CN210175928U

CN210175928U - Loading and unloading device of manipulator

Info

Publication number: CN210175928U
Application number: CN201920268704.5U
Authority: CN
Inventors: Fan Wu; 吴凡; Yafen Xu; 许娅芬
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2019-03-04
Filing date: 2019-03-04
Publication date: 2020-03-24
Anticipated expiration: 2029-03-04

Abstract

The utility model discloses a loading and unloading device of a manipulator, which comprises a ground and a base, wherein the upper end of the ground is fixedly assembled with the base, the upper end of the base is fixedly assembled with a main rod, the upper end of the left side of the main rod is fixedly assembled with a pillar, the inner wall of a chute is connected with a slide block in a sliding manner, the lower end of the slide block is fixedly assembled with a suspender, the lower end of the suspender is connected with the manipulator in a clamping manner, the inner wall of the manipulator penetrates through a splicing device, the splicing device is fixedly assembled with the suspender, the upper end of the slide block is fixedly assembled with a hanging ring, the right side of the pillar is fixedly assembled with a pin shaft, the rear side of the pin shaft is rotatably assembled with a roller, the right side of the outer wall of the roller is tightly attached to a pull rope, when the manipulator clamps heavy objects, the, the operation safety is ensured, and the maintenance is convenient.

Description

Loading and unloading device of manipulator

Technical Field

The utility model relates to a manipulator technical field, concrete field is unloader on manipulator.

Background

The existing large-scale equipment mainly depends on manual loading and unloading for the equipment, or a manipulator device for loading and unloading for the equipment. The manual feeding and discharging of the equipment has the following defects: the labor cost is high, the working environment is severe, the efficiency is low, and the continuous work within 24 hours cannot be realized; the manipulator device is used for loading and unloading the equipment, and in the current life, the arm is the most different from the arm of a human being in flexibility and strength under the development of science and technology in the new moon. The biggest advantage of manipulator can be repeated do same action, and robotic arm's application will also be more and more extensive, and unloading device on the current manipulator can not guarantee the result of use of equipment, and the main support rod in the equipment takes place buckling deformation because of the heavy object that the clamp was got in the work easily, and cracked danger can take place for more serious person, can not guarantee the work efficiency of equipment when having increased the potential safety hazard, and it is comparatively complicated to maintain simultaneously.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a unloader on manipulator to solve the problem of proposing among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator feeding and discharging device comprises a ground and a base, wherein the upper end of the ground is fixedly provided with the base, the upper end of the base is fixedly provided with a main rod, the upper end of the left side of the main rod is fixedly provided with a pillar, the front side of the pillar is provided with a chute, the inner wall of the chute is connected with a sliding block in a sliding manner, the lower end of the sliding block is fixedly provided with a hanging rod, the lower end of the hanging rod is connected with a manipulator in a clamping manner, the inner wall of the manipulator penetrates through a splicing device which is fixedly assembled with the hanging rod, the upper end of the sliding block is fixedly provided with a hanging ring, the right side of the hanging ring is fixedly assembled with one end of a pull rope, the pull rope penetrates through the main rod, the inner wall of the main rod is fixedly assembled with two pulley structures, the pulley, the utility model discloses a slide bar, including slide bar, sleeve, telescopic and stay cord, the sleeve has been cup jointed on the outer wall left side of slide bar, the sleeve closely laminates with the slide bar, the spring has been cup jointed to the outer wall of slide bar, the one end and the sleeve fixed assembly of spring, and the other end and the extension board fixed assembly of spring, the fixed counterweight that is equipped with of telescopic lower extreme, the right side of counterweight and the other end fixed assembly of stay cord, the fixed branch that is equipped with in right side of extension board, the fixed round pin axle that is equipped with in right side of branch, the rear side rotation of round pin axle is equipped with the.

