CN210551202U

CN210551202U - Practical vertical manipulator

Info

Publication number: CN210551202U
Application number: CN201921297266.1U
Authority: CN
Inventors: 周伟
Original assignee: Shenzhen Weifeng Precision Machinery Co ltd
Current assignee: Shenzhen Weifeng Precision Machinery Co ltd
Priority date: 2019-08-08
Filing date: 2019-08-08
Publication date: 2020-05-19
Anticipated expiration: 2029-08-08

Abstract

The utility model discloses a practical vertical manipulator, its structure includes the base, rotating base, and a support, the fixed axle, revolving cylinder, a controller, a sleeve, the telescopic link, telescopic cylinder, the lug, the fixed plate, the guide arm, lift cylinder and clamping mechanism, through having set up clamping mechanism in the left side of telescopic link, lead to promoting the cylinder output shaft and remove right, and drive the transmission piece and remove right, pull two clamp plate relative radial movement through the pull rod simultaneously, and make the slider remove in the slide opening, thereby realize that the clamp plate presss from both sides the material tightly, it presss from both sides tightly to have reached more stable material, prevent that the material from sliding, reduce the beneficial effect of potential safety hazard.

Description

Practical vertical manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to practical vertical manipulator.

Background

Along with the leap development of industrial production in China, the automation degree is rapidly improved to realize the automation of operations such as loading, unloading, steering, conveying or tool handling for processing, assembling and the like of workpieces, more and more attention is paid to the robot, the robot imitates partial actions of hands to realize grabbing, carrying or automation equipment according to given programs, tracks and requirements, the robot arm is the most different from the arm with human beings in flexibility and strength, namely the maximum advantage of the robot can repeatedly do the same action and can never feel tired under the normal condition of the machine, thereby reducing the labor intensity, ensuring the production quality, realizing safe production, improving the automatic production level and the labor productivity, leading the application of the mechanical arm to be more and more extensive, but the clamping cylinder stability that prior art manipulator adopted is relatively poor, causes to form great potential safety hazard when carrying some comparatively fragile products.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In order to overcome the defects of the prior art, the utility model provides a practical vertical manipulator which solves the problem that the stability of a clamping cylinder adopted by the manipulator in the prior art is poor, and a great potential safety hazard is formed when some fragile products are carried.

(II) technical scheme

The utility model discloses a following technical scheme realizes: the utility model provides a practical vertical manipulator, which comprises a base, a rotary base, a bracket, a fixed shaft, a rotary cylinder, a controller, a sleeve, a telescopic rod, a telescopic cylinder, a lug, a fixed plate, a guide rod, a lifting cylinder and a clamping mechanism, wherein the rotary base is locked on the right side of the top end surface of the base, the bracket is rotationally connected with the middle part of the top end surface of the rotary base through a rotating shaft, the clamping mechanism is arranged on the left end surface of the telescopic rod, the clamping mechanism consists of a shell, a clamping plate, an arc-shaped groove, an opening, a pull rod, a transmission block, a U-shaped plate, a slide hole, a slide block, a pushing cylinder and a fixed mechanism, the shell is vertically welded on the left end surface of the telescopic rod, the clamping plate is symmetrically arranged on the left side of the shell, the arc-shaped grooves are arranged on the right sides, the front side and the rear side of the top end face of the pull rod are respectively and rotatably connected with the left end of the inner side of the opening and the left end of the front end of the transmission block through shaft rods, the U-shaped plate is arranged at the left end of the inner side of the shell, the U-shaped plate movably extends into the right end of the inner side of the opening, the slide hole is formed in the left side of the top end face of the U-shaped plate, the slide block is locked in the middle of the right end of the inner side of the opening and slides back and forth along the inner side of the slide hole, the push cylinder is fastened at the right end of the inner side of the.

Further, the fixed shaft is arranged on the left side of the top end face of the base, the left side of the bottom end face of the rotary cylinder is nested at the top end of the outer side of the fixed shaft, an output shaft of the rotary cylinder is rotatably connected with the bottom of the left end face of the support, the controller is embedded in the rear side of the top end face of the base, the sleeve is arranged at the bottom end of the inner side of the support, the telescopic rod slides left and right along the inner side of the sleeve, the telescopic cylinder is locked at the middle part of the right end face of the sleeve, the telescopic cylinder penetrates through the middle part of the right end face of the sleeve and is fixedly connected with the middle part of the right end face of the telescopic rod, the two convex blocks are symmetrically locked at the left sides of the front end and the rear end of the sleeve, the left end and the right, the lifting cylinder is locked in the middle of the top end face of the fixed plate, and an output shaft of the lifting cylinder vertically penetrates through the middle of the top end face of the fixed plate and then is fixedly inserted in the left side of the top end face of the sleeve.

