CN210635365U - Automatic loading and unloading device for three-section mechanical arm - Google Patents
Automatic loading and unloading device for three-section mechanical arm Download PDFInfo
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- CN210635365U CN210635365U CN201921129037.9U CN201921129037U CN210635365U CN 210635365 U CN210635365 U CN 210635365U CN 201921129037 U CN201921129037 U CN 201921129037U CN 210635365 U CN210635365 U CN 210635365U
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- mechanical arm
- hydraulic cylinder
- grip block
- unloading device
- automatic loading
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Abstract
The utility model discloses an automatic loading and unloading device for three-section mechanical arms, which comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a mechanical arm; the first mechanical arm is fixedly connected to the base, the top end of the first mechanical arm is connected with one end of the second mechanical arm through a rotating shaft, a first hydraulic cylinder is arranged between the second mechanical arm and the first mechanical arm, one end, far away from the first mechanical arm, of the second mechanical arm is connected with one end of the third mechanical arm through a rotating shaft, a second hydraulic cylinder is arranged between the third mechanical arm and the second mechanical arm, and the free end of the third mechanical arm is connected with the mechanical arm. The utility model discloses not only can snatch platelike, box-packed structure, can also snatch tubular structure.
Description
Technical Field
The utility model relates to a robotic arm technical field especially relates to an automatic unloader that goes up of three robotic arm.
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 grabbing structure of the existing manipulator is mostly a special structure, for example, some manipulators can only clamp plate-shaped and box-shaped structures, but cannot clamp articles with tubular structures, and the function is single.
Disclosure of Invention
In order to solve the problem mentioned in the above-mentioned background art, the utility model provides an automatic unloader that goes up of three robotic arm not only can snatch the article of platelike, box-packed structure, can also snatch tubular structure's article.
An automatic loading and unloading device for three mechanical arms comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a mechanical arm;
the first mechanical arm is fixedly connected to the base, the top end of the first mechanical arm is connected with one end of a second mechanical arm through a rotating shaft, a first hydraulic cylinder is arranged between the second mechanical arm and the first mechanical arm, two ends of the first hydraulic cylinder are respectively hinged with the first mechanical arm and the second mechanical arm, one end, away from the first mechanical arm, of the second mechanical arm is connected with one end of a third mechanical arm through the rotating shaft, a second hydraulic cylinder is arranged between the third mechanical arm and the second mechanical arm, two ends of the second hydraulic cylinder are respectively hinged with the second mechanical arm and the third mechanical arm, and the free end of the third mechanical arm is connected with the mechanical arm;
the manipulator includes the horizontal installation board of being connected with the third arm, horizontal installation board lower surface both ends all are connected with vertical mounting panel, two connect through the guide post between the upper portion of vertical installation board, two vertical installation board lower part all is connected with the third pneumatic cylinder, two the output of third pneumatic cylinder all is connected with the connecting plate, two the upper portion of connecting plate all is equipped with the through-hole, two the connecting plate passes through the through-hole movable sleeve and establishes on the guide post, two the connecting plate bottom all is connected with the grip block, two all be equipped with the elasticity grip block in the relative one side each other of grip block, the middle part of elasticity grip block and the middle part fixed connection of grip block, the upper portion of grip block, lower part are equipped with a plurality of first screw hole, a plurality of second screw hole respectively, it has first bolt, second screw hole to run through respectively, And one end of each of the first bolt and the second bolt is respectively contacted with the upper part and the lower part of the elastic clamping plate.
Furthermore, the elastic clamping plate comprises an elastic steel sheet, the middle of one surface of the elastic steel sheet is connected with the middle of the clamping block, and the other surface of the elastic steel sheet is connected with an elastic rubber cushion layer.
Furthermore, a counterweight block is arranged on one side, away from the second mechanical arm, of the first mechanical arm, and a sliding block is arranged at the bottom of the counterweight block; the upper surface of the base is provided with a sliding rail matched with the sliding block.
Furthermore, a fourth hydraulic cylinder is arranged on one side, away from the first mechanical arm, of the sliding rail, the fourth hydraulic cylinder is fixed on the base, and the output end of the fourth hydraulic cylinder is connected with the balancing weight.
