CN210589275U

CN210589275U - Manipulator waste material taking device

Info

Publication number: CN210589275U
Application number: CN201921613937.0U
Authority: CN
Inventors: 智月松; 郭晶鑫; 智明鸿; 陈海波
Original assignee: Taicang Aolinji Auto Parts Co Ltd
Current assignee: Taicang Aolinji Auto Parts Co Ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-05-22
Anticipated expiration: 2029-09-26

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a waste material taking device of a mechanical arm, which increases the moving range of a clamping jaw and reduces the use limitation; including base, rotary joint, big arm, manipulator elbow, forearm, arm wrist, clamping jaw and carousel, rotary joint sets up in the base upper end, and big arm lower extreme is connected with the rotary joint upper end, and manipulator elbow lower extreme is connected with big arm upper end, and the forearm left end is connected with manipulator elbow right-hand member, and the arm wrist left end is connected with the forearm right-hand member, and the clamping jaw left end is connected with arm wrist right-hand member, and the carousel is rotatable to be installed in the base upper end, and the rotary joint lower extreme is connected with the carousel upper end.

Description

Manipulator waste material taking device

Technical Field

The utility model relates to a technical field of manipulator especially relates to a manipulator gets waste device.

Background

As is well known, a manipulator waste material taking device is an auxiliary device for grabbing waste materials, and is widely used in the field of manipulators; nowadays, the function of a manipulator is more and more big, it can replace the heavy work of people to realize the mechanization and automation of production, can operate in harmful environment in order to protect the personal safety, therefore apply to departments such as machine-building, metallurgy, electron, light industry and atomic energy extensively, the manipulator mainly comprises hand and kinematic mechanism, in order to can grasp the object in the space, the manipulator needs a plurality of degrees of freedom, the more the degree of freedom, the more flexible of the manipulator, the more the universality, its structure is more complicated, the general special manipulator has 2 or 3 degrees of freedom, its kind can be divided into hydraulic, pneumatic, electrodynamic, mechanical manipulator according to the driving mode; the existing manipulator waste material taking device finds that the movable range of the clamping jaw is limited in use, so that the waste material grabbing efficiency is slow, and the use limitation is high.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a make clamping jaw home range increase, reduce the manipulator that uses the limitation and get waste material device.

The utility model discloses a manipulator gets waste device, including base, rotary joint, big arm, manipulator elbow, forearm, arm wrist, clamping jaw and carousel, rotary joint sets up in the base upper end, and big arm lower extreme is connected with the rotary joint upper end, and the manipulator elbow lower extreme is connected with big arm upper end, and the forearm left end is connected with manipulator elbow right-hand member, and the arm wrist left end is connected with the forearm right-hand member, and the clamping jaw left end is connected with the arm wrist right-hand member, and the carousel is rotatable to be installed in the base upper end, and the rotary joint lower extreme is connected with the carousel upper end.

The utility model discloses a waste material device is got to manipulator still includes big arm joint and big arm joint axle, and big arm joint sets up in big arm joint epaxial end, and big arm joint middle part is provided with the bearing, and big arm joint axle sets up at big arm lower extreme, and the rotatable setting of big arm joint axle is in big arm joint middle part bearing.

The utility model discloses a waste material device is got to manipulator still includes elbow joint and elbow joint axle, and the elbow joint sets up at the elbow joint lower extreme, and elbow joint axle sets up at elbow joint middle part, and big arm upper end middle part is provided with the bearing, and the rotatable setting of elbow joint axle is in big arm upper end bearing.

The utility model discloses a waste material device is got to manipulator still includes elbow carousel seat, elbow carousel and connecting block, and elbow carousel seat sets up at the manipulator elbow right-hand member, and the connecting block setting is provided with the elbow carousel at the forearm left end, connecting block left end, elbow carousel and elbow carousel seat rotatable coupling.

The utility model discloses a waste material device is got to manipulator still includes wrist joint and wrist joint axle, and wrist joint sets up at the forearm right-hand member, and wrist joint axle sets up at wrist joint middle part, and the arm wrist left end is connected with wrist joint axle to the circular motion can be around wrist joint axle to the arm wrist.

The utility model discloses a waste material device is got to manipulator still includes clamping jaw carousel axle and clamping jaw carousel, and clamping jaw carousel axle sets up at the wrist joint right-hand member, and the clamping jaw carousel sets up at the clamping jaw left end, clamping jaw carousel axle and clamping jaw carousel rotatable coupling.

The utility model discloses a manipulator gets waste device still includes tooth, and tooth setting is inboard at the clamping jaw.

The utility model discloses a waste material device is got to manipulator still includes fixed plate and quick mounting hole, and the fixed plate setting is at the base lower extreme, and the quick mounting hole of four groups sets up respectively on four angles of fixed plate.

