CN209903216U

CN209903216U - Intelligent workpiece taking manipulator

Info

Publication number: CN209903216U
Application number: CN201920449567.5U
Authority: CN
Inventors: 巩伟; 丁文明; 巩杰
Original assignee: Hefei Weida Intelligent Technology Co Ltd
Current assignee: Hefei Weida Intelligent Technology Co Ltd
Priority date: 2019-04-03
Filing date: 2019-04-03
Publication date: 2020-01-07
Anticipated expiration: 2029-04-03

Abstract

The utility model discloses an intelligence manipulator of getting, which comprises a track, coupling mechanism, rotary mechanism, installation mechanism and anchor clamps, install coupling mechanism on the track, the coupling mechanism below is provided with rotary mechanism, anchor clamps pass through installation mechanism and install on rotary mechanism, anchor clamps include the grip block, the spout, the slider, driving motor, the apparatus further comprises a rotating shaft, first grip block, the second grip block, buffering slipmat and actuating mechanism, be provided with the spout on the grip block, be provided with first grip block through the slider symmetry in the spout, be provided with driving motor on the slider, the second grip block is installed on first grip block through the pivot, install actuating mechanism on first grip block and the second grip block, first grip block and second grip block inboard are provided with the buffering slipmat. The utility model discloses the rotary mechanism who sets up makes the manipulator can about from top to bottom free rotation, and the actuating mechanism who sets up simultaneously can make the manipulator have very strong grabbing power, and the practicality is strong.

Description

Intelligent workpiece taking manipulator

Technical Field

The utility model relates to an intelligence manipulator of getting belongs to mechanical equipment technical field.

Background

A robot is an automated device that mimics some of the motion of a human hand and arm to grasp, carry objects or manipulate tools according to a fixed program. 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.

But the free rotation can not be realized to present manipulator mostly, and the dynamics of snatching of current manipulator simultaneously is not enough, drops easily when snatching the goods, leads to the goods impaired, and the maintenance is dismantled inconvenient in the installation of current manipulator simultaneously, and an intelligence of current design is got a manipulator and is solved above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligence gets a manipulator to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an intelligence manipulator of getting, includes track, coupling mechanism, rotary mechanism, installation mechanism and anchor clamps, install coupling mechanism on the track, the coupling mechanism below is provided with rotary mechanism, anchor clamps pass through installation mechanism and install on rotary mechanism, anchor clamps include grip block, spout, slider, driving motor, pivot, first grip block, second grip block, buffering slipmat and actuating mechanism, be provided with the spout on the grip block, be provided with first grip block through the slider symmetry in the spout, be provided with driving motor on the slider, the second grip block is installed on first grip block through the pivot, install driving mechanism on first grip block and the second grip block, first grip block and second grip block inboard are provided with the buffering slipmat.

Preferably, the connecting mechanism comprises a sliding block, a driving motor, a lifting motor and a lifting rod, the sliding block is installed in the track, the driving motor and the lifting motor are arranged on the sliding block, and the rotating mechanism is installed on the lifting motor through the lifting rod.

Preferably, rotary mechanism includes transverse rotating shaft, vertical rotating shaft and rotating electrical machines, vertical rotating shaft installs at the lifter lower extreme, vertical rotating shaft installs transverse rotating shaft through the connecting block, all be provided with rotating electrical machines on vertical rotating shaft and the transverse rotating shaft.

Preferably, installation mechanism includes buckle, draw-in groove, recess, spring, card strip, push rod, spacing hole and gag lever post, the buckle sets up in the grip block upper end, be provided with the recess in the horizontal pivot, the buckle agrees with each other with the recess in the horizontal pivot, buckle bilateral symmetry is provided with the recess, be provided with the card strip through the spring in the recess, the draw-in groove sets up in the horizontal pivot, draw-in groove one side is provided with the push rod, the card strip agrees with each other with the draw-in groove, the buckle upper end is provided with spacing hole, be provided with the gag lever post in the recess of horizontal pivot, the gag lever post agrees with each other with spacing hole.

Preferably, actuating mechanism includes flexible motor, telescopic link, pivot, actuating lever, fixed cover and connecting rod, be provided with flexible motor on the first grip block, be provided with the telescopic link on the flexible motor, install in fixed cover on the telescopic link, fixed cover passes through the connecting rod and installs on first grip block, be provided with the actuating lever through the connecting rod on the second grip block, actuating lever and telescopic link are connected through the pivot.

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

the utility model relates to a manipulator is got to intelligence can realize the upper and lower left and right sides free rotation of manipulator, strengthens the functionality of manipulator through coupling mechanism and the rotary mechanism that sets up.

The utility model discloses the actuating mechanism who sets up can make the manipulator have stronger grabbing power, guarantees fixing on the manipulator that the goods can be stable.

The utility model discloses the installation mechanism who sets up makes things convenient for the installation of manipulator to dismantle, operations such as convenient maintenance, the utility model discloses simple structure, convenient operation, the practicality is strong.

