CN210312439U

CN210312439U - Grabbing manipulator device

Info

Publication number: CN210312439U
Application number: CN201920702804.4U
Authority: CN
Inventors: 陈素凤
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2020-04-14
Anticipated expiration: 2029-05-15

Abstract

The utility model relates to a grabbing manipulator device, which comprises supporting legs, a base, a vertical plate, a positioning pin, a stepping motor, a rotating shaft, a belt, a fixed seat, a shaft coupling, a transmission shaft, a screw rod, an inductor, a speed reducing block, a connecting pin shaft, a connecting block, a horizontal slide rail, a horizontal movable plate, a vertical slide rail, a vertical movable plate, a driving cylinder, a micro cylinder and a manipulator; the stepping motor is arranged on one side of the vertical plate; the coupler is arranged inside the fixed seat; the screw rod is arranged above the vertical plate; the inductor is sleeved on the screw rod; the speed reducing block is sleeved on the screw rod; the horizontal movable plate is arranged on the horizontal sliding rail; the vertical movable plate is arranged on the vertical slide rail; the upper part of the manipulator is connected with the micro cylinder. The utility model discloses can be used for snatching of product to transport, compact structure, convenient to use, it is with low costs, degree of automation is high.

Description

Grabbing manipulator device

Technical Field

The utility model relates to a manipulator device especially relates to a grabbing manipulator device.

Background

The mechanical arm is developed on the basis of ancient robots appearing early, the research begins in the middle of the 20 th century, the concept of an industrial robot is proposed in 1954, and patents are applied, wherein the mechanical arm is the earliest industrial robot and the earliest modern robot, the mechanical arm can imitate certain motion functions of a human hand and an arm to grab and carry objects or operation tools according to a fixed program, the mechanical arm can replace the original single, low-efficiency and high-labor intensity of people to realize the mechanization and automation of production, and can be operated under the harmful environment to protect the personal safety. With the continuous progress of science and technology, the mechanical arm is also continuously improved, the content of science and technology is higher and higher, the types are more and more, the mechanical arm is widely applied to the industries of machine manufacturing, metallurgy, electronics, light industry, atomic energy and the like nowadays, in people's life, the mechanical arm can be often seen as an additional device of a machine tool or other machines, such as loading and unloading and transferring workpieces, changing cutters and the like on an automatic machine tool or an automatic production line, particularly an automatic relay grabbing mechanical arm, and the mechanical arm becomes important mechanical automation equipment for improving the automation degree of modern automatic production, improving the production efficiency and reducing the labor intensity of operators. However, most of the existing grabbing manipulators have complex structures, high maintenance and repair cost and heavy use burden for some small and medium-sized enterprises.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a compact structure, convenient to use, it is with low costs, the high grabbing manipulator device of degree of automation.

The utility model provides an above-mentioned technical problem's technical scheme as follows: the device comprises supporting legs, a base, a vertical plate, a positioning pin, a stepping motor, a rotating shaft, a belt, a fixing seat, a coupling, a transmission shaft, a screw rod, an inductor, a speed reducing block, a connecting pin shaft, a connecting block, a horizontal sliding rail, a horizontal movable plate, a vertical sliding rail, a vertical movable plate, a driving cylinder, a micro cylinder and a manipulator; the base is fixedly arranged on the supporting leg; the vertical plate is arranged in the middle of the base; the positioning pin is arranged on the base and is positioned on the outer side of the vertical plate; the stepping motor is arranged on one side of the vertical plate and is provided with the rotating shaft and the belt; the fixed seat is arranged at the top of the vertical plate and is close to the stepping motor; the coupler is arranged inside the fixed seat; the transmission shaft is connected with the belt; the screw rod is arranged above the vertical plate; the inductor is sleeved on the screw rod; the speed reducing block is sleeved on the screw rod; the connecting pin shaft is arranged at the top of the vertical plate and is connected with one end of the screw rod; the connecting block is arranged at the lower part of the inductor; the horizontal sliding rail is arranged in the middle of one side of the vertical plate; the horizontal movable plate is arranged on the horizontal sliding rail, and the horizontal movable plate and the stepping motor are arranged on the opposite side; the vertical slide rail is arranged on the horizontal movable plate; the vertical movable plate is arranged on the vertical slide rail; the driving cylinder is arranged at the top of the vertical movable plate; the micro cylinder is arranged on the vertical movable plate; the upper part of the manipulator is connected with the micro cylinder.

According to the grabbing manipulator device, one end of the coupler is connected with the transmission shaft, the other end of the coupler is connected with the lead screw, the transmission shaft can rotate to drive the coupler conveniently, the coupler drives the lead screw to rotate, and the lead screw drives the inductor.

