CN210704817U - Carrying manipulator - Google Patents
Carrying manipulator Download PDFInfo
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- CN210704817U CN210704817U CN201921674723.4U CN201921674723U CN210704817U CN 210704817 U CN210704817 U CN 210704817U CN 201921674723 U CN201921674723 U CN 201921674723U CN 210704817 U CN210704817 U CN 210704817U
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Abstract
A carrying manipulator comprises a rotary base, a supporting arm device, a telescopic arm device and a grabbing device, wherein the supporting arm device is arranged on the rotary base, the telescopic arm device is arranged on the supporting arm device, and the grabbing device is arranged on the telescopic arm device; the grabbing device comprises a first working block and a second working block, the first working block and the second working block are connected through at least one group of connecting rods, the number of the group of connecting rods is at least two, the first working block is connected with the telescopic arm device, the second working block is provided with a motor, the motor is in power fit connection with a lead screw, and the lead screw is in threaded fit connection with the first connecting block; the utility model discloses a transport manipulator can once only carry a large amount of circle form parts, and it self is mechanical structure simultaneously, when carrying circle form part, does not receive the size of circle form part, weight to restrict, and handling efficiency is high, is suitable for automatic factory.
Description
Technical Field
The utility model relates to an automatic transport technical field specifically is a manipulator is carried to annular part.
Background
In some factories, workers often need to carry annular parts, such as clamps, sealing rings or large metal iron rings, generally, the number of the annular parts is large, the carrying is very troublesome, and the workers can carry the annular parts several times by hands and carry the annular parts repeatedly for many times due to small volume of the annular parts; however, for those large metal iron rings, because of their large size and heavy weight, they need several workers to carry one metal iron ring, and the carrying speed is slow.
Disclosure of Invention
An object of the utility model is to provide a transport manipulator, in order to solve the problem of proposing among the background art.
In order to achieve the purpose, the carrying manipulator comprises a rotating base, a supporting arm device, a telescopic arm device and a gripping device, wherein the supporting arm device is arranged on the rotating base;
grabbing device includes first work piece and second work piece, connect through at least a set of connecting rod between first work piece and the second work piece, a set of connecting rod has two at least, flexible arm device is connected to first work piece, be equipped with the motor on the second work piece, motor power fit is connected with the lead screw, the lead screw is connected with first connecting block screw-thread fit, as preferred technical scheme, connect through four groups of connecting rods between first work piece and the second work piece, a set of connecting rod includes two members: the first rod piece is hinged to one end of the second rod piece, the other ends of the first rod piece and the second rod piece are hinged to the first working block and the second working block respectively, and the four groups of connecting rods are connected with the first working block and the second working block in a circumferential array mode.
Preferably, the second working block is provided with a protective cover, the protective cover is used for protecting the motor and preventing the motor from being collided and damaged when the grabbing device moves, the protective cover can be transparent, non-transparent or semitransparent, and as a preferred technical scheme, the protective cover is transparent and is beneficial to an operator to clearly see the working state of the motor.
Preferably, the telescopic arm device comprises a mechanical arm, a hydraulic cavity is arranged in the mechanical arm, a hydraulic piston is arranged in the hydraulic cavity, at least one hydraulic rod is arranged on the hydraulic piston, and as an optimal technical scheme, in order to reduce the overall weight of the mechanical arm and simultaneously vacate a movement space for a lead screw, the hydraulic rods are thin and four, the four hydraulic rods are arranged and arranged on the hydraulic piston in a circumferential array mode and are connected with a fixed block, the fixed block is connected with a first working block, and a through hole through which the lead screw can pass is formed in the center of the fixed block.
As preferred, the arm is close to first work piece one end and is equipped with the stopper, and stopper and arm can adopt integrated into one piece's mode, and as preferred technical scheme, stopper and arm adopt ordinary mechanical assembly's mode to be connected, and the arm can block spacingly to the article of snatching of device, prevents to grab and gets the article motion excessive.
Preferably, the support arm device comprises a first support arm, the first support arm is hinged to a second support arm, the second support arm is hinged to the mechanical arm, a first hydraulic telescopic cylinder is arranged between the first support arm and the second support arm, a second hydraulic telescopic cylinder is arranged between the second support arm and the mechanical arm, specifically, a first hinge connection point is arranged on the first support arm, a second hinge connection point is arranged on the second support arm, the first hydraulic telescopic cylinder is connected with the first hinge connection point and the second hinge connection point, a third hinge connection point is further arranged on the second support arm, a fourth hinge connection point is arranged on the mechanical arm, and the second hydraulic telescopic cylinder is connected with the third hinge connection point and the fourth hinge connection point.
