CN211103993U

CN211103993U - Multi-group parallel arm swinging manipulator

Info

Publication number: CN211103993U
Application number: CN201922250935.6U
Authority: CN
Inventors: 邵耀东
Original assignee: Suzhou Yuntu Automation Equipment Co ltd
Current assignee: Suzhou Yuntu Automation Equipment Co ltd
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2020-07-28
Anticipated expiration: 2029-12-16

Abstract

The utility model relates to a manipulator technical field just discloses multiunit parallel arm swing manipulator, including the manipulator base, the three fixed arm of right side fixedly connected with of manipulator base, it is three the equal fixedly connected with installation piece in the outside of fixed arm, it is three the articulated seat of the equal fixedly connected with in bottom on installation piece right side, it is three the outside of articulated seat all articulates there is the driving cylinder, it is three the interlude is provided with first fixed connecting rod between the fixed arm, first fixed connecting rod all with three fixed arm fixed connection, it has rather than articulated three swing arm, three to alternate on the first fixed connecting rod the swing arm is located one side of three fixed arm respectively, and is three the right-hand member of driving cylinder is articulated with the inboard of three swing arm respectively. The utility model discloses a, it is big to have solved current structure occupation space, and the structure is complicated, and is with high costs, and the bearing capacity is limited, can't snatch the problem of removal to the overlength panel more than 8 meters.

Description

Multi-group parallel arm swinging manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is multiunit parallel arm swing manipulator.

Background

The manipulator is an industrial robot which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects, is the earliest appearing industrial robot and is the earliest appearing modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to the automobile industry: a caravan carriage plate, an FRP refrigerated carriage plate; building material industry: color steel plates, machine plates, fireproof doors, heat-insulating plates, rock wool fireproof plates and the like; furniture industry: grabbing and moving various boards of paper honeycomb boards, aluminum honeycomb boards and the like.

Similar structure on the market now has two kinds, the structure of translation, the other one is the swing of single arm, and translation structure occupation space is big, and the structure is complicated, and is with high costs, and the bearing capacity is limited, and single arm swing can't snatch the removal to the overlength panel more than 8 meters, and the product that the market urgently needed to the receipts of overlength product mechanism board to the above-mentioned problem, provides multiunit parallel arm swing manipulator for this reason and solves above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Not enough to prior art, the utility model provides a multiunit parallel arm swing manipulator has steadily snatchs and removes super long panel, and occupation space is little, the arm carries advantage great, simple structure, easy to maintain, and it is big to have solved current structure occupation space, and the structure is complicated, and is with high costs, and the bearing capacity is limited, can't snatch the problem of removal to the super long panel more than 8 meters.

(II) technical scheme

For realize above-mentioned steadily snatching and removing overlength panel, occupation space is little, the arm carries purpose great, simple structure, easy maintenance, the utility model provides a following technical scheme:

a plurality of groups of parallel arm swinging manipulators comprise a manipulator base, wherein the right side of the manipulator base is fixedly connected with three fixed arms, the outer sides of the three fixed arms are fixedly connected with mounting blocks, the bottoms of the right sides of the three mounting blocks are fixedly connected with hinged seats, the outer sides of the three hinged seats are hinged with driving cylinders, a first fixed connecting rod is arranged among the three fixed arms in an inserting manner, the first fixed connecting rod is fixedly connected with the three fixed arms, three swinging arms hinged with the first fixed connecting rod are inserted in the first fixed connecting rod, the three swinging arms are respectively positioned at one side of the three fixed arms, the right ends of the three driving cylinders are respectively hinged with the inner sides of the three swinging arms, the right ends of the three swinging arms are respectively provided with a connecting rod, a second fixed connecting rod is arranged among the three connecting rods in an inserting manner, and the second, it is three the connecting rod is articulated in the right-hand member of three swing arm respectively, and is three it is provided with auxiliary component to alternate between the connecting rod, auxiliary component all is in three connecting rod fixed connection, auxiliary component's opposite side all with three fixed arm fixed connection, it is three the equal sliding connection in both sides of connecting rod bottom has the tight slider of clamp, the bottom of the fixed connecting rod of second is provided with two clamping jaws, two one side that the clamping jaw carried on the back mutually respectively with press from both sides tight slider fixed connection, the bottom of the fixed connecting rod of second is provided with two sucking disc poles, and two sucking disc poles all are located between two clamping jaws, two the top of sucking disc pole all with the bottom fixed connection of three connecting rod, two it has the sucking disc of arranging rather than fixed connection and.

