CN211916862U - Manipulator mechanism of horizontal robot - Google Patents
Manipulator mechanism of horizontal robot Download PDFInfo
- Publication number
- CN211916862U CN211916862U CN201922146705.5U CN201922146705U CN211916862U CN 211916862 U CN211916862 U CN 211916862U CN 201922146705 U CN201922146705 U CN 201922146705U CN 211916862 U CN211916862 U CN 211916862U
- Authority
- CN
- China
- Prior art keywords
- connecting block
- main body
- clamping
- manipulator
- horizontal robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a manipulator mechanism of a horizontal robot, which comprises a main body, a driving mechanism arranged on the left side of the main body, a cylinder arranged on the right side of the main body, an upper clamping mechanism, a main clamping mechanism and a lower clamping mechanism which are respectively arranged above and below the driving mechanism; the main body is provided with a frame for supporting the position of the main body. The mechanical arm mainly completes 4 functions: 1) taking materials: reliably obtaining a large bearing ring and a small bearing ring; 2) feeding: conveying the bearing ring to a metal mold and embedding the bearing ring into a mold cavity; 3) taking materials for the second time: taking the formed aluminum casting out of the mold; 4) and conveying the aluminum casting to remove the flash.
Description
Technical Field
The utility model relates to the technical field of robots, concretely relates to horizontal robot's manipulator mechanism.
Background
In real life, the robot is mainly used as a mechanical arm in the industrial field for assembling, welding, spraying, assembling and the like, and is also a security robot, a chat robot and the like which are in wheel-type walking, wherein the humanoid upright walking robot is developed abroad, and the robot is broken in a laboratory at present, has higher requirements on a control system and is relatively expensive in manufacturing cost; the requirements of families, factories, enterprises and public institutions and the like on security humanoid robots capable of vertically walking, chatting, teaching and simply carrying objects cannot be met, and the requirements of banks, markets, public areas and the like on intelligent humanoid robots capable of vertically walking, shopping guide, guidance, explanation and the like cannot be met.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
In order to overcome the defects of the prior art, a manipulator mechanism of a horizontal robot is provided, and the problems that in real life, the robot is mainly used as a manipulator in the industrial field and is used for assembling, welding, spraying, assembling and the like are solved, a wheel-type walking security robot, a chat robot and the like are adopted, a humanoid vertical walking robot is developed abroad, and the robot is broken in a laboratory at present, has high requirements on a control system and is relatively expensive in manufacturing cost; the intelligent humanoid robot can not meet the requirements of families, factories, enterprises and public institutions and the like on the security humanoid robot which can walk vertically, can chat, teach and simply carry objects, and can not meet the requirements of banks, markets, public areas and the like on the intelligent humanoid robot which can walk vertically, guide, explain and the like.
(II) technical scheme
The utility model discloses a following technical scheme realizes: the utility model provides a manipulator mechanism of a horizontal robot, which comprises a main body (1), a driving mechanism (3) arranged on the left side of the main body (1), a cylinder (2) arranged on the right side of the main body (1), an upper clamping mechanism (4), a main clamping mechanism (6) and a lower clamping mechanism (5) which are respectively arranged above and below the driving mechanism (3); the main body (1) is provided with a frame (9) for supporting the position of the main body.
Preferably, the upper clamping mechanism (4) comprises an upper connecting block (41) arranged on the driving mechanism (3), an upper transverse connecting block (42) arranged on the upper connecting block (41), an upper air cylinder (43) fixedly arranged on the upper transverse connecting block (42), and an upper clamping jaw position (44) arranged on the upper air cylinder (43).
Preferably, the lower clamping mechanism (5) comprises a lower connecting block (51) arranged below the driving mechanism (3), a lower transverse connecting block (52) arranged on the lower connecting block (51), a lower air cylinder (53) fixedly arranged on the lower transverse connecting block (52), and a lower clamping jaw position (54) arranged on the lower air cylinder (53).