According to the grabbing manipulator device, one end of the belt is connected with the rotating shaft, the other end of the belt is connected with the transmission shaft, the stepping motor is convenient to drive the rotating shaft to rotate, the rotating shaft drives the belt, and the belt drives the transmission shaft to rotate.

According to the grabbing manipulator device, the upper portion of the connecting block is connected with the sensor, the lower portion of the connecting block is connected with the horizontal movable plate, the sensor can conveniently drive the horizontal movable plate, the sensor can horizontally move on the screw rod to drive the horizontal movable plate to horizontally move on the horizontal sliding rail, and the structure is more compact.

As above a snatch manipulator device, vertical slide rail be equipped with 2 groups, vertical slide rail is the symmetry setting, is convenient for drive actuating cylinder and drives vertical fly leaf and reciprocate on vertical slide rail, miniature cylinder drives the manipulator and snatchs the transportation to the product, the device is more safe and stable.

According to the grabbing manipulator device, the manipulators are provided with 1 group or 2 groups, so that the grabbing manipulator device can be conveniently arranged according to actual conditions, and the grabbing and transferring work efficiency is improved.

The utility model has the advantages that: the base of the utility model is fixedly arranged on the supporting leg; the vertical plate is arranged in the middle of the base; the positioning pin is arranged on the base and is positioned on the outer side of the vertical plate; the stepping motor is arranged on one side of the vertical plate and is provided with a rotating shaft and a belt; the fixed seat is arranged at the top of the vertical plate and is close to the stepping motor; the coupler is arranged inside the fixed seat; the transmission shaft is connected with a belt; the screw rod is arranged above the vertical plate; the inductor is sleeved on the screw rod; the speed reducing block is sleeved on the screw rod; the connecting pin shaft is arranged at the top of the vertical plate and is connected with one end of the screw rod; the connecting block is arranged at the lower part of the inductor; the horizontal sliding rail is arranged in the middle of one side of the vertical plate; the horizontal movable plate is arranged on the horizontal sliding rail, and the horizontal movable plate and the stepping motor are arranged on the opposite side; the vertical slide rail is arranged on the horizontal movable plate; the vertical movable plate is arranged on the vertical slide rail; the driving cylinder is arranged at the top of the vertical movable plate; the micro cylinder is arranged on the vertical movable plate; miniature cylinder is connected on manipulator upper portion, the utility model discloses can be used for snatching of product to transport, compact structure, convenient to use, it is with low costs, degree of automation is high.

Drawings

Fig. 1 is a perspective view of a gripping manipulator device of the present invention;

fig. 2 is a front view of the grabbing manipulator device of the present invention.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1 and 2, a grabbing manipulator device comprises a supporting leg 1, a base 2, a vertical plate 3, a positioning pin 4, a stepping motor 5, a rotating shaft 6, a belt 7, a fixed seat 8, a coupler 9, a transmission shaft 10, a screw rod 11, an inductor 12, a speed reduction block 13, a connecting pin 14, a connecting block 15, a horizontal sliding rail 16, a horizontal movable plate 17, a vertical sliding rail 18, a vertical movable plate 19, a driving cylinder 20, a micro cylinder 21 and a manipulator 22; the base 2 is fixedly arranged on the supporting leg 1; the vertical plate 3 is arranged in the middle of the base 2; the positioning pin 4 is arranged on the base 2, and the positioning pin 4 is positioned on the outer side of the vertical plate 3; the stepping motor 5 is arranged on one side of the vertical plate 3, and the stepping motor 5 is provided with the rotating shaft 6 and the belt 7; the fixed seat 8 is arranged at the top of the vertical plate 3, and the fixed seat 8 is close to the stepping motor 5; the coupler 9 is arranged inside the fixed seat 8; the transmission shaft 10 is connected with the belt 7; the screw rod 11 is arranged above the vertical plate 3; the inductor 12 is sleeved on the screw rod 11; the speed reducing block 13 is sleeved on the screw rod 11; the connecting pin shaft 14 is arranged at the top of the vertical plate 3, and the connecting pin shaft 14 is connected with one end of the screw rod 11; the connecting block 15 is arranged at the lower part of the inductor 12; the horizontal sliding rail 16 is arranged in the middle of one side of the vertical plate 3; the horizontal movable plate 17 is arranged on the horizontal sliding rail 16, and the horizontal movable plate 17 and the stepping motor 5 are arranged on the opposite side; the vertical slide rail 18 is arranged on the horizontal movable plate 17; the vertical movable plate 19 is arranged on the vertical slide rail 18; the driving cylinder 20 is arranged at the top of the vertical movable plate 19; the micro cylinder 21 is arranged on the vertical movable plate 19; the upper part of the manipulator 22 is connected with the micro cylinder 21.

In one embodiment of the grabbing manipulator device, one end of the coupler 9 is connected with the transmission shaft 10, the other end of the coupler 9 is connected with the lead screw 11, the transmission shaft 10 rotates to drive the coupler 9, the coupler 9 drives the lead screw 11 to rotate, and the lead screw 11 drives the inductor 12.