Preferably, the auxiliary member is including first auxiliary rod and second auxiliary rod, first auxiliary rod all with three connecting rod fixed connection, the second auxiliary rod all with three fixed arm fixed connection, the cover is established rather than articulated three auxiliary arm on the first auxiliary rod, three the one end that first auxiliary rod was kept away from to the auxiliary arm all articulates with the second auxiliary rod.

Preferably, the right side of the manipulator base is fixedly connected with three supporting plates, and the right ends of the three supporting plates are fixedly connected with the bottoms of the three fixed arms respectively.

Preferably, two the equal fixedly connected with protection pad in the opposite one side of clamping jaw, two the opposite one side of protection pad all is provided with anti-skidding line.

Preferably, the number of the fixed arm, the driving cylinder, the swing arm and the connecting rod can be increased or decreased according to the length of the grabbed sheet material.

(III) advantageous effects

Compared with the prior art, the utility model provides a multiunit parallel arm swing manipulator possesses following beneficial effect:

1. the multi-group parallel arm swinging manipulator is high in practicability, the manipulator base is installed on other motion modules to move horizontally or vertically, the length of a plate can be grabbed as required, the number of the fixing arms, the driving cylinders, the swinging arms and the connecting rods can be increased or reduced, the fixing arms, the driving cylinders and the swinging arms are consistent with the number of the connecting rods, the plate is sucked by contacting the plate through the suckers, the clamping slide blocks are controlled to slide at the bottoms of the connecting rods, the clamping slide blocks drive the two clamping jaws to clamp the plate, the protective pads on the inner sides of the clamping jaws protect the plate to prevent scratches during clamping, the clamping plate is sucked through the matching of the suckers and the clamping jaws, after clamping, the driving cylinders stretch and rotate by taking the hinged seats as base points, the driving cylinders push the swinging arms hinged with the driving cylinders, and the swinging arms can drive the connecting rods to, the back-and-forth movement of connecting rod can drive the panel of being got by the clamp and remove, when removing, the removal of first auxiliary rod drives the auxiliary arm and rotates around the second auxiliary rod, make clamping jaw and sucking disc keep the horizontality, it is steady after guaranteeing to snatch panel, multiunit parallel arm swing manipulator can steadily snatch and remove overlength panel, it is steady to use, occupation space is little, the arm carries heavily, moreover, the steam generator is simple in structure, easy to maintain, it is big to have solved current structure occupation space, the structure is complicated, high cost, the bearing capacity is limited, can't snatch the problem of removing to overlength panel more than the meter.

2. This multiunit parallel arm swing manipulator through when pressing from both sides get or absorb, the second auxiliary rod carries out fixed position to the auxiliary arm, and first auxiliary rod follows to move and drives the auxiliary arm and adjust to make the holding level state of clamping jaw or sucking disc, guarantee to snatch steadily behind the panel.

3. This multiunit parallel arm swing manipulator through the setting of backup pad, can make to form triangular stable structure between manipulator base, fixed arm and the backup pad, and it is stronger to improve the device stability when pressing from both sides and getting or absorbing.

4. This parallel arm of multiunit swing manipulator through the setting that the protection was filled up, presss from both sides the messenger to panel and protects panel, prevents the fish tail to improve frictional force through anti-skidding line, press from both sides the clamp and get the effect better.

5. This multiunit parallel arm swing manipulator through the quantity increase or reduction to fixed arm, actuating cylinder, swing arm and connecting rod, can realize steadily snatching and removing super long panel, has played crucial effect in the pile up neatly of super long panel, very big manpower of having saved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

