CN210633700U

CN210633700U - Hydraulic drive formula biax swing arm manipulator device

Info

Publication number: CN210633700U
Application number: CN201921129493.3U
Authority: CN
Inventors: 张宪雷
Original assignee: Jishan Automation Technology Shanghai Co Ltd
Current assignee: Jishan Automation Technology Shanghai Co Ltd
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2020-05-29
Anticipated expiration: 2029-07-18

Abstract

The utility model discloses a hydraulic drive formula biax swing arm manipulator device, the on-line screen storage device comprises a base, be equipped with the rotating base on the base, the inside first cavity that is equipped with of rotating base, the inside step motor that is equipped with of first cavity, the top that the output of step motor stretches out the rotating base is connected with the revolving stage, the revolving stage upper surface articulates there is first arm, one side of first arm is equipped with first pneumatic cylinder, the both ends of first pneumatic cylinder are articulated with the upper surface of revolving stage, the lateral wall of first arm respectively, the one end that first arm kept away from the revolving stage is connected with the second arm through the pivot, be equipped with the second pneumatic cylinder between second arm, first arm, the both ends of second pneumatic cylinder are articulated with first arm, second arm respectively; one end of the second mechanical arm, which is far away from the first mechanical arm, is connected with a telescopic arm, and the bottom of the telescopic arm is connected with a mechanical arm. The utility model discloses can adjust the length of mechanical arm as required.

Description

Hydraulic drive formula biax swing arm manipulator device

Technical Field

The utility model relates to a robotic arm technical field especially relates to a hydraulic drive formula biax swing arm manipulator device.

Background

The manipulator can imitate some movement functions of the human hand and arm, in order to grasp, transport the automatic operating device of the things or operating tool, the manipulator is the industrial robot appearing at first, it is the modern robot appearing at first, it can replace the heavy work of the people to realize mechanization and automation of production, can operate in the harmful environment in order to protect the personal safety, therefore apply to departments such as mechanical manufacturing, metallurgy, electron, light industry and atomic energy extensively. However, the mechanical arm on the market at present has the following defects: the length of the mechanical arm cannot be adjusted according to the requirement when the mechanical arm is used, and the mechanical arm is easy to cause insufficient length in object picking.

Disclosure of Invention

In order to solve the problem mentioned in the above-mentioned background art, the utility model provides a hydraulic drive formula biax swing arm manipulator device can adjust the length of arm as required.

A hydraulic drive type double-shaft swing arm manipulator device comprises a base, wherein a rotating base is arranged on the base, a first cavity is formed in the rotating base, a step motor is arranged in the first cavity, the top of the output end of the step motor, which extends out of the rotating base, is connected with a rotating table, the upper surface of the rotating table is hinged with a first mechanical arm, one side of the first mechanical arm is provided with a first hydraulic cylinder, two ends of the first hydraulic cylinder are respectively hinged with the upper surface of the rotating table and the side wall of the first mechanical arm, one end, away from the rotating table, of the first mechanical arm is connected with a second mechanical arm through a rotating shaft, a second hydraulic cylinder is arranged between the second mechanical arm and the first mechanical arm, and two ends of the second hydraulic cylinder are respectively hinged with the first mechanical arm and the second mechanical;

one end of the second mechanical arm far away from the first mechanical arm is connected with a telescopic arm, the telescopic arm comprises a mounting plate connected with the second mechanical arm, the upper part of the side wall of one end of the mounting plate, which is far away from the second mechanical arm, is connected with a crossbeam, the bottom of the crossbeam is provided with a T-shaped chute, a T-shaped long slide block which can reciprocate along the T-shaped sliding groove is arranged in the T-shaped sliding groove and comprises a vertical part and a transverse part connected with the top end of the vertical part, the front side and the rear side of one end of the transverse part close to the mounting plate are connected with limit blocks, one end of the T-shaped chute far away from the mounting plate is connected with a baffle matched with the limit blocks, the baffle is used for blocking the limiting block, the bottom end of the vertical part extends out of the T-shaped sliding groove and is connected with a third mechanical arm, the one end that the third arm is close to the mounting panel is connected with the mounting panel through the third pneumatic cylinder, the one end bottom that the mounting panel was kept away from to the third arm is connected with the manipulator.