In one embodiment of the grabbing manipulator device, one end of the belt 7 is connected with the rotating shaft 6, the other end of the belt 7 is connected with the transmission shaft 10, so that the stepping motor 5 drives the rotating shaft 6 to rotate, the rotating shaft 6 drives the belt 7, and the belt 7 drives the transmission shaft 10 to rotate.

In an embodiment of the grabbing manipulator device, the upper part of the connecting block 15 is connected with the sensor 12, the lower part of the connecting block 15 is connected with the horizontal moving plate 17, so that the sensor 12 drives the horizontal moving plate 17, the sensor 12 horizontally moves on the screw rod 11, and the horizontal moving plate 17 is driven to horizontally move on the horizontal sliding rail 16, and the structure is more compact.

In an embodiment of the grabbing manipulator device, the vertical slide rails 18 are provided with 2 groups, the vertical slide rails 18 are symmetrically arranged, so that the driving cylinder 20 is convenient to drive the vertical movable plate 19 to move up and down on the vertical slide rails 18, the micro cylinder 21 drives the manipulator 22 to grab and transport a product, and the device is safer and more stable.

When the utility model is used, the driving cylinder 20 drives the vertical movable plate 19 to move downwards on the vertical slide rail 18, the micro cylinder 21 drives the manipulator 22 to grab the product, the driving motor drives the vertical movable plate 19 to move upwards, the manipulator 22 returns to the initial position, the stepping motor 5 is turned on, the stepping motor 5 rotates in the forward direction, the rotating shaft 6 rotates, the rotating shaft 6 drives the belt 7, the belt 7 drives the transmission shaft 10 to rotate, the transmission shaft 10 rotates to drive the shaft coupling 9, the shaft coupling 9 drives the lead screw 11 to rotate, the lead screw 11 drives the inductor 12, the inductor 12 drives the horizontal movable plate 17, the inductor 12 moves horizontally on the lead screw 11, the horizontal movable plate 17 moves horizontally on the horizontal slide rail 16, the horizontal movable plate 17 drives the vertical movable plate 19, the vertical movable plate 19 drives the manipulator 22 to move horizontally, the product is transported to a designated place, and the stepping motor, bringing the robot 22 back to the original position. The utility model discloses can be used for snatching of product to transport, compact structure, convenient to use, it is with low costs, degree of automation is high.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a snatch manipulator device which characterized in that: the device comprises supporting legs, a base, a vertical plate, a positioning pin, a stepping motor, a rotating shaft, a belt, a fixing seat, a coupling, a transmission shaft, a screw rod, an inductor, a speed reducing block, a connecting pin shaft, a connecting block, a horizontal sliding rail, a horizontal movable plate, a vertical sliding rail, a vertical movable plate, a driving cylinder, a micro cylinder and a manipulator; the base is fixedly arranged on the supporting leg; the vertical plate is arranged in the middle of the base; the positioning pin is arranged on the base and is positioned on the outer side of the vertical plate; the stepping motor is arranged on one side of the vertical plate and is provided with the rotating shaft and the belt; the fixed seat is arranged at the top of the vertical plate and is close to the stepping motor; the coupler is arranged inside the fixed seat; the transmission shaft is connected with the belt; the screw rod is arranged above the vertical plate; the inductor is sleeved on the screw rod; the speed reducing block is sleeved on the screw rod; the connecting pin shaft is arranged at the top of the vertical plate and is connected with one end of the screw rod; the connecting block is arranged at the lower part of the inductor; the horizontal sliding rail is arranged in the middle of one side of the vertical plate; the horizontal movable plate is arranged on the horizontal sliding rail, and the horizontal movable plate and the stepping motor are arranged on the opposite side; the vertical slide rail is arranged on the horizontal movable plate; the vertical movable plate is arranged on the vertical slide rail; the driving cylinder is arranged at the top of the vertical movable plate; the micro cylinder is arranged on the vertical movable plate; the upper part of the manipulator is connected with the micro cylinder.

2. The grasping robot device according to claim 1, characterized in that: one end of the coupler is connected with the transmission shaft, and the other end of the coupler is connected with the screw rod.

3. The grasping robot device according to claim 1, characterized in that: one end of the belt is connected with the rotating shaft, and the other end of the belt is connected with the transmission shaft.

4. The grasping robot device according to claim 1, characterized in that: the upper part of the connecting block is connected with the inductor, and the lower part of the connecting block is connected with the horizontal movable plate.

5. The grasping robot device according to claim 1, characterized in that: the vertical slide rail be equipped with 2 groups, vertical slide rail is the symmetry setting.

6. The grasping robot device according to claim 1, characterized in that: the mechanical arm is provided with 1 group or 2 groups.