In the figure: 1. a manipulator base; 2. a fixed arm; 3. mounting blocks; 4. a hinged seat; 5. a drive cylinder; 6. a first fixed link; 7. a swing arm; 8. a connecting rod; 9. a second fixed link; 10. an auxiliary member; 1001. a first auxiliary lever; 1002. a second auxiliary lever; 1003. an auxiliary arm; 11. clamping the sliding block; 12. a clamping jaw; 13. a sucker rod; 14. a suction cup; 15. a support plate; 16. a protective pad.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, a multi-group parallel arm swing manipulator comprises a manipulator base 1, the manipulator base 1 is mounted on other motion modules to move horizontally or vertically, three fixed arms 2 are fixedly connected to the right side of the manipulator base 1, mounting blocks 3 are fixedly connected to the outer sides of the three fixed arms 2, hinged seats 4 are fixedly connected to the bottoms of the right sides of the three mounting blocks 3, driving cylinders 5 are hinged to the outer sides of the hinged seats 4, first fixed connecting rods 6 are inserted between the three fixed arms 2, the first fixed connecting rods 6 are fixedly connected to the three fixed arms 2, three swing arms 7 hinged to the first fixed connecting rods 6 are inserted into the first fixed connecting rods 6, the three swing arms 7 are respectively located at one side of the three fixed arms 2, the inner sides of the three swing arms 7 are respectively hinged to the driving cylinders 5, connecting rods 8 are respectively arranged at the right ends of the three swing arms 7, a second fixed connecting rod 9 is inserted between the three connecting rods 8, the second fixed connecting rod 9 is fixedly connected with the three connecting rods 8, the three connecting rods 8 are respectively hinged at the right ends of the three swing arms 7, the driving cylinder 5 extends and retracts to rotate by taking the hinged seat 4 as a base point, the driving cylinder 5 pushes the swing arm 7 hinged with the driving cylinder to move back and forth, the connecting rods 8 can be driven to move back and forth, so that a clamped plate can move, auxiliary components 10 are inserted between the three connecting rods 8, the auxiliary components 10 are fixedly connected with the three connecting rods 8, each auxiliary component 10 comprises a first auxiliary rod 1001, a second auxiliary rod 1002 and an auxiliary arm 1003, a clamping jaw 12 or a suction cup 14 is kept in a horizontal state through the auxiliary components 10, the stability after the plate is grabbed is ensured, the other side of the auxiliary component 10 is fixedly connected with the three fixed arms 2, and two sides of the bottoms of the, the bottom of second fixed link 9 is provided with two clamping jaws 12, clamping slide 11 slides in the bottom of connecting rod 8, clamping slide 11 drives two clamping jaws 12 and presss from both sides tightly to panel, one side that two clamping jaws 12 carried on the back mutually respectively with clamping slide 11 fixed connection, the bottom of second fixed link 9 is provided with two sucking disc poles 13, two sucking disc poles 13 all are located between two clamping jaws 12, the top of two sucking disc poles 13 all with the bottom fixed connection of three connecting rod 8, it has sucking disc 14 rather than fixed connection and equidistance range to alternate on two sucking disc poles 13, the sucking disc 14 absorbs to panel.

Further, auxiliary component 10 is including first auxiliary rod 1001 and second auxiliary rod 1002, first auxiliary rod 1001 all with three connecting rod 8 fixed connection, second auxiliary rod 1002 all with three fixed arm 2 fixed connection, first auxiliary rod 1001 goes up the cover and establishes rather than articulated three auxiliary arm 1003, the one end that first auxiliary rod 1001 was kept away from to three auxiliary arm 1003 all articulates with second auxiliary rod 1002, through when pressing from both sides or absorbing, second auxiliary rod 1002 carries out fixed position to auxiliary arm 1003, first auxiliary rod 1001 follows to move and drives auxiliary arm 1003 and adjust, thereby make the holding level state of clamping jaw 12 or sucking disc 14, it is steady after the panel is guaranteed to snatch.

Further, three backup pad 15 of the right side fixedly connected with of manipulator base 1, the right-hand member of three backup pad 15 respectively with the bottom fixed connection of three fixed arm 2, through the setting of backup pad 15, can make and form triangular stable structure between manipulator base 1, fixed arm 2 and the backup pad 15, improve the device and get or absorb the time stability stronger.

Further, the equal fixedly connected with of one side that two clamping jaws 12 are relative fills up 16, and two protection fills up 16 relative one sides and all is provided with anti-skidding line, through the setting of protection pad 16, presss from both sides the messenger to panel and protects panel, prevents the fish tail to press from both sides through anti-skidding line improvement frictional force, press from both sides the effect of getting better.

Further, the number of the fixed arm 2, the driving cylinder 5, the swing arm 7 and the connecting rod 8 can be increased or decreased according to the length of the captured plate, the number of the fixed arm 2, the driving cylinder 5, the swing arm 7 and the connecting rod 8 is increased or decreased, stable capture and movement of the super-long plate can be achieved, the function of being vital in stacking of the super-long plate is achieved, and manpower is greatly saved.

The type of the driving cylinder 5 is a capital DSDG80, other electrical components used in this embodiment may be used, the electronic components are all connected to an external power supply and a control switch, and the specific circuit connection mode and the use method thereof are commonly disclosed technologies, and thus, redundant description is not repeated herein.