Compared with the prior art, the beneficial effects of the utility model are that: the carousel of base upper end rotates, drives each group mechanical arm of upper end and clamping jaw and makes circular motion, adjusts the position of clamping jaw, later aims at the waste material and snatchs, makes clamping jaw home range increase, reduces and uses the limitation.

Drawings

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

fig. 2 is a front view of the present invention;

FIG. 3 is an enlarged schematic view of the jaw attached to the forearm;

in the drawings, the reference numbers: 1. a base; 2. a rotary joint; 3. a large arm; 4. a mechanical elbow; 5. a small arm; 6. an arm wrist; 7. a clamping jaw; 8. a turntable; 9. a large arm joint; 10. a large arm joint shaft; 11. an elbow joint; 12. an elbow joint axis; 13. an elbow turntable base; 14. an elbow turntable; 15. connecting blocks; 16. a wrist joint; 17. a wrist joint axis; 18. a jaw turntable shaft; 19. a jaw turntable; 20. teeth; 21. a fixing plate; 22. and (6) quickly installing holes.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

As shown in fig. 1 to 3, the waste material taking device with a manipulator of the present invention comprises a base 1, a rotary joint 2, a large arm 3, a manipulator elbow 4, a small arm 5, an arm wrist 6, a clamping jaw 7 and a rotary disc 8, wherein the rotary joint 2 is arranged at the upper end of the base 1, the lower end of the large arm 3 is connected with the upper end of the rotary joint 2, the lower end of the manipulator elbow 4 is connected with the upper end of the large arm 3, the left end of the small arm 5 is connected with the right end of the manipulator elbow 4, the left end of the arm wrist 6 is connected with the right end of the small arm 5, the left end of the clamping jaw 7 is connected with the right end of the arm wrist 6, the rotary disc 8 is rotatably mounted at the upper end of; the carousel 8 of base 1 upper end rotates, drives each group mechanical arm of upper end and clamping jaw 7 and is circular motion, adjusts clamping jaw 7's position, later aims at the waste material and snatchs, makes clamping jaw 7 home range increase, reduces and uses the limitation.

The utility model discloses a manipulator gets waste device, still include big arm joint 9 and big arm joint axle 10, big arm joint 9 sets up in big arm joint axle 10 upper end, and big arm joint 9 middle part is provided with the bearing, and big arm joint axle 10 sets up in big arm 3 lower extreme, and big arm joint axle 10 is rotatable to be set up in big arm joint 9 middle part bearing; through setting up big arm joint 9 and big arm joint axle 10, be convenient for make big arm 3 do circular motion at rotary joint 2 upper end, increase clamping jaw 7 home range, reduce and use the limitation.

The utility model discloses a manipulator gets waste device still includes elbow joint 11 and elbow joint axle 12, and elbow joint 11 sets up in 4 lower extremes of manipulator elbow, and elbow joint axle 12 sets up in elbow joint 11 middle part, and big arm 3 upper end middle part is provided with the bearing, and elbow joint axle 12 is rotatable to be set up in big arm 3 upper end bearing; through setting up elbow joint 11 and elbow joint axle 12, elbow joint axle 12 and the cooperation of big arm 3 upper end bearing increase the flexibility of manipulator, improve the practicality of using.

The utility model discloses a manipulator gets waste device, still include elbow carousel seat 13, elbow carousel 14 and connecting block 15, elbow carousel seat 13 sets up at the 4 right-hand members of manipulator elbow, and connecting block 15 sets up at forearm 5 left ends, and connecting block 15 left end is provided with elbow carousel 14, and elbow carousel 14 and elbow carousel seat 13 rotatable coupling; through setting up elbow carousel seat 13 and elbow carousel 14, be convenient for control clamping jaw 7 is circular motion around mechanical elbow 4, is convenient for snatch and puts anomalous waste material, reduces and uses the limitation.

The utility model discloses a manipulator waste material taking device, further comprising a wrist joint 16 and a wrist joint shaft 17, wherein the wrist joint 16 is arranged at the right end of the small arm 5, the wrist joint shaft 17 is arranged in the middle of the wrist joint 16, the left end of the arm wrist 6 is connected with the wrist joint shaft 17, and the arm wrist 6 can do circular motion around the wrist joint shaft 17; by arranging the wrist joint 16 and the wrist joint shaft 17, the arm wrist 6 can swing conveniently, the flexibility of the clamping jaw 7 is increased, and the use practicability is improved.

The utility model discloses a manipulator gets waste material device still includes clamping jaw carousel axle 18 and clamping jaw carousel 19, and clamping jaw carousel axle 18 sets up at the 16 right-hand members of wrist joint, and clamping jaw carousel 19 sets up at the 7 left ends of clamping jaw, clamping jaw carousel axle 18 and clamping jaw carousel 19 rotatable coupling; through setting up clamping jaw carousel axle 18 and clamping jaw carousel 19, the clamping jaw 7 of being convenient for rotates, reduces and uses the limitation.