Preferably, the splicing apparatus includes the lantern ring, the inner wall of the lantern ring is pegged graft and is had the jib, the left and right sides of the lantern ring is all fixed being equipped with the inserted bar, the upper end left surface of manipulator runs through there is the horizontal pole, two the inserted bar runs through both ends about the side of going up of horizontal pole respectively, the front side spiro union of the lantern ring has the screw, the screw runs through the lantern ring and jib looks spiro union.

Preferably, the pulley structure includes the pivot, the inner wall rotation assembly of pivot and mobile jib, the fixed cover of outer wall of pivot has connect the pulley, pulley and the inseparable laminating of stay cord.

Preferably, the support is fixedly sleeved at the lower end of the outer wall of the main rod and fixedly assembled with the base.

Preferably, the left side and the right side of the base are both screwed with bolts, and the bolts penetrate through the base and are screwed with the ground.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model provides a unloader on manipulator, cooperation through mobile jib and pillar, slip joint through slider and spout, cooperation through jib and manipulator and splicing apparatus, through the effect of stay cord, through closely laminating of sleeve and slide bar, through the elastic action of spring, and through the support effect of cylinder, this device can press from both sides when getting the heavy object at manipulator work, the power size of guaranteeing the mobile jib both sides tends towards the same, guarantee the result of use of equipment mobile jib, prevent that the equipment mobile jib from buckling or splitting, guarantee the security of operation, easy maintenance simultaneously.

Drawings

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

FIG. 2 is a schematic view of the structure at A in FIG. 1;

fig. 3 is a schematic structural diagram at B in fig. 2.

In the figure: the device comprises a main rod 1, a mechanical arm 2, a bolt 3, a splicing device 4, a screw 41, an inserted rod 42, a lantern ring 43, a cross rod 44, a support 5, a sliding chute 6, a hanging rod 7, a hanging ring 8, a pulley 9, a rotating shaft 91, a pulley 92, a sliding block 10, a ground 11, a pull rope 12, a support plate 13, a support rod 14, a pin shaft 15, a roller 16, a spring 17, a sleeve 18, a counterweight 19, a base 20, a support 21 and a slide rod 22.

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: a manipulator loading and unloading device comprises a ground 11 and a base 20, the base 20 is fixedly assembled at the upper end of the ground 11, a main rod 1 is fixedly assembled at the upper end of the base 20, a pillar 5 is fixedly assembled at the upper end of the left side of the main rod 1, a chute 6 is arranged at the front side of the pillar 5, a slider 10 is slidably clamped and connected to the inner wall of the chute 6, a suspender 7 is fixedly assembled at the lower end of the slider 10, a manipulator 2 is clamped and connected to the lower end of the suspender 7, a splicing device 4 penetrates through the inner wall of the manipulator 2, the splicing device 4 is fixedly assembled with the suspender 7, a hanging ring 8 is fixedly assembled at the upper end of the slider 10, one end of a pull rope 12 is fixedly assembled at the right side of the hanging ring 8, the pull rope 12 penetrates through the main rod 1, two pulley structures 9 are fixedly assembled at the inner wall of the main rod 1, sleeve 18 has been cup jointed on the outer wall left side of slide bar 22, sleeve 18 and slide bar 22 closely laminate, spring 17 has been cup jointed to slide bar 22's outer wall, spring 17's one end and sleeve 18 fixed Assembly, and spring 17's the other end and extension board 13 fixed Assembly, sleeve 18's lower extreme fixed assembly has counterweight 19, counterweight 19's the right side and the other end fixed Assembly of stay cord 12, extension board 13's right side fixed assembly has branch 14, the fixed round pin axle 15 that is equipped with in right side of branch 14, the rear side rotation of round pin axle 15 is equipped with cylinder 16, cylinder 16's outer wall right side and stay cord 12 closely laminate.

