CN211103985U

CN211103985U - Large-scale high-reliability double-clamp rotary manipulator

Info

Publication number: CN211103985U
Application number: CN201921966671.8U
Authority: CN
Inventors: 刘加文; 时光
Original assignee: Yangzhou Yema Industrial Intelligent Equipment Co ltd
Current assignee: Yangzhou Yema Industrial Intelligent Equipment Co ltd
Priority date: 2019-11-14
Filing date: 2019-11-14
Publication date: 2020-07-28
Anticipated expiration: 2029-11-14

Abstract

The utility model discloses a large-scale high reliability dual-clamp rotary manipulator, including the roating seat that fixes on the base, articulated on the roating seat have the main arm, the tip of main arm articulates there is the auxiliary arm, the tip of auxiliary arm is connected with anchor clamps, be provided with main transmission case and rotating electrical machines on the roating seat, be provided with spacing boss on the fixed disk, the bottom of rotary disk is provided with the spacing pipe with spacing boss complex, the one end of main arm articulates on the main transmission case, and install the main driving motor who is used for driving the main arm to rotate on the main transmission case; anchor clamps are installed at the tip of assisting the arm through the bearing, and the bearing is installed on assisting the arm through the main shaft, and the periphery cover of bearing is equipped with the installation cover, is fixed with the connecting block on the installation cover, and the connecting block bottom is fixed with the link, and anchor clamps are provided with two sets ofly, and fix respectively in the both sides of link, the utility model discloses structural stability is higher, cooperates spacing pipe to improve roating seat pivoted reliability, can be used to in the industrial production.

Description

Large-scale high-reliability double-clamp rotary manipulator

Technical Field

The utility model relates to a manipulator, in particular to double-fixture manipulator.

Background

An industrial robot, also called a universal robot, is a programmable robot, which is an important automation device appearing in the end of the fifties and rapidly developed in recent years, and is an important means for realizing industrial automation. At present, in each production field, in order to improve the production efficiency and the product quality and realize safe production, the mechanical arms with different forms and different functions are adopted, and the appearance of the mechanical arms replaces the manual work in a plurality of production processes, so that the industrial automation is greatly developed, the labor productivity is greatly improved, the labor condition is improved, the labor intensity of workers is reduced, and the quality and technical guarantee is provided for batch production.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a large-scale high reliability dual fixtures rotary manipulator, its structure is reliable, and the transmission is stable, can realize anchor clamps below down always for anchor clamps are nimble more convenient.

The purpose of the utility model is realized like this: a large-scale high-reliability double-clamp rotary manipulator comprises a rotary seat fixed on a base, wherein a main arm is hinged to the rotary seat, an auxiliary arm is hinged to the end portion of the main arm, a clamp is connected to the end portion of the auxiliary arm, the rotary seat comprises a fixed disc and a rotary disc, the fixed disc is mounted on the base, the rotary disc is rotatably arranged on the fixed disc, a main transmission box and a rotary motor are arranged on the rotary disc, a limiting boss is arranged on the fixed disc, a limiting pipe matched with the limiting boss is arranged at the bottom of the rotary disc, one end of the main arm is hinged to the main transmission box, and a main driving motor used for driving the main arm to rotate is mounted on the main; the fixture is installed at the end part of the auxiliary arm through a bearing, the bearing is installed on the auxiliary arm through a main shaft, an installation sleeve is sleeved on the periphery of the bearing, a connecting block is fixed on the installation sleeve, a connecting frame is fixed at the bottom of the connecting block, and the fixture is provided with two groups and is fixed on two sides of the connecting frame respectively.

Compared with the prior art, the beneficial effects of the utility model reside in that, the utility model discloses structural stability is higher, cooperates spacing pipe to improve roating seat pivoted reliability, the utility model discloses pass through connecting block, link, installation cover and bearing assembly with anchor clamps and be in the same place, cooperate the bearing effect to realize that anchor clamps hang and assist on the arm under its action of gravity to keep vertical direction, through the utility model discloses it is nimble more convenient to operate when making the anchor clamps centre gripping. The utility model discloses can be used to in the industrial production.

In order to enable the motion control of the auxiliary arm to be more convenient, the other end of the main arm is hinged with an auxiliary transmission case, the auxiliary arm is installed on the auxiliary transmission case, and an auxiliary driving motor for driving the auxiliary transmission case to rotate around the main arm is arranged in the auxiliary transmission case.

As the utility model discloses a prescribe a limit to, install the mount on the auxiliary transmission case, be fixed with the electric cabinet on the mount. The electric cabinet is arranged on the auxiliary transmission case, so that the electric cabinet can control each driving part more conveniently.

In order to enhance the reliability of base installation, the bottom of the base is fixed with three supporting seats which are respectively arranged at two sides and the middle part of the bottom of the base.

In order to enhance the shock absorption performance of the supporting seat, a rubber pad is arranged at the bottom of the supporting seat.

In order to enable the lifting action of the clamp to be more convenient and reliable, two pneumatic guide rails are fixed on two sides of the connecting frame, L-shaped connecting plates are fixed on sliding blocks of the pneumatic guide rails, and the clamp is fixed at the bottom of the L-shaped connecting plate.

