CN211916829U

CN211916829U - Rotary manipulator

Info

Publication number: CN211916829U
Application number: CN202020095012.8U
Authority: CN
Inventors: 萧进展; 凃英杰
Original assignee: Dongguan Shidatong Automation Co ltd
Current assignee: Dongguan Shidatong Automation Co ltd
Priority date: 2020-01-16
Filing date: 2020-01-16
Publication date: 2020-11-13
Anticipated expiration: 2030-01-16

Abstract

The utility model belongs to the technical field of mechanical equipment, in particular to a rotary mechanical arm, which comprises a rotary mechanism, a first mechanical arm, a second mechanical arm, a third mechanical arm, a connecting arm and a mechanical claw, wherein the first mechanical arm is fixedly arranged on the rotary mechanism, the first mechanical arm, the second mechanical arm, the third mechanical arm and the connecting arm are sequentially hinged, a first hydraulic loop bar, a second hydraulic loop bar and a third hydraulic loop bar are respectively arranged between the first mechanical arm, the second mechanical arm and the third mechanical arm, the first mechanical arm is provided with a first hydraulic cylinder, the first hydraulic cylinder is connected with a first hydraulic pump, the mechanical claw is arranged on the connecting arm, a second hydraulic cylinder is arranged in the mechanical claw, the second hydraulic cylinder is connected with a second hydraulic pump, a fourth hydraulic loop bar is arranged on the second hydraulic cylinder, a movable clamping plate is fixed on the fourth hydraulic loop bar, the other side of the mechanical claw is provided with a fixed clamping plate, the utility model is simple in operation, can snatch the work piece fast effectively, simultaneously, can carry out rotation regulation work angle.

Description

Rotary manipulator

Technical Field

The utility model belongs to the technical field of mechanical equipment, concretely relates to rotation type manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. However, the existing manipulator is quite complex in operation, inconvenient to control, incapable of rotating and narrow in application range.

In view of the above, there is a need for improved rationality in the prior art to meet the actual needs.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: the rotary mechanical arm is driven by hydraulic pressure, is simple to operate, can quickly and effectively grab a workpiece, has the capability of rotation, can automatically adjust the working angle, and greatly improves the applicability.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a rotary mechanical arm comprises a rotary mechanism, a first mechanical arm, a second mechanical arm, a third mechanical arm, a connecting arm and a mechanical claw, wherein the first mechanical arm is fixedly arranged on the rotary mechanism, the first mechanical arm, the second mechanical arm, the third mechanical arm and the connecting arm are sequentially connected through hinges, a first hydraulic loop bar is arranged between the first mechanical arm and the second mechanical arm, a second hydraulic loop bar is arranged between the second mechanical arm and the third mechanical arm, a third hydraulic loop bar is arranged between the third mechanical arm and the connecting arm, a first hydraulic cylinder is arranged on the side portion of the first mechanical arm and is connected with a first hydraulic pump, the first hydraulic loop bar, the second hydraulic loop bar and the third hydraulic loop bar are respectively connected with the first hydraulic cylinder through oil pipes, and the mechanical claw is fixedly arranged on the connecting arm, the gripper is characterized in that a second hydraulic cylinder is arranged in one side of the gripper and connected with a second hydraulic pump, a fourth hydraulic loop bar is arranged on the second hydraulic cylinder, a movable clamping plate is fixedly connected with the fourth hydraulic loop bar, a fixed clamping plate is arranged on the other side of the gripper, and the movable clamping plate and the fixed clamping plate are arranged oppositely.

As right the rotary manipulator's improvement, rotary mechanism includes fixing base and rotation axis, the fixing base embeds there is the rotation motor, the rotation axis with the output that rotates the motor is connected. Through rotating the motor, can drive the rotation axis and rotate to the angle of adjustment work improves the flexibility of device.

As right the rotary manipulator's improvement, still including the installation base, the installation base with the fixing base passes through flange joint seat fixed connection.

As right the improvement of rotary manipulator in the utility model, fourth hydraulic pressure loop bar is a plurality of, every for evenly arranging between the fourth hydraulic pressure loop bar. Evenly arrange the setting between the fourth hydraulic pressure loop bar, can be so that the pressure of applying movable clamp plate is even to stability when the work piece is got to the improvement clamp.

As an improvement to the rotary manipulator of the present invention, the movable clamping plate is provided with a pressure sensor. The pressure sensor is used for sensing the pressure of the movable clamping plate, so that the pressure of the movable clamping plate can be reasonably adapted according to different production requirements.

As an improvement to the rotary manipulator described in the present invention, the gripper is provided with a position sensor. The position sensor is arranged, so that the position of the mechanical claw can be sensed, and the accuracy of clamping the workpiece by the mechanical claw is improved.