Drawings

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

FIG. 2 is a schematic view of the mounting mechanism of the present invention;

fig. 3 is a schematic view of the driving mechanism of the present invention;

in the figure: 1. a track; 2. a connecting mechanism; 3. a rotation mechanism; 4. an installation mechanism; 5. a clamp; 6. a clamping plate; 7. a chute; 8. a slider; 9. a drive motor; 10. a rotating shaft; 11. a first clamping block; 12. a second clamping block; 13. a buffering anti-skid pad; 14. a drive mechanism; 15. a lifting motor; 16. a lifting rod; 17. a transverse rotating shaft; 18. a longitudinal rotating shaft; 19. a rotating electric machine; 20. connecting blocks; 21. buckling; 22. a card slot; 23. a groove; 24. a spring; 25. clamping the strip; 26. a push rod; 27. a limiting hole; 28. a limiting rod; 29. a telescopic motor; 30. a telescopic rod; 31. a drive rod; 32. fixing a sleeve; 33. a connecting rod.

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.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", 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 in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 according to specific situations by those skilled in the art.

Referring to fig. 1-3, the present invention provides a technical solution: an intelligent workpiece taking manipulator comprises a track 1, a connecting mechanism 2, a rotating mechanism 3, an installation mechanism 4 and a clamp 5, a connecting mechanism 2 is arranged on the track 1, a rotating mechanism 3 is arranged below the connecting mechanism 2, the clamp 5 is arranged on the rotating mechanism 3 through an installation mechanism 4, the clamp 5 comprises a clamping plate 6, a chute 7, a sliding block 8, a driving motor 9, a rotating shaft 10, a first clamping block 11, a second clamping block 12, a buffering anti-skid pad 13 and a driving mechanism 14, the clamping plate 6 is provided with a sliding chute 7, the sliding chute 7 is symmetrically provided with first clamping blocks 11 through a sliding block 8, the slide block 8 is provided with a driving motor 9, the second clamping block 12 is arranged on the first clamping block 11 through a rotating shaft 10, the first clamping block 11 and the second clamping block 12 are provided with driving mechanisms 14, and the inner sides of the first clamping block 11 and the second clamping block 12 are provided with buffering anti-skid pads 13.

Further, the connecting mechanism 2 comprises a sliding block 8, a driving motor 9, a lifting motor 15 and a lifting rod 16, the sliding block 8 is installed in the track 1, the driving motor 9 and the lifting motor 15 are arranged on the sliding block 8, and the rotating mechanism 3 is installed on the lifting motor 15 through the lifting rod 16.

Further, rotary mechanism 3 includes transverse rotating shaft 17, longitudinal rotating shaft 18 and rotating electrical machines 19, longitudinal rotating shaft 18 is installed at the 16 lower extremes of lifter, transverse rotating shaft 17 is installed through connecting block 20 to longitudinal rotating shaft 18, all be provided with rotating electrical machines 19 on longitudinal rotating shaft 18 and the transverse rotating shaft 17.

Further, installation mechanism 4 includes buckle 21, draw-in groove 22, recess 23, spring 24, card strip 25, push rod 26, spacing hole 27 and gag lever post 28, buckle 21 sets up in grip block 6 upper end, be provided with recess 23 on the horizontal pivot 17, buckle 21 agrees with each other with recess 23 on the horizontal pivot 17, buckle 21 bilateral symmetry is provided with recess 23, be provided with card strip 25 through spring 24 in the recess 23, draw-in groove 22 sets up on horizontal pivot 17, card strip 25 agrees with each other with draw-in groove 22, draw-in groove 22 one side is provided with push rod 26, buckle 21 upper end is provided with spacing hole 27, be provided with gag lever post 28 in the recess 23 of horizontal pivot 17, gag lever post 28 agrees with each other with spacing hole 27.

Further, actuating mechanism 14 includes flexible motor 29, telescopic link 30, pivot 10, actuating lever 31, fixed cover 32 and connecting rod 33, be provided with flexible motor 29 on the first grip block 11, be provided with telescopic link 30 on the flexible motor 29, install in fixed cover 32 on the telescopic link 30, fixed cover 32 passes through connecting rod 33 and installs on first grip block 11, be provided with actuating lever 31 through connecting rod 33 on the second grip block 12, actuating lever 31 and telescopic link 30 are connected through pivot 10.