Further, fixed establishment comprises mounting plate, screw rod, protruding template, protruding type hole, cock board and locating block, the mounting plate symmetry is provided with two in the inboard right-hand member of shell, and just the counterface hugs closely in push cylinder front and back terminal surface middle part around two mounting plates, the screw inboard threaded connection that both ends right side was seted up around screw rod side surface and the shell, protruding template sets up the counterface around two screw rods as an organic whole structure, and protruding template outside terminal surface and two mounting plates front and back the inside rotation of the protruding template that the counterface middle part was seted up are connected, the cock board is fastened the protruding template inboard and is close to push cylinder one end, locating piece symmetry fixed mounting has two in the inboard right-hand member of shell, and just two locating piece front and back counterfacess are laminated respectively in push cylinder front and back terminal surface.

Furthermore, the pull rod is symmetrically provided with two groups of pull rods at the front end and the rear end of the transmission block.

Furthermore, the inner side of the arc-shaped groove is provided with a layer of anti-skid silica gel sheet, and more than two anti-skid convex points are distributed on the outer side end face of the silica gel sheet at equal intervals.

Furthermore, two pipe holes are formed in the top end face of the shell, and the positions of the pipe holes correspond to the output end and the input end of the pushing cylinder.

Furthermore, two sets of positioning blocks are symmetrically arranged at the right end of the inner side of the shell, and the front and rear opposite surfaces of the two sets of positioning blocks are respectively attached to the left and right sides of the front and rear end surfaces of the pushing cylinder.

Furthermore, one end of the fastening plate close to the pushing cylinder is adhered with a rubber layer through an adhesive.

Further, the pushing cylinder is an SDA cylinder.

Furthermore, the shell is made of aluminum alloy.

(III) advantageous effects

Compared with the prior art, the utility model, following beneficial effect has:

for the clamping cylinder stability that solves the prior art manipulator adoption is relatively poor, cause the problem that forms great potential safety hazard when carrying some comparatively fragile products, through having set up clamping mechanism in the left side of telescopic link, lead to promoting the cylinder output shaft and move right, and drive the transmission piece and move right, move through two relative radial movement of pull rod pulling clamp plates simultaneously, and make the slider remove in the slide opening, thereby realize that the clamp plate presss from both sides the material tightly, it presss from both sides tightly to have reached more stable material, prevent that the material from sliding, reduce the beneficial effect of potential safety hazard.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

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

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

FIG. 3 is a schematic view of the sectional structure inside the housing of the present invention;

fig. 4 is a schematic front view of the clamping plate of the present invention;

fig. 5 is an enlarged schematic view of the structure at a of the present invention.

In the figure: the device comprises a base-1, a rotating base-2, a bracket-3, a fixed shaft-4, a rotating cylinder-5, a controller-6, a sleeve-7, a telescopic rod-8, a telescopic cylinder-10, a bump-11, a fixed plate-12, a guide rod-13, a lifting cylinder-14, a clamping mechanism-9, a shell-91, a clamping plate-92, an arc-shaped groove-93, an opening-94, a pull rod-95, a transmission block-96, a U-shaped plate-97, a sliding hole-98, a sliding block-99, a pushing cylinder-910, a fixing mechanism-911, a fastening plate-9111, a screw rod-9112, a convex plate-9113, a convex hole-9114, a plug plate-9115 and a positioning block-9116.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the present invention provides a practical vertical manipulator: the device comprises a base 1, a rotating base 2, a support 3, a fixed shaft 4, a rotating cylinder 5, a controller 6, a sleeve 7, an expansion rod 8, a telescopic cylinder 10, a bump 11, a fixed plate 12, a guide rod 13, a lifting cylinder 14 and a clamping mechanism 9, wherein the rotating base 2 is locked on the right side of the top end face of the base 1, the support 3 is rotatably connected with the middle part of the top end face of the rotating base 2 through a rotating shaft, the clamping mechanism 9 is arranged on the left end face of the expansion rod 8, the clamping mechanism 9 comprises a shell 91, clamping plates 92, arc-shaped grooves 93, openings 94, a pull rod 95, a transmission block 96, a U-shaped plate 97, a sliding hole 98, a sliding block 99, a pushing cylinder 910 and a fixing mechanism 911, the shell 91 is vertically welded on the left end face of the expansion rod 8, the clamping plates 92 are symmetrically arranged on the left side of the shell 91, the right sides of front and back, the front side and the rear side of the top end face of the pull rod 95 are respectively rotatably connected with the left end of the inner side of the opening 94 and the left end of the front end of the transmission block 96 through shaft rods, the U-shaped plate 97 is arranged at the left end of the inner side of the shell 91, the U-shaped plate 97 movably extends into the right end of the inner side of the opening 94, the sliding hole 98 is arranged on the left side of the top end face of the U-shaped plate 97, the sliding block 99 is locked in the middle of the right end of the inner side of the opening 94, the sliding block 99 slides forwards and backwards along the inner side of the sliding hole 98, the pushing cylinder 910 is fastened at the right end of the inner.