As an improvement to the rotary manipulator described in the present invention, the position sensor is a contact sensor or a hall sensor.

As right the utility model discloses in the improvement of rotation type manipulator, still be provided with the electro-magnet on the gripper. The electromagnet is additionally arranged, so that workpieces with large iron content can be clamped, and the clamping force of the mechanical claw is improved.

As right the rotary manipulator's improvement in the utility model, the movable clamp plate with the surface of solid fixed clamp plate all still is provided with the skid resistant course. The anti-slip layer can prevent slipping when the workpiece is clamped, and the stability of the device is greatly improved.

As an improvement to the rotary manipulator described in the present invention, the gripper is provided with an opening.

The beneficial effects of the utility model reside in that: compared with the prior art, the utility model discloses a set up first arm, second arm, third arm and linking arm, improved the application scope of gripper greatly, adopt hydraulic power moreover, can effectively improve the stability of snatching the work piece in-process, consequently, snatch the work piece process more firmly reliable, for modes such as pneumatics and electronic moreover, control is easier, simultaneously, still has rotatory ability, has realized the adjustment of a plurality of angles, has improved the suitability.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided to explain the invention and not to constitute an undue limitation on the invention. In the drawings:

fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

wherein, 1-a rotating mechanism; 2-a first mechanical arm; 3-a second mechanical arm; 4-a third mechanical arm; 5-a linker arm; 6-mechanical claw; 7-a first hydraulic ram; 8-a second hydraulic loop bar; 9-a third hydraulic loop bar; 10-a first hydraulic cylinder; 11-a first hydraulic pump; 12-a second hydraulic cylinder; 13-a second hydraulic pump; 14-a fourth hydraulic ram; 15-movable splints; 16-a fixed splint; 17-a fixed seat; 18-a rotating shaft; 19-mounting a base; 20-flange connection base; 21-a pressure sensor; 22-a position sensor; 23-electromagnet.

Detailed Description

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, within which a person skilled in the art can solve the technical problem to substantially achieve the technical result.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", horizontal "and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The present invention will be described in further detail with reference to the accompanying drawings, which are not intended to limit the present invention.

As shown in fig. 1-2, a rotary manipulator comprises a rotary mechanism 1, a first mechanical arm 2, a second mechanical arm 3, a third mechanical arm 4, a connecting arm 5 and a gripper 6, wherein the first mechanical arm 2 is fixedly arranged on the rotary mechanism 1, the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the connecting arm 5 are sequentially connected through a hinge, a first hydraulic loop bar 7 is arranged between the first mechanical arm 2 and the second mechanical arm 3, a second hydraulic loop bar 8 is arranged between the second mechanical arm 3 and the third mechanical arm 4, a third hydraulic loop bar 9 is arranged between the third mechanical arm 4 and the connecting arm 5, a first hydraulic cylinder 10 is arranged at the side part of the first mechanical arm 2, the first hydraulic cylinder 10 is connected with a first hydraulic pump 11, the first hydraulic loop bar 7, the second hydraulic loop bar 8 and the third hydraulic loop bar 9 are respectively connected with the first hydraulic cylinder 10 through oil pipes, the gripper 6 is fixedly mounted on the connecting arm 5, a second hydraulic cylinder 12 is arranged in one side of the gripper 6, the second hydraulic cylinder 12 is connected with a second hydraulic pump 13, a fourth hydraulic loop bar 14 is arranged on the second hydraulic cylinder 12, a movable clamping plate 15 is fixedly connected with the fourth hydraulic loop bar 14, a fixed clamping plate 16 is arranged on the other side of the gripper 6, and the movable clamping plate 15 and the fixed clamping plate 16 are arranged oppositely.

The gripper 6 is open, and the position sensors 22 can be disposed on both sides of the gripper according to the production requirements, so as to sense the position of the gripper 6, thereby improving the accuracy of the gripper 6 gripping the workpiece. In addition, according to the characteristics of grabbing the workpiece, the mechanical claw 6 is further provided with the electromagnet 23, so that the workpiece with large iron content can be clamped, and the clamping force of the mechanical claw 6 is improved.

Preferably, the rotating mechanism 1 includes a fixed seat 17 and a rotating shaft 18, a rotating motor is disposed in the fixed seat 17, and the rotating shaft 18 is connected to an output end of the rotating motor. By rotating the motor, the rotating shaft 18 can be driven to rotate, so that the working angle can be adjusted, and the flexibility of the device is improved.

Preferably, the device further comprises a mounting base 19, and the mounting base 19 is fixedly connected with the fixed seat 17 through a flange connecting seat 20.