The mechanical arm 2 is connected with a driving device through a lead, an external power supply of the whole device is switched on, the device starts to work, the sliding block 10 is driven to cling to the inner wall of the sliding groove 6 to keep transverse fixed motion, meanwhile, the mechanical arm 2 can automatically clamp an object, the weight of the counterweight 19 is larger, the spring 17 is in an extending state in figure 1, the pull rope 12 is in a tightening state, when the device needs to work, the external power supply of the device is firstly switched on, the device starts to work, at the moment, the device drives the sliding block 10 to cling to the inner wall of the sliding groove 6 to keep transverse fixed motion, at the same time, the mechanical arm 2 can automatically clamp the object, when the mechanical arm 2 moves leftwards after clamping the object, at the moment, the sliding block 10 clings to the inner wall of the sliding groove 6 to move leftwards and drives the hanging ring 8 at the upper end part of the pull rope, the lower tip of stay cord 12 can move right this moment, stay cord 12 drives counterweight 19 and moves right, counterweight 19 drives the sleeve 18 of upper end and moves right simultaneously, the outer wall that slide bar 22 was hugged closely to sleeve 18 this moment keeps horizontal fixed motion, 18 extrusion springs 17 of sleeve make it take place deformation simultaneously, can guarantee counterweight 19 and the reverse simultaneous movement of manipulator 2 this moment, guarantee that mobile jib 1 both sides atress size tends to the same, guarantee the equilibrium of mobile jib 1, can not take place to buckle the slope because of one side weight is too big, guarantee the practicality of equipment.

Specifically, the splicing device 4 includes a collar 43, a suspension rod 7 is inserted into an inner wall of the collar 43, insertion rods 42 are fixedly assembled on the left and right sides of the collar 43, a cross rod 44 penetrates through the left side surface of the upper end of the manipulator 2, the two insertion rods 42 penetrate through the left and right sides of the upper side surface of the cross rod 44 respectively, a screw 41 is screwed on the front side of the collar 43, and the screw 41 penetrates through the collar 43 and is screwed with the suspension rod 7.

When the manipulator 2 needs to be maintained, firstly the screw 41 is loosened, when the screw 41 is separated from the inner wall of the suspender 7, the lantern ring 43 can be moved upwards, the lantern ring 43 drives the inserting rods 42 on the left side and the right side to move upwards, after the inserting rods 42 are separated from the inner wall of the cross rod 44, the cross rod 44 is pulled out, and at the moment, the manipulator 2 can be separated from the suspender 7, so that the manipulator 2 can be maintained and replaced.

Specifically, the pulley structure 9 includes a rotating shaft 91, the rotating shaft 91 is rotatably assembled with the inner wall of the main rod 1, a pulley 92 is fixedly sleeved on the outer wall of the rotating shaft 91, and the pulley 92 is tightly attached to the pull rope 12.

When the stay cord 12 slides, the pulley 92 can be driven to rotate, the pulley 92 drives the rotating shaft 91 to rotate, the friction force between the stay cord 12 and the main rod 1 is reduced, the using effect of the stay cord 12 is ensured, and the stay cord 12 is prevented from being worn and broken.

Specifically, the lower end of the outer wall of the main rod 1 is fixedly sleeved with a support 21, and the support 21 is fixedly assembled with the base 20.

The support 21 may reinforce the connection of the main bar 1 and the base 20.

Specifically, bolts 3 are screwed on the left side and the right side of the base 20, and the bolts 3 penetrate through the base 20 and are screwed with the ground 11.

The bolt 3 plays a role of assisting in fixing the base 20, and the using effect of the equipment is guaranteed.