The working principle is as follows: the utility model relates to an intelligent manipulator for taking articles, when in use, firstly, a clamp 5 is arranged on a rotating mechanism 3 through an installing mechanism 4, a limiting hole 27 on a buckle 21 on a clamping plate 6 is aligned with a limiting rod 28 arranged in a groove 23 on a transverse rotating shaft 17, the buckle 21 is pressed into the groove 23, so that clamping strips 25 arranged in the grooves 23 at two sides of the buckle 21 are clamped in clamping grooves 22 at two sides of the transverse rotating shaft 17, the clamp 5 can be fixed on the transverse rotating shaft 17, when in disassembly, the clamping strips 25 are pushed out of the clamping grooves 22 through a push rod 26 arranged at one side of the clamping grooves 22, so that the buckle 21 can be separated from the transverse rotating shaft 17, then, the position and the height of the manipulator can be adjusted through a connecting mechanism 2 arranged on a track 1, the manipulator is driven to move on the track 1 through the work of a driving motor 9 arranged on a slide block 8 in the track 1, a lifting motor 15 arranged on the slide block 8 works to drive a lifting rod, then can make the manipulator realize the free rotation of upper and lower left and right sides direction through the work of the rotating electrical machines 19 on the vertical pivot 18 and the horizontal pivot 17 in the rotary mechanism 3 that sets up, when pressing from both sides and getting article, drive first grip block 11 through the driving motor 9 on the slider 8 that sets up on the first grip block 11 in anchor clamps 5 and be close to each other and carry out preliminary fixed to article, drive telescopic link 30 through the flexible motor 29 work among the actuating mechanism 14 that sets up and extend, telescopic link 30 acts on the actuating lever 31 on the second grip block 12, make second grip block 12 further fixed article, guarantee that article firmly fix on anchor clamps 5, the buffering slipmat 13 that sets up on first grip block 11 and second grip block 12 can guarantee that article can not drop from anchor clamps 5.

It is worth noting that:

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 an intelligence manipulator of getting, its characterized in that: the clamping device comprises a track (1), a connecting mechanism (2), a rotating mechanism (3), an installing mechanism (4) and a clamp (5), wherein the connecting mechanism (2) is installed on the track (1), the rotating mechanism (3) is arranged below the connecting mechanism (2), the clamp (5) is installed on the rotating mechanism (3) through the installing mechanism (4), the clamp (5) comprises a clamping plate (6), a sliding groove (7), a sliding block (8), a driving motor (9), a rotating shaft (10), a first clamping block (11), a second clamping block (12), a buffering anti-skidding pad (13) and a driving mechanism (14), the sliding groove (7) is formed in the clamping plate (6), the first clamping block (11) is symmetrically arranged in the sliding groove (7) through the sliding block (8), the driving motor (9) is arranged on the sliding block (8), and the second clamping block (12) is installed on the first clamping block (11) through the rotating shaft (10), the clamping device is characterized in that a driving mechanism (14) is installed on the first clamping block (11) and the second clamping block (12), and buffering anti-skid pads (13) are arranged on the inner sides of the first clamping block (11) and the second clamping block (12).

2. The intelligent part taking manipulator as claimed in claim 1, wherein: coupling mechanism (2) include slider (8), driving motor (9), elevator motor (15) and lifter (16), slider (8) are installed in track (1), be provided with driving motor (9) and elevator motor (15) on slider (8), rotary mechanism (3) are installed on elevator motor (15) through lifter (16).

3. The intelligent part taking manipulator as claimed in claim 1, wherein: rotary mechanism (3) include transverse rotating shaft (17), vertical pivot (18) and rotating electrical machines (19), install at lifter (16) lower extreme vertical rotating shaft (18), transverse rotating shaft (17) are installed through connecting block (20) in vertical pivot (18), all be provided with rotating electrical machines (19) on vertical rotating shaft (18) and transverse rotating shaft (17).

4. The intelligent part taking manipulator as claimed in claim 1, wherein: the mounting mechanism (4) comprises a buckle (21), a clamping groove (22), a groove (23), a spring (24), a clamping strip (25), a push rod (26), a limiting hole (27) and a limiting rod (28), the buckle (21) is arranged at the upper end of the clamping plate (6), the groove (23) is formed in the transverse rotating shaft (17), the buckle (21) and the groove (23) in the transverse rotating shaft (17) are mutually matched, the grooves (23) are symmetrically formed in two sides of the buckle (21), the clamping strip (25) is arranged in the groove (23) through the spring (24), the clamping groove (22) is arranged on the transverse rotating shaft (17), the clamping strip (25) and the clamping groove (22) are mutually matched, the push rod (26) is arranged on one side of the clamping groove (22), the limiting hole (27) is formed in the upper end of the buckle (21), the limiting rod (28) is arranged in the groove (23) of the transverse rotating shaft (17, the limiting rod (28) is matched with the limiting hole (27).

5. The intelligent part taking manipulator as claimed in claim 1, wherein: actuating mechanism (14) are including flexible motor (29), telescopic link (30), pivot (10), actuating lever (31), fixed cover (32) and connecting rod (33), be provided with flexible motor (29) on first grip block (11), be provided with telescopic link (30) on flexible motor (29), install in fixed cover (32) on telescopic link (30), fixed cover (32) are installed on first grip block (11) through connecting rod (33), be provided with actuating lever (31) through connecting rod (33) on second grip block (12), actuating lever (31) and telescopic link (30) are connected through pivot (10).