Wherein, the fixed shaft 4 is arranged on the left side of the top end surface of the base 1, the left side of the bottom end surface of the rotary cylinder 5 is nested on the top end of the outer side of the fixed shaft 4, the output shaft of the rotary cylinder 5 is rotatably connected with the bottom of the left end surface of the bracket 3, the controller 6 is embedded on the rear side of the top end surface of the base 1, the sleeve 7 is arranged on the bottom end of the inner side of the bracket 3, the telescopic rod 8 slides left and right along the inner side of the sleeve 7, the telescopic cylinder 10 is locked in the middle of the right end surface of the sleeve 7, the telescopic cylinder 10 passes through the middle of the right end surface of the sleeve 7 and is fixedly connected with the middle of the right end surface of the telescopic rod 8, the convex blocks 11 are symmetrically locked on the left sides of the front and rear ends of the sleeve 7, the left and right ends of the fixed plate 12 are respectively and vertically welded in, the lifting cylinder 14 is locked in the middle of the top end face of the fixed plate 12, and an output shaft of the lifting cylinder 14 vertically penetrates through the middle of the top end face of the fixed plate 12 and then is fixedly inserted in the left side of the top end face of the sleeve 7.

Wherein, the fixing mechanism 911 is composed of a fastening plate 9111, two screws 9112, a convex plate 9113, convex holes 9114, a plug plate 9115 and a positioning block 9116, the fastening plate 9111 is symmetrically provided with two inner right ends of the shell 91, the front and back opposite surfaces of the two fastening plates 9111 are closely attached to the middle parts of the front and back end surfaces of the push cylinder 910, the side surface of the screw 9112 is in threaded connection with the inner sides of screw holes formed on the right sides of the front and back ends of the shell 91, the convex plate 9113 is arranged on the front and back opposite surfaces of the two screws 9112 in an integrated structure, the outer side end surface of the convex plate 9113 is rotatably connected with the inner sides of the convex holes 9114 formed on the middle parts of the front and back opposite surfaces of the two fastening plates 9111, the plug plate 9115 is fastened at one end of the convex hole 9114 close to the push cylinder 910, the positioning block 9116 is symmetrically and fixedly provided with two, the clamping mechanism 9 can rotate, lift and clamp materials conveniently.

Wherein, the pull rod 95 is symmetrically provided with two sets of driving blocks 96 at the front and rear ends, so that the driving blocks 96 are more stable in the moving process.

The inner side of the arc-shaped groove 93 is provided with a layer of anti-skidding silica gel sheet, and more than two anti-skidding salient points are distributed on the end face of the outer side of the silica gel sheet at equal intervals, so that the material in the arc-shaped groove 93 is clamped more stably.

Two pipe holes are formed in the top end face of the shell 91, and the positions of the pipe holes correspond to the output end and the input end of the push cylinder 910, so that an external air inlet pipe and an external air outlet pipe can be conveniently connected with the push cylinder 910.

Two sets of locating pieces 9116 are symmetrically arranged at the right end of the inner side of the shell 91, and the front and rear opposite surfaces of the two sets of locating pieces 9116 are respectively attached to the left and right sides of the front and rear end surfaces of the push cylinder 910, so that the push cylinder 910 is placed more stably.