Further, the manipulator includes the fixing base, the top of fixing base is connected with the bottom of third arm, the inside second cavity that is equipped with of fixing base, the inside spring that is equipped with of second cavity, the top and the fixing base top wall connection of spring, the bottom of spring is connected with the shock attenuation pole that stretches out the fixing base, the fixed cyclic annular stopper that has cup jointed in top of shock attenuation pole, the annular stopper can be supported and prevent that the shock attenuation pole from droing on the bottom inner wall of fixing base, the shock attenuation pole bottom is connected with horizontal fixed plate, horizontal fixed plate lower surface both ends are connected with first grip block, vertical fixed plate respectively, through connection has the fourth pneumatic cylinder in the vertical fixed plate, the output of fourth pneumatic cylinder is connected with the second grip block, the second grip block is located between first grip block, the vertical fixed plate.

Furthermore, the first clamping plate and the second clamping plate are fixedly connected with rubber pads on the opposite surfaces, and anti-skid grains are arranged on the opposite surfaces of the two rubber pads.

The utility model has the advantages that:

1. the utility model discloses can adjust the angle of first arm, second arm through first pneumatic cylinder, second pneumatic cylinder to make first arm, second arm can nimble motion, just the utility model discloses be equipped with flexible arm, can adjust flexible arm's length as required.

2. The utility model discloses an inside spring that is equipped with of fixing base of manipulator can be equipped with the rubber pad on first grip block, the second grip block in the twinkling of an eye of snatching article, can reduce the damage to article simultaneously, and the anti-skidding line that is equipped with on the rubber pad can increase the frictional force between article and rubber pad, prevents that article from droing.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a schematic structural view of the telescopic arm.

Fig. 3 is a front view of the telescopic arm.

Fig. 4 is a schematic structural view of the T-shaped strip slider and the third mechanical arm.

Fig. 5 is a sectional view taken along line a-a of fig. 3.

Fig. 6 is a right side view of the telescopic arm.

Fig. 7 is a schematic structural view of the robot.

Wherein, 1 is the base, 2 is the rotating bed, 3 is the step motor, 4 is the revolving stage, 5 is first arm, 6 is first pneumatic cylinder, 7 is the pivot, 8 is the second arm, 9 is the second pneumatic cylinder, 10 is flexible arm, 11 is the mounting panel, 12 is the crossbeam, 13 is the T-shaped spout, 14 is the rectangular slider of T-shaped, 14.1 is vertical portion, 14.2 is horizontal portion, 15 is the stopper, 16 is the baffle, 17 is the third arm, 18 is the third pneumatic cylinder, 19 is the manipulator, 20 is the fixing base, 21 is the spring, 22 is the shock absorber rod, 23 is annular stopper, 24 is horizontal fixed plate, 25 is first grip block, 26 is vertical fixed plate, 27 is the fourth pneumatic cylinder, 28 is the second grip block, 29 is the rubber pad.

Detailed Description

The present invention will be described in further detail below with reference to the accompanying drawings by way of specific embodiments.

A hydraulic drive type double-shaft swing arm manipulator device comprises a base 1, wherein a rotating base 2 is arranged on the base 1, a first cavity is arranged in the rotating base 2, a step motor 3 is arranged in the first cavity, the top of the output end of the step motor 3, which extends out of the rotating base 2, is connected with a rotating table 4, the upper surface of the rotating table 4 is hinged with a first manipulator 5, one side of the first manipulator 5 is provided with a first hydraulic cylinder 6, two ends of the first hydraulic cylinder 6 are respectively hinged with the upper surface of the rotating table 4 and the side wall of the first manipulator 5, one end, far away from the rotating table 4, of the first manipulator 5 is connected with a second manipulator 8 through a rotating shaft 7, a second hydraulic cylinder 9 is arranged between the second manipulator 8 and the first manipulator 5, and two ends of the second hydraulic cylinder 9 are respectively hinged with the first manipulator 5 and the second manipulator;

one end of the second mechanical arm 8, which is far away from the first mechanical arm 5, is connected with a telescopic arm 10, the telescopic arm 10 comprises a mounting plate 11 connected with the second mechanical arm 8, the upper part of the side wall of one end of the mounting plate 11, which is far away from the second mechanical arm 8, is connected with a cross beam 12, the bottom of the cross beam 12 is provided with a T-shaped sliding chute 13, a T-shaped long sliding block 14 capable of reciprocating along the T-shaped sliding chute 13 is arranged inside the T-shaped sliding chute 13, the T-shaped long sliding block 14 comprises a vertical part 14.1 and a transverse part 14.2 connected with the top end of the vertical part 14.1, the front side and the rear side of one end, which is close to the mounting plate 11, of the transverse part 14.2 are connected with limit blocks 15, one end, which is far away from the mounting plate 11, of the T-shaped sliding chute 13 is connected with a baffle 16 matched with the limit blocks 15, the bottom of the end of the third mechanical arm 17 far away from the mounting plate 11 is connected with a mechanical arm 19.