Preferably, the number of the fourth hydraulic loop bars 14 is multiple, and the fourth hydraulic loop bars 14 are uniformly arranged among each other. The fourth hydraulic loop bars 14 are uniformly arranged, so that the pressure applied to the movable clamping plate 15 is uniform, and the stability of clamping the workpiece is improved.

Preferably, the movable clamp plate 15 is provided with a pressure sensor 21. The pressure sensor 21 is used to sense the pressure of the movable clamp 15, so that the pressure of the movable clamp 15 can be adapted reasonably according to different production requirements.

Preferably, the surfaces of the movable clamping plate 15 and the fixed clamping plate 16 are provided with anti-slip layers. The anti-slip layer can prevent slipping when the workpiece is clamped, and the stability of the device is greatly improved.

The utility model discloses a theory of operation does: during the use, adjust the manipulator to suitable work angle through rotating the motor, then control first hydraulic pressure loop bar 7, second hydraulic pressure loop bar 8 and third hydraulic pressure loop bar 9, drive first arm 2, second arm 3, third arm 4 and linking arm 5 and move to appointed position, aim at the gripper 6 with the work piece, at last control movable clamp plate 15 through fourth hydraulic pressure loop bar 14, make movable clamp plate 15 and fixed clamp plate 16 clamp, and then pick up the work piece, in this process, position sensor 22 is through responding to the position of gripper 6, thereby the precision has been improved greatly, can realize the automation in cooperation robot procedure, effectively improve the efficiency of work, simultaneously, pressure sensor 21 can respond to the pressure of movable clamp plate 15, prevent that the clamping force is too big to cause the work piece to damage.

While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive of other embodiments, and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed above, or as otherwise known in the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims

1. A rotary manipulator, its characterized in that: comprises a rotating mechanism (1), a first mechanical arm (2), a second mechanical arm (3), a third mechanical arm (4), a connecting arm (5) and a mechanical claw (6), wherein the first mechanical arm (2) is fixedly arranged on the rotating mechanism (1), the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the connecting arm (5) are sequentially connected through a hinge, a first hydraulic loop bar (7) is arranged between the first mechanical arm (2) and the second mechanical arm (3), a second hydraulic loop bar (8) is arranged between the second mechanical arm (3) and the third mechanical arm (4), a third hydraulic loop bar (9) is arranged between the third mechanical arm (4) and the connecting arm (5), a first hydraulic cylinder (10) is arranged on the side of the first mechanical arm (2), first pneumatic cylinder (10) are connected with first hydraulic pump (11), first hydraulic pressure loop bar (7) second hydraulic pressure loop bar (8) with third hydraulic pressure loop bar (9) respectively through oil pipe with first pneumatic cylinder (10) are connected, gripper (6) fixed mounting in linking arm (5), one side of gripper (6) embeds there is second pneumatic cylinder (12), second pneumatic cylinder (12) are connected with second hydraulic pump (13), be provided with fourth hydraulic pressure loop bar (14) on second pneumatic cylinder (12), fourth hydraulic pressure loop bar (14) fixedly connected with movable clamp plate (15), opposite side on gripper (6) is provided with solid fixed clamp plate (16), movable clamp plate (15) with gu fixed clamp plate (16) set up relatively.

2. The rotary manipulator as claimed in claim 1, wherein: rotary mechanism (1) includes fixing base (17) and rotation axis (18), fixing base (17) embeds there is the rotation motor, rotation axis (18) with the output of rotation motor is connected.

3. The rotary manipulator as claimed in claim 2, wherein: the mounting structure is characterized by further comprising a mounting base (19), wherein the mounting base (19) is fixedly connected with the fixing seat (17) through a flange connecting seat (20).

4. The rotary manipulator as claimed in claim 1, wherein: the number of the fourth hydraulic loop bars (14) is multiple, and the fourth hydraulic loop bars (14) are uniformly distributed.

5. The rotary manipulator as claimed in claim 1, wherein: the movable clamping plate (15) is provided with a pressure sensor (21).

6. The rotary manipulator as claimed in claim 1, wherein: and a position sensor (22) is arranged on the mechanical claw (6).

7. The rotary manipulator of claim 6, wherein: the position sensor (22) is a contact sensor or a Hall sensor.

8. The rotary manipulator as claimed in claim 1, wherein: and an electromagnet (23) is also arranged on the mechanical claw (6).

9. The rotary manipulator as claimed in claim 1, wherein: the surfaces of the movable clamping plate (15) and the fixed clamping plate (16) are also provided with anti-skidding layers.

10. The rotary manipulator as claimed in claim 1, wherein: the mechanical claw (6) is arranged in an opening manner.