The working principle is as follows: when the utility model needs to work by using the equipment, firstly, the external power supply of the equipment is switched on, the equipment starts to work, then the equipment drives the slider 10 to cling to the inner wall of the chute 6 to keep horizontal fixed motion, meanwhile, the manipulator 2 can automatically clamp an object, when the manipulator 2 clamps the object and moves left, then the slider 10 clings to the inner wall of the chute 6 to move left and drives the hanging ring 8 at the upper end to move left, then the hanging ring 8 drives the upper end part of the stay cord 12 to move left, meanwhile, the stay cord 12 drives the lower end part of the stay cord 12 to move right according to the supporting function of the roller 16, then the stay cord 12 drives the counterweight 19 to move right, meanwhile, the counterweight 19 drives the sleeve 18 at the upper end to move right, then the sleeve 18 clings to the outer wall of the slide bar 22 to keep horizontal fixed motion, meanwhile, the sleeve 18 extrudes the spring 17 to deform, guarantee 1 both sides atress size of mobile jib and tend to the same, guarantee the equilibrium of mobile jib 1, can not guarantee the practicality of equipment because one side weight is too big takes place to buckle the slope.

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 last unloader of manipulator, includes ground (11) and base (20), the fixed base (20) that are equipped with in upper end on ground (11), its characterized in that: the upper end of base (20) is fixed with mobile jib (1), the left side upper end of mobile jib (1) is fixed with pillar (5), spout (6) have been seted up to the front side of pillar (5), the inner wall slip joint of spout (6) has slider (10), the lower extreme of slider (10) is fixed with jib (7), the lower extreme joint of jib (7) has manipulator (2), splicing apparatus (4) has been run through to the inner wall of manipulator (2), splicing apparatus (4) and jib (7) fixed assembly, the upper end of slider (10) is fixed with link (8), the fixed one end that is equipped with stay cord (12) in right side of link (8), stay cord (12) run through mobile jib (1), the inner wall fixed assembly of mobile jib (1) has two pulley structure (9), pulley structure (9) and stay cord (12) laminate mutually, a slide rod (22) is fixedly assembled at the upper end of the right side of the main rod (1), a support plate (13) is fixedly assembled at the right side of the slide rod (22), a sleeve (18) is sleeved on the left side of the outer wall of the sliding rod (22), the sleeve (18) is tightly attached to the sliding rod (22), the outer wall of the sliding rod (22) is sleeved with a spring (17), one end of the spring (17) is fixedly assembled with the sleeve (18), the other end of the spring (17) is fixedly assembled with the support plate (13), the lower end of the sleeve (18) is fixedly assembled with a counterweight (19), the right side of the counterweight (19) is fixedly assembled with the other end of the pull rope (12), a supporting rod (14) is fixedly arranged on the right side of the supporting plate (13), a pin shaft (15) is fixedly arranged on the right side of the supporting rod (14), the rear side of the pin shaft (15) is rotatably provided with a roller (16), and the right side of the outer wall of the roller (16) is tightly attached to the pull rope (12).

2. The manipulator loading and unloading device according to claim 1, wherein: splicing apparatus (4) are including lantern ring (43), the inner wall of the lantern ring (43) is pegged graft and is had jib (7), the equal fixed mounting in both sides has inserted bar (42) about the lantern ring (43), horizontal pole (44) have been run through to the upper end left surface of manipulator (2), two both ends about the side of going up that horizontal pole (44) are run through respectively to inserted bar (42), the front side spiro union of the lantern ring (43) has screw (41), screw (41) run through lantern ring (43) and jib (7) looks spiro union.

3. The manipulator loading and unloading device according to claim 1, wherein: pulley structure (9) are including pivot (91), pivot (91) rotate the assembly with the inner wall of mobile jib (1), pulley (92) have been cup jointed to the outer wall of pivot (91) is fixed, pulley (92) closely laminate with stay cord (12).

4. The manipulator loading and unloading device according to claim 1, wherein: the fixed cover of outer wall lower extreme of mobile jib (1) has connect support (21), support (21) and base (20) fixed assembly.

5. The manipulator loading and unloading device according to claim 1, wherein: the left side and the right side of the base (20) are respectively screwed with a bolt (3), and the bolts (3) penetrate through the base (20) and are in threaded connection with the ground (11).