The working principle is as follows: when the manipulator base 1 is used, the manipulator base 1 is installed on other motion modules to move horizontally or vertically, the practicability is high, the length of a plate can be grabbed as required, the number of the fixing arm 2, the driving cylinder 5, the swing arm 7 and the connecting rod 8 can be increased or reduced, the number of the fixing arm 2, the driving cylinder 5, the swing arm 7 and the connecting rod 8 is consistent, the plate is sucked by contacting the plate through the plurality of suckers 14, the clamping slider 11 is controlled to slide at the bottom of the connecting rod 8, the clamping slider 11 drives the two clamping jaws 12 to clamp the plate, the protective pads 16 on the inner sides of the clamping jaws 12 protect the plate from being scratched during clamping, the clamping plate is sucked through the matching of the suckers 14 and the clamping jaws 12, after clamping, the driving cylinder 5 stretches and retracts by taking the hinge seat 4 as a base point to rotate, and the driving cylinder 5 pushes the swing arm 7 hinged, the removal of swing arm 7 can drive connecting rod 8 and remove, the back-and-forth movement of connecting rod 8 can drive the panel of being got by the clamp and remove, when removing, the removal of first auxiliary rod 1001 drives auxiliary arm 1003 and rotates around second auxiliary rod 1002, make clamping jaw 12 and sucking disc 14 keep the horizontality, it is steady after the panel to guarantee to snatch, multiunit parallel arm swing manipulator can steadily snatch and remove super long panel, it is steady to use, occupation space is little, the arm carries heavily, moreover, the steam generator is simple in structure, easy to maintain, it is big to have solved current structure occupation space, the structure is complicated, high cost, the bearing capacity is limited, can't snatch the problem of removal to super long panel more than 8 meters.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Multiunit parallel arm swing manipulator, including manipulator base (1), its characterized in that: the manipulator comprises a manipulator base (1), wherein the right side of the manipulator base is fixedly connected with three fixed arms (2), the outer sides of the fixed arms (2) are fixedly connected with mounting blocks (3) and are three, the bottom on the right side of the mounting blocks (3) is fixedly connected with hinged seats (4), the outer sides of the hinged seats (4) are hinged with driving cylinders (5), the number of the fixed arms (2) is three, first fixed connecting rods (6) are arranged among the fixed arms (2) in an inserting mode, the first fixed connecting rods (6) are fixedly connected with the three fixed arms (2), three swinging arms (7) hinged with the first fixed connecting rods (6) are inserted in the first fixed connecting rods (6), the three swinging arms (7) are respectively located on one side of the three fixed arms (2), the right ends of the driving cylinders (5) are hinged with the inner sides of the three swinging arms (7), and the right ends of the, a second fixed connecting rod (9) is arranged between the three connecting rods (8) in an inserting manner, the second fixed connecting rod (9) is fixedly connected with the three connecting rods (8), the three connecting rods (8) are hinged to the right ends of the three swing arms (7) respectively, an auxiliary component (10) is arranged between the three connecting rods (8) in an inserting manner, the auxiliary component (10) is fixedly connected with the three connecting rods (8), the other side of the auxiliary component (10) is fixedly connected with the three fixing arms (2), two clamping sliders (11) are slidably connected to two sides of the bottom of the three connecting rods (8), two clamping jaws (12) are arranged at the bottom of the second fixed connecting rod (9), one side of each of the two clamping jaws (12) back to the other is fixedly connected with the clamping slider (11) respectively, and two sucker rods (13) are arranged at the bottom of the second fixed connecting rod (9), two sucking disc poles (13) all are located between two clamping jaws (12), two the top of sucking disc pole (13) all with the bottom fixed connection of three connecting rod (8), two break-through has sucking disc (14) rather than fixed connection and equidistance range on sucking disc pole (13).

2. The multi-bank parallel arm oscillating manipulator of claim 1, wherein: auxiliary member (10) are including first auxiliary rod (1001) and second auxiliary rod (1002), first auxiliary rod (1001) all with three connecting rod (8) fixed connection, second auxiliary rod (1002) all with three fixed arm (2) fixed connection, first auxiliary rod (1001) goes up the cover and establishes rather than articulated three auxiliary arm (1003), and is three auxiliary arm (1003) are kept away from the one end of first auxiliary rod (1001) and are all articulated with second auxiliary rod (1002).

3. The multi-bank parallel arm oscillating manipulator of claim 1, wherein: the right side of manipulator base (1) is fixedly connected with three backup pad (15), and is three the right-hand member of backup pad (15) respectively with the bottom fixed connection of three fixed arm (2).

4. The multi-bank parallel arm oscillating manipulator of claim 1, wherein: two equal fixedly connected with protection pad (16) in the relative one side of clamping jaw (12), two the relative one side of protection pad (16) all is provided with anti-skidding line.

5. The multi-bank parallel arm oscillating manipulator of claim 1, wherein: the number of the fixed arm (2), the driving cylinder (5), the swing arm (7) and the connecting rod (8) can be increased or decreased according to the length of the grabbed plate.