In order to make anchor clamps centre gripping more nimble convenient, anchor clamps are connected with a pair of splint including fixing the double-end cylinder in L shape connecting plate bottom on the telescopic link at double-end cylinder both ends, and the splint bottom is fixed with the clamp splice.

In order to enhance the structural reliability of the connecting frame, the connecting frame is of a square frame structure.

Drawings

Fig. 1 is a schematic view of the three-dimensional structure of the present invention.

Fig. 2 is a schematic view of the structure of the middle rotary seat of the present invention.

Fig. 3 is a schematic view of the structure of the middle clamp of the present invention.

Fig. 4 is a schematic view of the connection between the middle clamp and the auxiliary arm of the present invention.

The automatic assembling device comprises a base 1, a rotating seat 2, a fixed disk 2a, a rotating disk 2b, a boss 2c, a rotating motor 3, a main transmission box 4, a main driving motor 5, a main arm 6, an auxiliary transmission box 7, an auxiliary arm 8, a fixed frame 9, an electric cabinet 10, a supporting seat 11, a rubber pad 12, a limiting pipe 13, a clamp 14, a connecting frame 14a, a pneumatic guide rail 14b, a sliding block 14c, a connecting plate 14d L, a double-head cylinder 14e, a clamping plate 14f, a clamping block 14g, a mounting sleeve 15 and a connecting block 16.

Detailed Description

As shown in fig. 1-4, a large-scale high-reliability dual-clamp rotary manipulator includes a rotary base 2 fixed on a base 1, a main arm 6 is hinged on the rotary base 2, an auxiliary arm 8 is hinged on an end portion of the main arm 6, the rotary base 2 includes a fixed disk 2a and a rotary disk 2b mounted on the base 1, the rotary disk 2b is rotatably disposed on the fixed disk 2a, a main transmission case 4 and a rotary motor 3 are disposed on the rotary disk 2b, a limit boss 2c is disposed on the fixed disk 2a, a limit tube 13 engaged with the limit boss 2c is disposed at a bottom of the rotary disk 2b, one end of the main arm 6 is hinged on the main transmission case 4, a main driving motor 5 for driving the main arm 6 to rotate is mounted on the main transmission case 4, the other end of the main arm 6 is hinged on an auxiliary transmission case 7, the auxiliary arm 8 is mounted on the auxiliary transmission case 7, the auxiliary transmission case 7 is mounted with an auxiliary driving motor for driving the auxiliary transmission case 7 to rotate around the main arm 6, the auxiliary transmission case 7 is mounted with an electric control case 10 fixed on the base 1, three support seats 11 are disposed in the support seats, three clamp holders 14d, a are respectively disposed on the support seats 14d, two side ends of the support seats 14d, a clamp holder 14d, a is connected to a clamp holder 14c, a clamp holder 14c is connected to a clamp holder 14, a clamp 14c is connected to a clamp 14c, a clamp holder.

The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.

Claims

1. A large-scale high-reliability double-clamp rotary manipulator comprises a rotary seat fixed on a base, wherein a main arm is hinged on the rotary seat, an auxiliary arm is hinged at the end part of the main arm, and a clamp is connected at the end part of the auxiliary arm; the fixture is installed at the end part of the auxiliary arm through a bearing, the bearing is installed on the auxiliary arm through a main shaft, an installation sleeve is sleeved on the periphery of the bearing, a connecting block is fixed on the installation sleeve, a connecting frame is fixed at the bottom of the connecting block, and the fixture is provided with two groups and is fixed on two sides of the connecting frame respectively.

2. The large-scale high-reliability double-clamp rotary manipulator according to claim 1, wherein the other end of the main arm is hinged to a sub-transmission case, the sub-arm is mounted on the sub-transmission case, and a sub-driving motor for driving the sub-transmission case to rotate around the main arm is arranged in the sub-transmission case.

3. The large-scale high-reliability double-clamp rotary manipulator according to claim 2, wherein a fixing frame is mounted on the auxiliary transmission case, and an electric control box is fixed on the fixing frame.

4. The large-scale high-reliability double-clamp rotary manipulator according to any one of claims 1 to 3, wherein the bottom of the base is fixed with three support seats, and the three support seats are respectively arranged at two sides and the middle of the bottom of the base.

5. The large high reliability dual clamp rotary manipulator of claim 4, wherein the bottom of the support base is provided with a rubber pad.

6. The large-scale high-reliability double-clamp rotary manipulator according to any one of claims 1 to 3, wherein two pneumatic guide rails are fixed on two sides of the connecting frame, L-shaped connecting plates are fixed on sliding blocks of the pneumatic guide rails, and the clamp is fixed on the bottom of L-shaped connecting plates.

7. The large-scale high-reliability double-clamp rotary manipulator according to claim 6, wherein the clamp comprises a double-head cylinder fixed at the bottom of the L-shaped connecting plate, a pair of clamping plates are connected to telescopic rods at two ends of the double-head cylinder, and clamping blocks are fixed at the bottoms of the clamping plates.

8. The large high reliability dual clamp rotary manipulator according to any one of claims 1-3, wherein the connection frame is a square frame structure.