CN210046668U - Precise positioning manipulator for discharging four rubber bars - Google Patents

Abstract

The utility model discloses an accurate positioning manipulator for four-rubber-iron discharging, which comprises an installation base, wherein the top end of the installation base is embedded with a stepping motor, the output end of the stepping motor is fixedly connected with a harmonic generator, the top end of a revolving body is fixedly provided with a vertical hydraulic cylinder through a gasket which is arranged by screw threads, the telescopic end of the vertical hydraulic cylinder is connected with an arm base, the two sides of the middle part of the top end of the arm base are all provided with hydraulic cylinder installation seats by screw threads, and four edges of the bottom end of a transverse plate of an L-shaped bottom plate are all fixedly provided with suckers, the working efficiency is also greatly improved.

Description

Precise positioning manipulator for discharging four rubber bars

Technical Field

The utility model relates to a manipulator, in particular to go out accurate location manipulator of four glue irons.

Background

A manipulator is an automatic manipulator which can imitate some action functions of human hand and arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

Glue indisputable in the course of working, mostly the manual work grabs glue indisputable, with fixed back of glue indisputable, then measure again, processing operations such as drilling or rubberizing, though can effectively process glue indisputable, but its machining efficiency is not high, adds man-hour in batches, and personnel's wasting of resources is serious, exists not enoughly, and traditional processing manipulator is when processing fixedly to glue indisputable, and it is not high that there is the machining precision more, can not effective location fixed glue indisputable, during the multi-direction motion of current manipulator simultaneously, the direction precision is lower.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an accurate positioning manipulator of four indisputable glues goes out, to solve that what provide in the above-mentioned background art mostly is the manual work and grasps the indisputable glue, will glue the fixed back of indisputable glue, then measure again, processing operations such as drilling or rubberizing, though can effectively process the indisputable glue, but its machining efficiency is not high, add man-hour in batches, personnel's wasting of resources is serious, the existence is not enough, and traditional processing manipulator is when processing the indisputable glue fixedly, it is not high to have the machining precision more, can not effectively fix a position fixed indisputable glue, when the multi-direction motion of manipulator that exists simultaneously, the lower problem of direction precision.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a go out accurate positioning manipulator of four glued irons, includes the installation base, the top of installation base is inlayed and is established and be connected with step motor, step motor's output fixedly connected with harmonic generator, harmonic generator's both sides all have the solid of revolution through the bearing swing joint who installs, the gasket fixed mounting that the top of the body of revolution was installed through the screw thread has vertical pneumatic cylinder, the flexible end threaded connection of vertical pneumatic cylinder has the arm base, pneumatic cylinder mount pad, two are installed to the equal screw thread in both sides at arm base top middle part fixed mounting has horizontal pneumatic cylinder between the pneumatic cylinder mount pad, the flexible end fixedly connected with L type bottom plate of horizontal pneumatic cylinder, the equal fixed mounting in four edges department of the horizontal board bottom of L type bottom plate has the sucking disc.

As a preferred technical scheme of the utility model, the guide bar support of two symmetries, two symmetries are installed to the top screw thread of arm base swing joint has horizontal guide arm between the guide bar support, the one end of horizontal guide arm is passed through the connecting block and is connected with the vertical board of L type bottom plate.

As a preferred technical scheme of the utility model, the back of arm base is equipped with the uide bushing interlude that is connected with and is connected with vertical guide arm through inlaying, the back welding of gasket has the bottom carousel, the middle part of bottom carousel and the one end fixed connection of vertical guide arm.

As an optimal technical scheme of the utility model, two the guide bar support of pneumatic cylinder mount pad and two symmetries all contacts through the top of installing set-square and arm base.

As a preferred technical scheme of the utility model, the equal fixed mounting in four edges of installation base bottom has damping rubber stabilizer blade.

As a preferred technical scheme of the utility model, step motor, vertical pneumatic cylinder and horizontal pneumatic cylinder are respectively through the control switch and the external power supply electric connection that correspond.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to a go out accurate positioning manipulator of four glued irons, through the guide bar support and the horizontal guide arm that are equipped with, improved the direction precision of horizontal pneumatic cylinder, it is more accurate to be convenient for fix a position, through uide bushing, vertical guide arm and the bottom carousel that are equipped with, has improved the direction precision of vertical pneumatic cylinder, and the manipulator location of being convenient for is more accurate, and convenient to use through four sucking discs that are equipped with, through the effect of suction, can realize once only pressing from both sides and get four glued irons, when firmly fixing glued irons, also improved work efficiency greatly, to sum up, the utility model discloses the clamp is got the angle wider, and the movable surface is bigger, simple structure, convenient and practical, reliable safety, the large-scale production of being convenient for.

The description of the figures in the drawings,

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

fig. 2 is a schematic side view of the present invention.

In the figure: 1. installing a base; 2. a stepping motor; 3. a harmonic generator; 4. a revolving body; 5. a gasket; 6. a vertical hydraulic cylinder; 7. an arm base; 8. a guide bar support; 9. a hydraulic cylinder mounting seat; 10. a transverse hydraulic cylinder; 11. a transverse guide rod; 12. an L-shaped bottom plate; 13. a suction cup; 14. a guide sleeve; 15. a vertical guide rod; 16. a bottom turntable.

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.