The manipulator 19 comprises a fixed seat 20, the top end of the fixed seat 20 is connected with the bottom end of the third mechanical arm 17, a second cavity is arranged inside the fixed seat 20, a spring 21 is arranged inside the second cavity, the top end of the spring 21 is connected with the inner wall of the top end of the fixed seat 20, the bottom end of the spring 21 is connected with a shock absorption rod 22 extending out of the fixed seat 20, the top end of the shock absorption rod 22 is fixedly sleeved with an annular limiting block 23, the annular limiting block 23 can be abutted against the inner wall of the bottom of the fixed seat 20 to prevent the shock absorption rod 22 from falling off from the fixed seat 20, the bottom end of the shock absorption rod 22 is connected with a transverse fixed plate 24, two ends of the lower surface of the transverse fixed plate 24 are respectively connected with a first clamping plate 25 and a vertical fixed plate 26, a fourth hydraulic cylinder 27 is penetrati, between the vertical fixing plates 26.

Rubber pads 29 are fixedly connected to the opposite surfaces of the first clamping plate 25 and the second clamping plate 28, and anti-skid grains are arranged on the opposite surfaces of the two rubber pads 29.

The utility model discloses when concrete implementation: the rotating platform 4 is driven by the stepping motor 3 to rotate so that the manipulator 19 rotates to a proper position, the angles of the first manipulator arm 5 and the second manipulator arm 8 are adjusted by the first hydraulic cylinder 6 and the second hydraulic cylinder 9 in a telescopic way, the third manipulator arm 17 is pushed and pulled by the third hydraulic cylinder 18 in a telescopic way, thereby adjusting the length of the telescopic arm 10 to suit different working conditions, when the manipulator 19 is moved to the right position, the fourth hydraulic cylinder 27 pushes the second clamping plate 28 to clamp the object, the spring 21 in the fixed seat 20 can play a role of buffering, therefore, when the manipulator 19 grabs the article transverse fixing plate 24 and touches the article, the impact force of the transverse fixing plate 24 on the article is reduced, the rubber pad 29 can reduce the damage of the first clamping plate 25 and the second clamping plate 28 on the article, the anti-skid lines on the rubber pad 29 can increase the friction force between the rubber pad 29 and the article, and the article is prevented from falling off.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hydraulic drive type double-shaft swing arm manipulator device is characterized by comprising a base, wherein a rotating base is arranged on the base, a first cavity is formed in the rotating base, a step motor is arranged in the first cavity, the top of the output end of the step motor, which extends out of the rotating base, is connected with a rotating table, the upper surface of the rotating table is hinged with a first mechanical arm, a first hydraulic cylinder is arranged on one side of the first mechanical arm, two ends of the first hydraulic cylinder are respectively hinged with the upper surface of the rotating table and the side wall of the first mechanical arm, one end, away from the rotating table, of the first mechanical arm is connected with a second mechanical arm through a rotating shaft, a second hydraulic cylinder is arranged between the second mechanical arm and the first mechanical arm, and two ends of the second hydraulic cylinder are respectively hinged with the first mechanical arm and the second mechanical arm;

2. The hydraulic drive type double-shaft swing arm manipulator device according to claim 1, wherein the manipulator comprises a fixed base, the top end of the fixed base is connected with the bottom end of a third manipulator, a second cavity is arranged inside the fixed base, a spring is arranged inside the second cavity, the top end of the spring is connected with the inner wall of the top end of the fixed base, the bottom end of the spring is connected with a shock-absorbing rod extending out of the fixed base, the top end of the shock-absorbing rod is fixedly sleeved with an annular limiting block, the annular limiting block can abut against the inner wall of the bottom of the fixed base to prevent the shock-absorbing rod from falling off, the bottom end of the shock-absorbing rod is connected with a transverse fixed plate, two ends of the lower surface of the transverse fixed plate are respectively connected with a first clamping plate and a vertical fixed plate, a fourth hydraulic cylinder, the second clamping plate is positioned between the first clamping plate and the vertical fixing plate.

3. The hydraulically driven double-shaft swing arm manipulator device of claim 2, wherein rubber pads are fixedly connected to the opposite surfaces of the first clamping plate and the second clamping plate, and anti-skid threads are arranged on the opposite surfaces of the two rubber pads.