One end of the fastening plate 9111, which is close to the push cylinder 910, is adhered with a rubber layer through an adhesive, so as to clamp the push cylinder 910 more stably.

The pushing cylinder 910 is an SDA cylinder, and the pushing process is stable.

The housing 91 is made of aluminum alloy.

From the above table, it can be seen that: the utility model discloses an aluminum alloy material that shell 91 adopted has the lighter advantage of material.

The patent states: a cylindrical metal part pushing the cylinder 910 to guide the piston to perform linear reciprocating motion in the cylinder, and the air converts thermal energy into mechanical energy through expansion in the engine cylinder; the gas is compressed by the piston in the cylinder of a compressor to increase the pressure, the housing of turbines, rotary piston engines and the like, also commonly referred to as "cylinder", the field of application of cylinders: printing (tension control), semiconductors (spot welding machines, chip grinding), automation control, robotics, etc.

The working principle is as follows: firstly, the designated positions of a rotary cylinder 5, a telescopic cylinder 10, a lifting cylinder 14 and a pushing cylinder 910 are connected with an external air supply device, the external air supply device is electrically connected with a controller 6, then a corresponding program is input in the controller 6 according to the transportation path of a product, then the manipulator works, an output shaft of the telescopic cylinder 10 pushes a telescopic rod 8 to move leftwards, then the output shaft of the pushing cylinder 910 moves rightwards, a transmission block 96 is driven to move rightwards, the transmission block 96 pulls two clamping plates 92 to move radially relatively through a pull rod 95, a slide block 99 moves in a slide hole 98, the product is clamped and fixed by the left sides of front and back opposite surfaces of the two clamping plates 92 or the inner sides of arc-shaped grooves 93 according to the formation of the product, and then the output shaft of the telescopic cylinder 10 moves rightwards to drive the telescopic rod 8, The shell 91, the clamping plates 92 and the product move rightwards to a designated position, an output shaft of the lifting cylinder 14 contracts to drive the sleeve 7, the telescopic rod 8 and the product to ascend to the designated position, meanwhile, the protruding block 11 slides vertically upwards on the side surface of the guide rod 13, then the protruding block extends out from an output shaft of the rotating cylinder 5, the output shaft of the rotating cylinder 5 pushes the support 3 to rotate, after the clamping plates 92 drive the product to the designated position, the output shaft of the pushing cylinder 910 moves leftwards to drive the transmission block 96 to move leftwards, meanwhile, the pull rod 95 pushes the two clamping plates 92 to move outwards in a relative radial direction, so that the product is changed from a clamping state to a loose state and falls down, and therefore, the product transportation.

The basic principle and the main characteristics of the utility model and the advantages of the utility model have been shown and described above, and the utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the record of the description with the drawing, and the concrete connection mode of each part all adopts conventional means such as ripe bolt rivet among the prior art, welding, and machinery, part and equipment all adopt prior art, conventional model, and conventional connection mode in the prior art is adopted in addition to circuit connection, and the details are not repeated here.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A practical vertical manipulator comprises a base (1), a rotating base (2), a support (3), a fixed shaft (4), a rotating cylinder (5), a controller (6), a sleeve (7), an expansion rod (8), an expansion cylinder (10), a bump (11), a fixed plate (12), a guide rod (13) and a lifting cylinder (14), wherein the rotating base (2) is locked on the right side of the top end face of the base (1), and the support (3) is rotatably connected with the middle of the top end face of the rotating base (2) through a rotating shaft;

the method is characterized in that: the clamping device is characterized by further comprising a clamping mechanism (9), the clamping mechanism (9) is installed on the left end face of the telescopic rod (8), the clamping mechanism (9) is composed of a shell (91), clamping plates (92), arc-shaped grooves (93), openings (94), pull rods (95), transmission blocks (96), a U-shaped plate (97), sliding holes (98), sliding blocks (99), a pushing cylinder (910) and a fixing mechanism (911), the shell (91) is perpendicularly welded on the left end face of the telescopic rod (8), the clamping plates (92) are symmetrically arranged on the left side of the shell (91), the arc-shaped grooves (93) are formed in the right sides of the front and back opposite faces of the two clamping plates (92), the openings (94) penetrate through the middles of the right sides and the right end faces of the front and back end faces of the clamping plates (92), the front and back sides of the top end faces of the pull rods (95) are respectively and rotatably connected with the left end of the inner sides, u template (97) set up in shell (91) inboard left end, and U template (97) activity stretches into in opening (94) inboard right-hand member, sliding hole (98) are seted up in U template (97) top terminal surface left side, slider (99) closure in opening (94) inboard right-hand member middle part, and slider (99) slide around sliding hole (98) inboard, promote cylinder (910) and fasten in shell (91) inboard right-hand member through fixed establishment (911), and promote cylinder (910) output shaft pass behind U template (97) right-hand member middle part fixed connection in transmission piece (96) right-hand member middle part.

