9. a first chute; 10. pulling a rope; 11. a second chute; 12. a movable block; 13. a transmission gear; 14. a torsion spring; 15. a return spring.

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. 1-4, the present invention provides a technical solution: a multi-arm manipulator comprises a base 1, a first hydraulic rod 2, a second hydraulic rod 3, a supporting block 4, a third hydraulic rod 5, a connecting block 6, a limiting block 7, a clamping block 8, a first chute 9, a pull rope 10, a second chute 11, a movable block 12, a transmission gear 13, a torsion spring 14 and a return spring 15, wherein the first hydraulic rod 2 is arranged at the upper end of the base 1, and the outer side of the output end of the first hydraulic rod 2 is fixedly connected with a second hydraulic rod 3, the outer side of the second hydraulic rod 3 is fixedly connected with a supporting block 4, and the inside of the upper end of the supporting block 4 is provided with a third hydraulic rod 5, 2 third hydraulic rods 5 are symmetrically arranged about the central point of the first hydraulic rod 2, the output end of the third hydraulic rod 5 is connected with the connecting block 6 in a nested manner, so that the third hydraulic rod 5 can be adjusted in position along the inside of the connecting block 6, and the position of a lower end limiting block 7 of the third hydraulic rod is controlled;

the lower end of the interior of the supporting block 4 is provided with a connecting block 6, the connecting block 6 is connected with a third hydraulic rod 5, the lower end of the third hydraulic rod 5 is fixedly connected with a limiting block 7, the lower end of the connecting block 6 is provided with a clamping block 8, the inner surface of the clamping block 8 is provided with a first sliding groove 9, the first sliding groove 9 is connected with the limiting block 7, the limiting block 7 and the clamping block 8 form a slidable structure through the first sliding groove 9, the limiting block 7 and the third hydraulic rod 5 are of an integrated structure, and when the third hydraulic rod 5 drives the limiting block 7 to move in position, the angle of 2 groups of clamping blocks 8 can be adjusted and changed through the first sliding groove 9;

the outer side of each clamping block 8 is provided with a pull rope 10, the clamping blocks 8 are symmetrically provided with 2 about the central point of the connecting block 6, the clamping blocks 8 are rotatably connected with the connecting block 6, the inner surfaces of the clamping blocks 8 are of concave-convex structures, so that a user can adjust the opening and closing states of the clamping blocks 8 of 2 groups through the third hydraulic rod 5, and further stably clamp articles through the concave-convex structures in the clamping blocks;

the lower end of the clamping block 8 is provided with a second sliding groove 11, a movable block 12 is arranged inside the second sliding groove 11, the movable block 12 is of an L-shaped structure, the movable block 12 and the lower end of the clamping block 8 form an elastic structure through a return spring 15, the movable block 12 and the clamping block 8 form a slidable structure through the second sliding groove 11, and the movable block 12 can be changed in left and right positions along the second sliding groove 11 along with the opening of the clamping block 8;

the lower extreme internally mounted of clamp splice 8 has drive gear 13, and the outside of drive gear 13 is connected with stay cord 10, the internally mounted of drive gear 13 has torsion spring 14, and torsion spring 14 is connected with clamp splice 8, the inside lower extreme fixedly connected with reset spring 15 of clamp splice 8, and reset spring 15 is connected with the outside of movable block 12, drive gear 13 is connected for the meshing with movable block 12, and drive gear 13 passes through torsion spring 14 and the inside constitution elastic construction of clamp splice 8, let drive gear 13 can rotate along with the drive of stay cord 10, and then let it drive engaged with movable block 12 and draw in to the outside.