The utility model has the advantages that:
1. the utility model discloses the shape of accessible swivel bolt to the elasticity grip block is adjusted to make the manipulator snatch platelike, box-packed, pipy article.
2. The utility model discloses be equipped with the balancing weight, the balancing weight can remove on the base through slider, slide rail to can adjust the focus of device according to the weight of the article that will snatch, avoid the device to turn on one's side.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of the robot.
Figure 3 is a front view of the robot arm when gripping an article in a tubular configuration.
Fig. 4 is a right side view of the robot.
Fig. 5 is a sectional view taken along line a-a of fig. 1.
Wherein, 1 is the base, 2 is first arm, 3 is the second arm, 4 is the third arm, 5 is the manipulator, 6 is the pivot, 7 is first pneumatic cylinder, 8 is the second pneumatic cylinder, 9 is the horizontal mounting board, 10 is vertical mounting panel, 11 is the guide post, 12 is the third pneumatic cylinder, 13 is the connecting plate, 14 is the grip block, 15 is first bolt, 16 is the second bolt, 17 is the elastic steel piece, 18 is the elastic rubber bed course, 19 is the balancing weight, 20 is the slider, 21 is the slide rail, 22 is the fourth pneumatic cylinder.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings by way of specific embodiments.
The automatic loading and unloading device for the three mechanical arms comprises a base 1, a first mechanical arm 2, a second mechanical arm 3, a third mechanical arm 4 and a mechanical arm 5;
the first mechanical arm 2 is fixedly connected to the base 1, the top end of the first mechanical arm 2 is connected with one end of the second mechanical arm 3 through a rotating shaft 6, a first hydraulic cylinder 7 is arranged between the second mechanical arm 3 and the first mechanical arm 2, two ends of the first hydraulic cylinder 7 are respectively hinged with the first mechanical arm 2 and the second mechanical arm 3, one end, far away from the first mechanical arm 2, of the second mechanical arm 3 is connected with one end of the third mechanical arm 4 through the rotating shaft 6, a second hydraulic cylinder 8 is arranged between the third mechanical arm 4 and the second mechanical arm 3, two ends of the second hydraulic cylinder 8 are respectively hinged with the second mechanical arm 3 and the third mechanical arm 4, and the free end of the third mechanical arm 4 is connected with the mechanical arm 5;
the manipulator 5 comprises a horizontal mounting plate 9 connected with a third mechanical arm 4, the two ends of the lower surface of the horizontal mounting plate 9 are connected with vertical mounting plates 10, the upper portions of the two vertical mounting plates 10 are connected through a guide column 11, the lower portions of the two vertical mounting plates 10 are connected with third hydraulic cylinders 12, the output ends of the two third hydraulic cylinders 12 are connected with connecting plates 13, the upper portions of the two connecting plates 13 are provided with through holes, the two connecting plates 13 are movably sleeved on the guide column 11 through the through holes, the bottom ends of the two connecting plates 13 are connected with clamping blocks 14, one sides of the two clamping blocks 14, which are opposite to each other, are provided with elastic clamping plates, the middle portions of the elastic clamping plates are fixedly connected with the middle portions of the clamping blocks, the upper portions and the lower portions of the clamping blocks 14 are respectively provided with a plurality of first threaded holes and a plurality of second threaded, And a second bolt 16, wherein one end of the first bolt 15 and one end of the second bolt 16 are respectively contacted with the upper part and the lower part of the elastic clamping plate.
The elastic clamping plate comprises an elastic steel sheet 17, the middle of one surface of the elastic steel sheet 17 is connected with the middle of the clamping block 14, and the other surface of the elastic steel sheet 17 is connected with an elastic rubber cushion layer 18. The two opposite sides of the elastic rubber cushion layers 18 are provided with anti-slip lines which can increase the friction between the elastic rubber cushion layers and the articles.
A counterweight block 19 is arranged on one side of the first mechanical arm 2, which is far away from the second mechanical arm 3, and a sliding block 20 is arranged at the bottom of the counterweight block 19; the upper surface of the base 1 is provided with a slide rail 21 matched with the slide block 20.
One side of the slide rail 21, which is far away from the first mechanical arm 2, is provided with a fourth hydraulic cylinder 22, the fourth hydraulic cylinder 22 is fixed on the base 1, and the output end of the fourth hydraulic cylinder 22 is connected with the counterweight block 19.