The utility model discloses a manipulator waste material taking device, which also comprises teeth 20, wherein the teeth 20 are arranged at the inner side of the clamping jaw 7; through setting up tooth 20, increase clamping jaw 7 snatchs frictional force, prevents that the waste material that is snatched from dropping, improves stability in use.

The utility model discloses a manipulator waste material taking device, which also comprises a fixed plate 21 and fast mounting holes 22, wherein the fixed plate 21 is arranged at the lower end of the base 1, and the four groups of fast mounting holes 22 are respectively arranged at four corners of the fixed plate 21; through setting up fixed plate 21 and quick mounting hole 22, be convenient for fix the manipulator installation subaerial, prevent that the manipulator from rocking and toppling over, improve stability in use.

The utility model discloses a waste material device is got to manipulator, it is at the during operation, at first rotates the carousel of base upper end, drives each group arm in upper end and clamping jaw and is circular motion, adjusts the position of clamping jaw, later big arm rotates in the revolute joint upper end, then the manipulator elbow rotates in big arm upper end, later forearm rotates at the manipulator elbow right-hand member, then the arm wrist swings at the forearm right-hand member, later the clamping jaw rotates at the arm wrist right-hand member, then the clamping jaw snatchs the waste material can.

The installation mode, the connection mode or the setting mode of the waste material taking device with the manipulator of the utility model are common mechanical modes, and the waste material taking device can be implemented as long as the beneficial effects can be achieved; the utility model discloses a clamping jaw that waste material device was got to manipulator is purchase on the market, and this technical staff in the industry only need according to its subsidiary service instruction install and operate can.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a manipulator gets waste device, a serial communication port, including base (1), rotary joint (2), big arm (3), manipulator elbow (4), forearm (5), arm wrist (6), clamping jaw (7) and carousel (8), rotary joint (2) set up in base (1) upper end, big arm (3) lower extreme is connected with rotary joint (2) upper end, manipulator elbow (4) lower extreme is connected with big arm (3) upper end, forearm (5) left end is connected with manipulator elbow (4) right-hand member, arm wrist (6) left end is connected with forearm (5) right-hand member, clamping jaw (7) left end is connected with arm wrist (6) right-hand member, carousel (8) rotatable the installation in base (1) upper end, rotary joint (2) lower extreme is connected with carousel (8) upper end.

2. A manipulator waste material taking device according to claim 1, further comprising a large arm joint (9) and a large arm joint shaft (10), wherein the large arm joint (9) is arranged at the upper end of the large arm joint shaft (10), a bearing is arranged in the middle of the large arm joint (9), the large arm joint shaft (10) is arranged at the lower end of the large arm (3), and the large arm joint shaft (10) is rotatably arranged in the bearing in the middle of the large arm joint (9).

3. A manipulator waste material taking device according to claim 2, further comprising an elbow joint (11) and an elbow joint shaft (12), wherein the elbow joint (11) is arranged at the lower end of the manipulator elbow (4), the elbow joint shaft (12) is arranged in the middle of the elbow joint (11), a bearing is arranged in the middle of the upper end of the large arm (3), and the elbow joint shaft (12) is rotatably arranged in the bearing at the upper end of the large arm (3).

4. A manipulator waste material taking device according to claim 3, further comprising an elbow turntable seat (13), an elbow turntable (14) and a connecting block (15), wherein the elbow turntable seat (13) is arranged at the right end of the manipulator elbow (4), the connecting block (15) is arranged at the left end of the small arm (5), the elbow turntable (14) is arranged at the left end of the connecting block (15), and the elbow turntable (14) is rotatably connected with the elbow turntable seat (13).

5. A manipulator waste material taking device according to claim 4, further comprising a wrist joint (16) and a wrist joint shaft (17), wherein the wrist joint (16) is arranged at the right end of the small arm (5), the wrist joint shaft (17) is arranged in the middle of the wrist joint (16), the left end of the arm wrist (6) is connected with the wrist joint shaft (17), and the arm wrist (6) can make a circular motion around the wrist joint shaft (17).

6. A manipulator waste material taking device according to claim 5, further comprising a clamping jaw turntable shaft (18) and a clamping jaw turntable (19), wherein the clamping jaw turntable shaft (18) is arranged at the right end of the wrist joint (16), the clamping jaw turntable (19) is arranged at the left end of the clamping jaw (7), and the clamping jaw turntable shaft (18) is rotatably connected with the clamping jaw turntable (19).

7. A manipulator waste retrieval device according to claim 6, further comprising teeth (20), the teeth (20) being disposed inside the jaw (7).

8. A manipulator waste material taking device according to claim 7, further comprising a fixing plate (21) and four quick mounting holes (22), wherein the fixing plate (21) is arranged at the lower end of the base (1), and the four quick mounting holes (22) are respectively arranged at four corners of the fixing plate (21).