Please refer to fig. 1-2, the utility model provides an accurate positioning manipulator of four glued irons goes out, including installation base 1, the top of installation base 1 is inlayed and is established and be connected with step motor 2, step motor 2's output fixedly connected with harmonic generator 3, harmonic generator 3's both sides all have the solid of revolution 4 through the bearing swing joint who installs, 5 fixed mounting of gasket that the top of the solid of revolution 4 was through the screw thread had vertical pneumatic cylinder 6, the flexible end screw thread connection of vertical pneumatic cylinder 6 has arm base 7, pneumatic cylinder mount pad 9 is installed to the equal screw thread in both sides at arm base 7 top middle part, fixed mounting has horizontal pneumatic cylinder 10 between two pneumatic cylinder mount pads 9, the flexible end fixedly connected with L type bottom plate 12 of horizontal pneumatic cylinder 10, the equal fixed mounting in four edges department of L type bottom plate 12 horizontal board bottom has sucking disc 13.

Preferably, two symmetrical guide rod supports 8 are installed on the top end of the arm base 7 in a threaded mode, a transverse guide rod 11 is movably connected between the two symmetrical guide rod supports 8, one end of the transverse guide rod 11 is connected with a vertical plate of the L-shaped bottom plate 12 through a connecting block, the guiding precision of the transverse hydraulic cylinder 10 is improved, and positioning is convenient and accurate.

Preferably, the back of arm base 7 alternates through inlaying the uide bushing 14 that is equipped with to be connected with and is connected with vertical guide arm 15, and the back welding of gasket 5 has bottom carousel 16, and the middle part of bottom carousel 16 and the one end fixed connection of vertical guide arm 15 have improved the direction precision of vertical pneumatic cylinder 6, and the manipulator location of being convenient for is more accurate, convenient to use.

Preferably, two hydraulic cylinder installation seats 9 and two symmetrical guide rod supports 8 are all contacted with the top end of the arm base 7 through installing a triangular plate, and the stability between the two hydraulic cylinder installation seats 9 and the two symmetrical guide rod supports 8 and the arm base 7 is improved.

Preferably, the equal fixed mounting in four edges of installation base 1 bottom has damping rubber stabilizer blade, provides certain support cushioning effect for installation base 1's stability is better.

Preferably, the stepping motor 2, the vertical hydraulic cylinder 6 and the horizontal hydraulic cylinder 10 are respectively electrically connected with an external power supply through corresponding control switches, so that the operation and control of workers are facilitated.

When the four-rubber-iron precise positioning manipulator is used, a power supply is switched on, the stepping motor 2, the vertical hydraulic cylinder 6 and the transverse hydraulic cylinder 10 are all in an electric control state, then the switch of the vertical hydraulic cylinder 6 is started, the vertical hydraulic cylinder 6 is extended, the arm base 7 is driven to move upwards, at the moment, the guide sleeve 14 moves upwards along the vertical guide rod 15, the guide precision of the vertical hydraulic cylinder 6 is improved, the manipulator is more precise to position, the manipulator is convenient to use, next, the switch of the transverse hydraulic cylinder 10 is started, the transverse hydraulic cylinder 10 is extended, the L-shaped bottom plate 12 and the suckers 13 are driven to extend horizontally, the rubber irons are sucked, the four rubber irons are conveniently clamped at one time due to the four suckers 13, the working efficiency is greatly improved, next step, the switch of the stepping motor 2 is started, the stepping motor 2 drives the harmonic generator 3 to rotate at a low speed, finally make solid of revolution 4 drive vertical pneumatic cylinder 6 and arm base 7 and rotate, the machining precision is higher, and is more practical, to sum up, the utility model discloses it is wider to have the clamp to get the angle, and the activity face is bigger, simple structure, convenient and practical, reliable safety, the large-scale production of being convenient for.

In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

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 (6)

1. The precise positioning manipulator for the four-rubber-iron-in-one machine comprises an installation base (1) and is characterized in that a stepping motor (2) is embedded and connected at the top end of the installation base (1), a harmonic generator (3) is fixedly connected at the output end of the stepping motor (2), both sides of the harmonic generator (3) are movably connected with a revolving body (4) through bearings installed, a vertical hydraulic cylinder (6) is fixedly installed at the top end of the revolving body (4) through a gasket (5) installed through threads, a telescopic end thread of the vertical hydraulic cylinder (6) is connected with an arm base (7), hydraulic cylinder installation bases (9) are installed on both sides of the middle part of the top end of the arm base (7) through threads, a transverse hydraulic cylinder (10) is fixedly installed between the two hydraulic cylinder installation bases (9), and a L-shaped bottom plate (12) is fixedly connected with the telescopic end of the, four corners of the bottom end of the transverse plate of the L-shaped bottom plate (12) are fixedly provided with suckers (13).

2. The precise positioning manipulator for discharging the four-rubber-iron according to claim 1, characterized in that: two symmetrical guide rod supports (8) are installed on the top end of the arm base (7) in a threaded mode, a transverse guide rod (11) is movably connected between the two symmetrical guide rod supports (8), and one end of the transverse guide rod (11) is connected with a vertical plate of the L-shaped bottom plate (12) through a connecting block.

3. The precise positioning manipulator for discharging the four-rubber-iron according to claim 1, characterized in that: the back of arm base (7) is equipped with uide bushing (14) that is connected with through inlaying and alternates and is connected with vertical guide arm (15), the back welding of gasket (5) has bottom carousel (16), the middle part of bottom carousel (16) and the one end fixed connection of vertical guide arm (15).

4. The precise positioning manipulator for discharging the four-rubber-iron according to claim 1, characterized in that: two hydraulic cylinder mounting seats (9) and two symmetrical guide rod supports (8) are all contacted with the top end of the arm base (7) through a set square.

5. The precise positioning manipulator for discharging the four-rubber-iron according to claim 1, characterized in that: four corners of the bottom end of the mounting base (1) are fixedly provided with damping rubber support legs.

6. The precise positioning manipulator for discharging the four-rubber-iron according to claim 1, characterized in that: the stepping motor (2), the vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (10) are respectively electrically connected with an external power supply through corresponding control switches.

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