Preferably, the rotating base comprises a base, a cylindrical groove is formed in the upper end of the base, a bearing is installed in the cylindrical groove, the bottom of the first supporting arm is circular and is connected with an inner ring of the bearing, a steering motor is arranged in the cylindrical groove, and an output shaft of the steering motor is connected with the first supporting arm.
Preferably, the bearing is a thrust ball bearing, which can bear a large axial load.
Preferably, the first supporting arm is bent, and the whole device is in an inclined state at the beginning by the bent first supporting arm, so that the movement stroke of the grabbing device when grabbing an object each time can be reduced, and the working time of the device is saved.
To sum up, the beneficial effects of the utility model are that: the utility model discloses a transport manipulator can once only carry a large amount of circle form parts, and it self is mechanical structure simultaneously, when carrying circle form part, does not receive the size of circle form part, weight to restrict, and handling efficiency is high, is suitable for automatic factory.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is also possible for a person skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is an overall structure of the present invention;
FIG. 2 is a structural diagram of the present invention in another working state;
FIG. 3 is a schematic view of the telescopic arm arrangement in two states;
fig. 4 is a schematic view of the working state of the present invention.
Detailed Description
Embodiments of the invention will be described in further detail with reference to the drawings, it being understood that the examples are illustrative only and should not be taken as limiting the invention, and that all of the features disclosed in the examples or all of the steps in any method or process disclosed herein can be combined in any way, except for mutually exclusive features and/or steps.
The embodiment provides a carrying manipulator, which comprises a rotating base 10, a supporting arm device 11, a telescopic arm device 12 and a gripping device 13, wherein the supporting arm device 11 is arranged on the rotating base 10, the telescopic arm device 12 is arranged on the supporting arm device 11, and the gripping device 13 is arranged on the telescopic arm device 12;
referring to fig. 1 and fig. 3, the gripping device 13 includes a first working block 14 and a second working block 15, the first working block 14 and the second working block 15 are connected through at least one set of connecting rod 16, the set of connecting rod 16 includes at least two, the first working block 14 is connected to the telescopic arm device 12, the second working block 15 is provided with a motor 17, the motor 17 is connected to a lead screw 18 in a power-fit manner, the lead screw 18 is connected to the first connecting block 14 in a threaded fit manner, in this embodiment, the first working block 14 and the second working block 15 are connected through four sets of connecting rods 16, and the set of connecting rod 16 includes two rod members: the device comprises a first rod piece 19 and a second rod piece 20, wherein the first rod piece 19 is hinged to one end of the second rod piece 20, the other ends of the first rod piece 19 and the second rod piece 20 are hinged to a first working block 14 and a second working block 15 respectively, the four groups of connecting rods 16 are connected with the first working block 14 and the second working block 15 in a circumferential array mode, the motor 17 is started to drive the lead screw 18 to rotate, the lead screw 18 rotates to drive the second working block 15 to move left, and meanwhile, the first rod piece 19 and the second rod piece 20 are turned outwards in four directions, and the second state in the attached drawing 3 is referred.
Advantageously, a protective cover 21 is provided on the second working block 15, the protective cover 21 is used for protecting the motor 17 from being damaged by collision of the motor 17 when the grasping device 13 moves, and the protective cover 21 may be transparent, non-transparent or translucent, in this embodiment, the protective cover 21 is transparent, which helps an operator to clearly see the working state of the motor 17.
Advantageously, referring to fig. 1 and 3, the telescopic arm device 12 includes a mechanical arm 22, a hydraulic cavity 23 is provided in the mechanical arm, a hydraulic piston 24 is provided in the hydraulic cavity 23, at least one hydraulic rod 25 is provided on the hydraulic piston 24, in this embodiment, in order to reduce the overall weight of the mechanical arm 22 and make up a movement space for the lead screw 18, the hydraulic rods 25 are selected from thinner hydraulic rods and four hydraulic rods are provided and provided on the hydraulic piston 24 in a circumferential array, the four hydraulic rods 25 are connected to a fixing block 26, the fixing block 26 is connected to the first working block 14, a through hole capable of allowing the lead screw 18 to pass through is provided in the center of the fixing block 26, the hydraulic piston 24 in the hydraulic cavity 23 is controlled to move by using a hydraulic pump, and the hydraulic piston 24 drives the gripping device 13 to move through the hydraulic rods 25, the gripping means 13 are extended and retracted.