The utility model discloses when concrete implementation: the center of gravity of the device is adjusted by moving the weight 19 by the fourth hydraulic cylinder 22, the shape of the elastic holding plate is adjusted according to the shape of the article, and when the article to be held is tubular, the first bolt 15 and the second bolt 16 are rotated to push the upper part and the lower part of the elastic holding plate, so that the elastic holding plate is bent into an arc-shaped structure. The second mechanical arm 3 and the third mechanical arm 4 are driven to move by the first hydraulic cylinder 7 and the second hydraulic cylinder 8, so that the mechanical arm 5 moves to an article, and the third hydraulic cylinder 12 pushes the connecting plate 13, so that the elastic clamping plate clamps the article.
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 (4)
1. An automatic loading and unloading device for three mechanical arms is characterized by comprising a base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a mechanical arm;
the first mechanical arm is fixedly connected to the base, the top end of the first mechanical arm is connected with one end of a second mechanical arm through a rotating shaft, a first hydraulic cylinder is arranged between the second mechanical arm and the first mechanical arm, two ends of the first hydraulic cylinder are respectively hinged with the first mechanical arm and the second mechanical arm, one end, away from the first mechanical arm, of the second mechanical arm is connected with one end of a third mechanical arm through the rotating shaft, a second hydraulic cylinder is arranged between the third mechanical arm and the second mechanical arm, two ends of the second hydraulic cylinder are respectively hinged with the second mechanical arm and the third mechanical arm, and the free end of the third mechanical arm is connected with the mechanical arm;
the manipulator includes the horizontal installation board of being connected with the third arm, horizontal installation board lower surface both ends all are connected with vertical mounting panel, two connect through the guide post between the upper portion of vertical installation board, two vertical installation board lower part all is connected with the third pneumatic cylinder, two the output of third pneumatic cylinder all is connected with the connecting plate, two the upper portion of connecting plate all is equipped with the through-hole, two the connecting plate passes through the through-hole movable sleeve and establishes on the guide post, two the connecting plate bottom all is connected with the grip block, two all be equipped with the elasticity grip block in the relative one side each other of grip block, the middle part of elasticity grip block and the middle part fixed connection of grip block, the upper portion of grip block, lower part are equipped with a plurality of first screw hole, a plurality of second screw hole respectively, it has first bolt, second screw hole to run through respectively, And one end of each of the first bolt and the second bolt is respectively contacted with the upper part and the lower part of the elastic clamping plate.
2. The automatic loading and unloading device for the three-section mechanical arm according to claim 1, wherein the elastic clamping plate comprises an elastic steel sheet, the middle of one surface of the elastic steel sheet is connected with the middle of the clamping block, and the other surface of the elastic steel sheet is connected with an elastic rubber cushion layer.
3. The automatic loading and unloading device for the three-section mechanical arm as claimed in claim 1, wherein a counterweight is disposed on a side of the first mechanical arm away from the second mechanical arm, and a slider is disposed at the bottom of the counterweight; the upper surface of the base is provided with a sliding rail matched with the sliding block.
4. The automatic loading and unloading device for the three-section mechanical arm as claimed in claim 3, wherein a fourth hydraulic cylinder is arranged on one side of the slide rail away from the first mechanical arm, the fourth hydraulic cylinder is fixed on the base, and an output end of the fourth hydraulic cylinder is connected with the balancing weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921129037.9U CN210635365U (en) | 2019-07-18 | 2019-07-18 | Automatic loading and unloading device for three-section mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921129037.9U CN210635365U (en) | 2019-07-18 | 2019-07-18 | Automatic loading and unloading device for three-section mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN210635365U true CN210635365U (en) | 2020-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921129037.9U Active CN210635365U (en) | 2019-07-18 | 2019-07-18 | Automatic loading and unloading device for three-section mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112298998A (en) * | 2020-10-26 | 2021-02-02 | 朱小松 | Automatic blank taking device and method in magnetic shoe forming based on electromagnetic sensor |
-
2019
- 2019-07-18 CN CN201921129037.9U patent/CN210635365U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112298998A (en) * | 2020-10-26 | 2021-02-02 | 朱小松 | Automatic blank taking device and method in magnetic shoe forming based on electromagnetic sensor |
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