2. The utility model discloses a vertical manipulator of utility type according to claim 1, characterized in that: the fixed shaft (4) is arranged on the left side of the top end face of the base (1), the left side of the bottom end face of the rotary cylinder (5) is nested at the top end of the outer side of the fixed shaft (4), the output shaft of the rotary cylinder (5) is rotatably connected with the bottom of the left end face of the support (3), the controller (6) is embedded in the rear side of the top end face of the base (1), the sleeve (7) is arranged at the bottom end of the inner side of the support (3), the telescopic rod (8) slides leftwards and rightwards along the inner side of the sleeve (7), the telescopic cylinder (10) is locked in the middle of the right end face of the sleeve (7), the telescopic cylinder (10) penetrates through the middle of the right end face of the sleeve (7) and then is fixedly connected to the middle of the right end face of the telescopic rod (8), the convex blocks (11) are symmetrically locked on the left sides of the front, two ends of the guide rod (13) are fastened on the top end face of the inner side and the bottom end face of the inner side of the support (3) respectively, the side surface of the guide rod (13) is movably connected with the inner sides of through holes formed in the convex block (11) and the top end face of the fixing plate (12), the lifting cylinder (14) is locked in the middle of the top end face of the fixing plate (12), and an output shaft of the lifting cylinder (14) vertically penetrates through the middle of the top end face of the fixing plate (12) and then is fixedly inserted in the left side of the top.

3. The utility model discloses a vertical manipulator of utility type according to claim 1, characterized in that: the fixing mechanism (911) is composed of a fastening plate (9111), a screw rod (9112), a convex plate (9113), convex holes (9114), a plug plate (9115) and a positioning block (9116), wherein the fastening plate (9111) is symmetrically provided with two ends at the inner side of the shell (91), the front and back opposite surfaces of the two fastening plates (9111) are closely attached to the middle parts of the front and back end surfaces of the push cylinder (910), the side surfaces of the screw rod (9112) are in threaded connection with the inner sides of screw holes formed in the front and back right sides of the shell (91), the convex plate (9113) is in an integrated structure and is arranged on the front and back opposite surfaces of the two screw rods (9112), the outer side end surface of the convex plate (9113) is in rotary connection with the inner sides of the convex holes (9114) formed in the front and back opposite surfaces of the two fastening plates (9111), the plug plate (9115) is fastened to the inner side of the convex hole (9114) and is close to one end of the push cylinder, and the front and back opposite surfaces of the two positioning blocks (9116) are respectively attached to the left sides of the front and back end surfaces of the pushing cylinder (910).

4. The utility model discloses a vertical manipulator of utility type according to claim 1, characterized in that: the pull rods (95) are symmetrically provided with two groups of pull rods at the front end and the rear end of the transmission block (96).

5. The utility model discloses a vertical manipulator of utility type according to claim 1, characterized in that: the inner side of the arc-shaped groove (93) is provided with a layer of anti-skidding silica gel sheet, and more than two anti-skidding salient points are distributed on the outer side end face of the silica gel sheet at equal intervals.

6. The utility model discloses a vertical manipulator of utility type according to claim 1, characterized in that: two pipe holes are formed in the top end face of the shell (91), and the positions of the pipe holes correspond to the output end and the input end of the pushing cylinder (910).

7. The utility model discloses a vertical manipulator of claim 3, characterized in that: two sets of locating pieces (9116) are symmetrically arranged at the right end of the inner side of the shell (91), and the front and back opposite surfaces of the two sets of locating pieces (9116) are respectively attached to the left and right sides of the front and back end surfaces of the push cylinder (910).

8. The utility model discloses a vertical manipulator of claim 3, characterized in that: one end of the fastening plate (9111) close to the pushing cylinder (910) is adhered with a rubber layer through an adhesive.