Advantageously, the support arm arrangement 11 comprises a first support arm 28, a second support arm 29 is hingedly connected to the first support arm 28, the second support arm 29 is also hingedly connected to the robot arm 22, a first hydraulic telescopic cylinder 30 is provided between the first support arm 28 and the second support arm 29, a second hydraulic telescopic cylinder 31 is provided between the second support arm 29 and the robot arm 22, in particular, a first hinge connection point 32 is provided on the first support arm 28, a second hinge connection point 33 is provided on the second support arm 29, the first hydraulic telescopic cylinder 30 is connected to the first hinge connection point 32 and the second hinge connection point 33, a third hinge connection point 34 is further provided on the second support arm 29, a fourth hinge connection point 35 is provided on the robot arm 22, the second hydraulic telescopic cylinder 31 is connected to the third hinge connection point 34 and the fourth hinge connection point 35, by controlling the extension and retraction of the first hydraulic telescopic cylinder 30 and the second hydraulic telescopic cylinder 31, the included angles between the first support arm 28 and the second support arm 29 and between the second support arm 29 and the mechanical arm 22 can be controlled respectively.
The rotating base 10 comprises a base 36, a cylindrical groove 38 is formed in the upper end of the base 36, a bearing 40 is installed in the cylindrical groove 38, the bottom of the first support arm 28 is circular and connected with the inner ring of the bearing 40, a steering motor 37 is arranged in the cylindrical groove 38, an output shaft of the steering motor 37 is connected with the first support arm 28, the support arm device 11 can be controlled to rotate by controlling the steering motor 37 to rotate, and a series of other devices on the support arm device 11 are driven to rotate.
Advantageously, said bearing 40 is preferably a thrust ball bearing, which is able to withstand high axial loads.
Advantageously, the first supporting arm 28 is bent, and the bent first supporting arm 28 enables the whole device to be in an inclined state from the beginning, so that the movement stroke of the grabbing device 13 for grabbing objects each time can be reduced, and the working time of the device can be saved.
Referring to fig. 1-4, in order to make the implementation principle of the device clear for the implementation personnel, the operation process is described, two annular part supports 39 are provided on the left and right sides of the device, the left annular part support is in an empty state, a plurality of annular parts 41 are sleeved on the right annular part support, the grabbing device 13 is aligned to the center of the annular part 41 by starting the steering motor 37 and adjusting the first hydraulic telescopic cylinder 30 and the second hydraulic telescopic cylinder 31, then the hydraulic pump is started to control the hydraulic piston 24 in the hydraulic cavity 23 to move, the hydraulic piston 24 drives the hydraulic rod 25 to extend out of the mechanical arm 22, the hydraulic rod 25 drives the grabbing device 13 to penetrate into the hole in the center of the annular part 41, then the motor 17 is started to drive the lead screw 18 to rotate, the lead screw 18 rotates to drive the second working block 15 to move towards the first working block 14, at this time, the first rod 19 and the second rod 20 are turned outwards in four directions, then the hydraulic oil pump controls the hydraulic piston 24 in the hydraulic cavity 23 to move again, the hydraulic piston 24 drives the hydraulic rod 25 to withdraw the mechanical arm 22, in the process, the turnover formed by the first rod 19 and the second rod 20 takes off all the annular parts 41 from the annular part support 39 at one time and is limited between the turnover formed by the first rod 19 and the second rod 20 and the limit block 27, the mechanical arm is driven to the position of the annular part support 39 on the left side by starting the steering motor 37, the grabbing device 13 is driven to face the annular part support 39 on the left side by adjusting the first hydraulic telescopic cylinder 30 and the second hydraulic telescopic cylinder 31, the motor 17 is started again to drive the lead screw 18 to rotate, the lead screw 18 rotates to drive the second working block 15 to move back to the first working block 14, the first rod 19 and the second rod 20 recover to the initial position, in the process, the annular part 41 slides down along the hydraulic rod 25 and is sleeved on the annular part support 39 on the left side, that is, all the ring components 41 on the right ring component holder 39 are transported to the left ring component holder 39 at one time.