The working principle is as follows: when the multi-arm manipulator is used, according to the figures 1-4, the device is firstly placed at a position needing to work, a user can lay a conveyor belt on the upper end face of a base 1, and then the conveyor belt is matched with a plurality of groups of manipulators to carry out clamping work, then the device can be switched on to carry out sorting work, when materials are conveyed to the lower ends of 2 groups of clamping blocks 8 at corresponding positions through the conveyor belt, the user can adjust the height of a first hydraulic rod 2 through external equipment, so that a connecting block 6 at the lower end of a supporting block 4 is driven to move towards the materials, when the 2 groups of clamping blocks 8 at the lower end of the connecting block 6 are contacted with the materials, the user can adjust the output end of a third hydraulic rod 5 to move downwards along the inside of the connecting block 6, at the moment, a limiting block 7 at the output end of the third hydraulic rod 5 can move downwards along with the limiting block, and then the 2 groups, when the clamping block 8 rotates outwards, the pull rope 10 connected with the clamping block will drive the transmission gear 13 at the lower end of the clamping block 8 to rotate in a rolling manner, at the moment, the torsion spring 14 inside the transmission gear 13 will rotate in a rolling manner, the movable block 12 meshed with the transmission gear 13 will slide outwards along the second chute 11, so as to extrude the reset spring 15 outside the movable block 12, after the 2 groups of clamping blocks 8 and the movable block 12 completely wrap the object, the user operates the output end of the third hydraulic rod 5 again to displace upwards, at the moment, the limiting block 7 will drive the 2 groups of clamping blocks 8 to contract inwards, so as to clamp the two sides of the object, at the same time, the pull rope 10 will return through the torsion spring 14, so as to drive the movable block 12 matching with the reset spring 15 to synchronously draw close and fix to the outer side of the object, and the user lifts up the manipulator through the first hydraulic, and the telescopic adjustment of the left and right positions can be performed through the second hydraulic rod 3 to complete the sorting work, so that the overall practicability is improved.

Those not described in detail in this specification are within the skill of the art.

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

1. The utility model provides a multi-arm manipulator, includes base (1), first hydraulic stem (2), second hydraulic stem (3) and third hydraulic stem (5), its characterized in that: a first hydraulic rod (2) is installed at the upper end of the base (1), a second hydraulic rod (3) is fixedly connected to the outer side of the output end of the first hydraulic rod (2), a supporting block (4) is fixedly connected to the outer side of the second hydraulic rod (3), a third hydraulic rod (5) is installed inside the upper end of the supporting block (4), a connecting block (6) is installed at the lower end inside the supporting block (4), the connecting block (6) is connected with the third hydraulic rod (5), a limiting block (7) is fixedly connected to the lower end of the third hydraulic rod (5), a clamping block (8) is installed at the lower end of the connecting block (6), a first sliding groove (9) is formed in the inner surface of the clamping block (8), the first sliding groove (9) is connected with the limiting block (7), a pull rope (10) is installed on the outer side of the clamping block (8), a second sliding groove (11) is formed in the lower end of, and the internally mounted of second spout (11) has movable block (12), the lower extreme internally mounted of clamp splice (8) has drive gear (13), and the outside of drive gear (13) is connected with stay cord (10), the internally mounted of drive gear (13) has torsion spring (14), and torsion spring (14) is connected with clamp splice (8), the inside lower extreme fixedly connected with reset spring (15) of clamp splice (8), and reset spring (15) are connected with the outside of movable block (12).

2. A multi-arm robot as claimed in claim 1, wherein: the third hydraulic rod (5) is symmetrically provided with 2 about the central point of the first hydraulic rod (2), and the output end of the third hydraulic rod (5) is connected with the connecting block (6) in a nested manner.

3. A multi-arm robot as claimed in claim 1, wherein: the limiting block (7) and the clamping block (8) form a slidable structure through the first sliding groove (9), and the limiting block (7) and the third hydraulic rod (5) are of an integrated structure.

4. A multi-arm robot as claimed in claim 1, wherein: the clamp blocks (8) are symmetrically arranged about the central point of the connecting block (6) in number 2, the clamp blocks (8) are rotatably connected with the connecting block (6), and the inner surfaces of the clamp blocks (8) are of concave-convex structures.

5. A multi-arm robot as claimed in claim 1, wherein: the movable block (12) is of an L-shaped structure, the movable block (12) and the lower end of the clamping block (8) form an elastic structure through a return spring (15), and the movable block (12) and the clamping block (8) form a slidable structure through a second sliding groove (11).

6. A multi-arm robot as claimed in claim 1, wherein: the transmission gear (13) is meshed with the movable block (12), and the transmission gear (13) and the inside of the clamping block (8) form an elastic structure through a torsion spring (14).