CN211030070U

CN211030070U - Cantilever manipulator

Info

Publication number: CN211030070U
Application number: CN201922046707.7U
Authority: CN
Inventors: 胡景红
Original assignee: Foshan Tefude Automation Science & Technology Co ltd
Current assignee: Foshan Tefude Automation Science & Technology Co ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-07-17
Anticipated expiration: 2029-11-22

Abstract

The utility model discloses a cantilever manipulator, including snatching the manipulator, snatch the manipulator and go up and down to install at swing seat with sliding, establish a reciprocal translation mechanism, articulated parallelogram link mechanism between swing seat and reciprocal translation mechanism's the slide, its reciprocal wobbling motor of installation drive on this parallelogram link mechanism. Because the utility model provides a but manipulator that snatchs of oscilaltion hangs through parallelogram link mechanism and adorns under translation mechanism, but parallelogram link mechanism has realized freely removing in the three-dimensional space of snatching the manipulator as the cantilever that snatchs the manipulator, simple structure moreover, and is with low costs.

Description

Cantilever manipulator

Technical Field

The utility model relates to a press from both sides and get manipulator technical field.

Background

In the packaging industry, a grabbing manipulator is often required to grab materials and then transfer the materials to the next station. When materials are transferred between different stations, the grabbing manipulator is required to move in a three-dimensional space. However, most of the manipulators have complex structures and high cost.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a cantilever manipulator of simple structure.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a cantilever manipulator, is including snatching the manipulator, its characterized in that: the grabbing manipulator is arranged on the swinging seat in a lifting sliding manner and is provided with a reciprocating translation mechanism, a parallelogram link mechanism is hinged between the swinging seat and a sliding seat of the reciprocating translation mechanism, and a motor for driving the parallelogram link mechanism to swing in a reciprocating manner is arranged on the parallelogram link mechanism.

On the basis, the grabbing manipulator comprises a mounting seat, a plurality of pairs of openable clamping jaws which are arranged at intervals are hinged to the mounting seat, connecting rods which are connected in a crossed mode are hinged between the two clamping jaws of each pair, the clamping jaws on the same side of each pair are hinged to form a parallelogram connecting rod mechanism, and an air cylinder for driving the parallelogram connecting rod mechanism to swing in a reciprocating mode is hinged between the mounting seat and the parallelogram connecting rod mechanism.

Adopt the utility model discloses the beneficial effect who brings: because the utility model provides a but manipulator that snatchs of oscilaltion hangs through parallelogram link mechanism and adorns under translation mechanism, but parallelogram link mechanism has realized freely removing in the three-dimensional space of snatching the manipulator as the cantilever that snatchs the manipulator, simple structure moreover, and is with low costs.

Drawings

Fig. 1 is a schematic structural view of the cantilever manipulator of the present invention;

fig. 2 is the structural schematic diagram of the grabbing manipulator in the present invention.

Detailed Description

As shown in fig. 1, the cantilever manipulator comprises a grabbing manipulator 1, wherein the grabbing manipulator 1 is installed on a swinging seat 2 in a lifting and sliding manner, a reciprocating and translating mechanism 3 is arranged, a parallelogram linkage 4 is hinged between the swinging seat 2 and a sliding seat 3.1 of the reciprocating and translating mechanism 3, and a motor 5 for driving the parallelogram linkage 4 to swing in a reciprocating manner is installed on the parallelogram linkage 4. Specifically, the reciprocating translation mechanism 3 includes a cross beam 3.2, a slide rail 3.3 fixed on the cross beam 3.2, a slide carriage 3.1 slidably mounted on the slide rail 3.3, and a motor 3.4 for driving the slide carriage 3.1 to slide. The grabbing manipulator 1 is arranged on a slide rail 6 in a vertically sliding mode and driven by a motor 7 to move up and down. The motor 3.4 can drive the sliding seat 3.3, the parallelogram link mechanism 4 and the grabbing manipulator 1 to move left and right, the motor 5 can drive the parallelogram link mechanism 4 to drive the grabbing manipulator 1 to swing back and forth, and the motor 7 can drive the grabbing manipulator 1 to move up and down, so that the grabbing manipulator 1 can be driven to move freely in a three-dimensional coordinate space, and the materials can be transferred between stations.

As shown in fig. 2, in this embodiment, the grabbing manipulator 1 includes a mounting base 1.1, a plurality of pairs of openable clamping jaws 1.2 arranged at intervals are hinged on the mounting base 1.1, a cross-connected connecting rod 1.3 is hinged between the two clamping jaws 1.2 of each pair, the clamping jaws 1.2 on the same side of each pair are hinged to form a parallelogram linkage, and a cylinder 1.4 for driving the parallelogram linkage to swing back and forth is hinged between the mounting base 1.1 and the parallelogram linkage. The parallelogram linkage mechanism adopts a push rod 1.5 to hinge the reverse extending ends of the claw parts of the clamping jaws 1.2 on the same side of each pair, and a cylinder 1.4 is hinged between the push rod 1.5 and the mounting seat. The cross-connection of the connecting rods 1.3 is that one end is hinged to the jaw part of one jaw 1.2 and the other end is hinged to the opposite extension of the jaw part of the other jaw 1.2. Therefore, when the air cylinder 1.4 drives the push rod 1.5 to drive the clamping jaws 1.2 on the same side to swing, the cross connecting rod 1.3 can drive the clamping jaws 1.2 on the other side to swing reversely, so that the clamping jaws 1.2 in all pairs are opened and closed synchronously to grab and transfer materials.

Claims

1. The utility model provides a cantilever manipulator, is including snatching the manipulator, its characterized in that: the grabbing manipulator is arranged on the swinging seat in a lifting sliding manner and is provided with a reciprocating translation mechanism, a parallelogram link mechanism is hinged between the swinging seat and a sliding seat of the reciprocating translation mechanism, and a motor for driving the parallelogram link mechanism to swing in a reciprocating manner is arranged on the parallelogram link mechanism.

2. The cantilever manipulator of claim 1, wherein: the grabbing manipulator comprises a mounting seat, a plurality of pairs of openable clamping jaws which are arranged at intervals are hinged on the mounting seat, connecting rods which are connected in a crossing mode are hinged between the two clamping jaws of each pair, the clamping jaws on the same side of each pair are hinged to form a parallelogram connecting rod mechanism, and an air cylinder for driving the parallelogram connecting rod mechanism to swing in a reciprocating mode is hinged between the mounting seat and the parallelogram connecting rod mechanism.