The above description is only an embodiment of the invention, but the scope of the invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the invention. Therefore, the protection scope of the invention should be subject to the protection scope defined by the claims.
Claims (9)
1. A carrying manipulator is characterized in that: the device comprises a rotary base, a supporting arm device, a telescopic arm device and a gripping device, wherein the supporting arm device is arranged on the rotary base, the telescopic arm device is arranged on the supporting arm device, and the gripping device is arranged on the telescopic arm device;
the grabbing device comprises a first working block and a second working block, the first working block and the second working block are connected through at least one group of connecting rods, the number of the group of the connecting rods is at least two, the first working block is connected with the telescopic arm device, the second working block is provided with a motor, the motor is connected with a lead screw in a power fit mode, and the lead screw is connected with the first connecting block in a threaded fit mode.
2. A handling robot as claimed in claim 1, wherein the first and second work blocks are connected by four sets of links, the set of links comprising two bar members: the first rod piece is hinged to one end of the second rod piece, and the other ends of the first rod piece and the second rod piece are hinged to the first working block and the second working block respectively.
3. A handling robot as recited in claim 2 wherein said four sets of links connect said first and second work blocks in a circumferential array.
4. The handling robot as recited in claim 1 wherein the second work block has a protective covering thereon, the protective covering being capable of protecting the motor, the protective covering being transparent, non-transparent, translucent.
5. The carrying manipulator as claimed in claim 1, wherein the telescopic arm device comprises a mechanical arm, a hydraulic cavity is formed in the mechanical arm, a hydraulic piston is arranged in the hydraulic cavity, at least one hydraulic rod is arranged on the hydraulic piston, the hydraulic rod is connected with a fixed block, and the fixed block is connected with the first working block.
6. The handling robot of claim 5, wherein the robot arm has a stop at an end thereof adjacent to the first work piece, the stop being integrally formed with the robot arm, the stop and the robot arm also being assembled by a conventional machine.
7. The carrying manipulator as claimed in claim 5, wherein the support arm device includes a first support arm, the first support arm is hinged to a second support arm, the second support arm is hinged to the manipulator, a first hydraulic telescopic cylinder is disposed between the first support arm and the second support arm, a second hydraulic telescopic cylinder is disposed between the second support arm and the manipulator, and the first hydraulic telescopic cylinder and the second hydraulic telescopic cylinder can respectively control included angles between the first support arm and the second support arm, and between the second support arm and the manipulator.
8. The handling robot as claimed in claim 7, wherein the rotary base comprises a device base, and a steering motor is disposed in the device base, and an output shaft of the steering motor is connected to the first support arm and can control the support arm device to rotate.
9. A handling robot as recited in claim 7, wherein said first support arm is rounded at a bottom portion thereof, and wherein said first support arm is formed with a bend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921674723.4U CN210704817U (en) | 2019-10-09 | 2019-10-09 | Carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921674723.4U CN210704817U (en) | 2019-10-09 | 2019-10-09 | Carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210704817U true CN210704817U (en) | 2020-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921674723.4U Active CN210704817U (en) | 2019-10-09 | 2019-10-09 | Carrying manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN210704817U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199197A (en) * | 2021-04-20 | 2021-08-03 | 武汉理工大学 | Automatic angle regulation's welding angle locator |
| CN113341250A (en) * | 2021-06-02 | 2021-09-03 | 嘉兴威凯检测技术有限公司 | Electrostatic discharge immunity testing device |
| CN114619489A (en) * | 2022-04-01 | 2022-06-14 | 西南交通大学 | System and method for recognizing and correcting coordinates of mechanical arm conveyed object based on image processing |
-
2019
- 2019-10-09 CN CN201921674723.4U patent/CN210704817U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199197A (en) * | 2021-04-20 | 2021-08-03 | 武汉理工大学 | Automatic angle regulation's welding angle locator |
| CN113199197B (en) * | 2021-04-20 | 2022-07-01 | 武汉理工大学 | Automatic angle regulation's welding angle locator |
| CN113341250A (en) * | 2021-06-02 | 2021-09-03 | 嘉兴威凯检测技术有限公司 | Electrostatic discharge immunity testing device |
| CN114619489A (en) * | 2022-04-01 | 2022-06-14 | 西南交通大学 | System and method for recognizing and correcting coordinates of mechanical arm conveyed object based on image processing |
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