Preferably, the main clamping mechanism (6) comprises a connecting fixed seat (61), a connecting rod (7) is connected to the connecting fixed seat (61), a clamping seat (81) is arranged on the connecting rod (7), and a clamping jaw assembly (8) is arranged on the clamping seat (81).
Preferably, the jaw assembly (8) comprises a first jaw (82) and a second jaw (83); the first clamping jaw (82) and the second clamping jaw (83) are fixedly arranged on the clamping seat (81) through a plurality of bolts respectively.
Preferably, the upper connecting block (41) is triangular.
Preferably, the lower connecting block (51) is triangular.
(III) advantageous effects
Compared with the prior art, the utility model, following beneficial effect has:
the mechanical arm mainly completes 4 functions: 1) taking materials: reliably obtaining a large bearing ring and a small bearing ring; 2) feeding: conveying the bearing ring to a metal mold and embedding the bearing ring into a mold cavity; 3) taking materials for the second time: taking the formed aluminum casting out of the mold; 4) and conveying the aluminum casting to remove the flash.
Advantages and advantageous effects
(1) The manipulator has a simple structure, the feeding and taking actions completely meet the requirements of actual operation, the feeding and taking processes are reliably linked with the working process of the casting and forming machine tool, and the processing technological requirements are met;
(2) the mechanical arm positioning is driven by a servo motor and is executed by a roller screw, so that the positioning accuracy is ensured;
(3) the fetching and the delivering of the bearing ring are completed by the magnetic gauge stand, so that the instability of the electromagnetic chuck is overcome;
(4) the finished product of the aluminum casting is grabbed by the clamping jaws, the clamping jaws can clamp and loosen, move back and forth, up and down, move left and right, and can turn over by 90 degrees, so that the grabbing action of the workpiece is completed, and the grabbing device is flexible and reliable;
(5) the adjustment and parameter setting of the manipulator can be finished on the touch screen, and the setting and debugging are convenient;
(6) the manipulator can realize a key start-up, makes alone to operate many lathe become possible, and it has not only reduced workman's intensity of labour, has improved economic benefits, the image of the enterprise that promotes simultaneously.
Drawings
Fig. 1 is a schematic structural diagram of a manipulator mechanism of the horizontal robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the utility model provides a manipulator mechanism of a horizontal robot, which comprises a main body 1, a driving mechanism 3 arranged on the left side of the main body 1, a cylinder 2 arranged on the right side of the main body 1, an upper clamping mechanism 4, a main clamping mechanism 6 and a lower clamping mechanism 5 which are respectively arranged above and below the driving mechanism 3; the main body 1 is provided with a frame 9 for supporting the position thereof.
As shown in fig. 1, the utility model provides a horizontal robot's manipulator mechanism, go up to press from both sides and get mechanism 4 including setting up last connecting block 41 on actuating mechanism 3, setting up last transverse connection piece 42 on last connecting block 41, fixed last cylinder 43 that sets up on last transverse connection piece 42, the last clamping jaw position 44 that sets up on last cylinder 43.
As shown in fig. 1, the utility model provides a manipulator mechanism of horizontal robot, lower clamp is got mechanism 5 and is included lower connecting block 51, the lower transverse connection piece 52 of setting on connecting block 51, the fixed lower cylinder 53 that sets up on lower transverse connection piece 52, the lower clamping jaw position 54 of setting on lower cylinder 53 that sets up under actuating mechanism 3.
As shown in fig. 1, the utility model provides a horizontal robot's manipulator mechanism, main clamp is got mechanism 6 and is included connecting fixing base 61, it is provided with connecting rod 7 to connect on the fixing base 61, be provided with grip slipper 81 on the connecting rod 7, be provided with clamping jaw subassembly 8 on the grip slipper 81.
As shown in fig. 1, the present invention provides a manipulator mechanism of a horizontal robot, wherein the clamping jaw assembly 8 comprises a first clamping jaw 82 and a second clamping jaw 83; the first clamping jaw 82 and the second clamping jaw 83 are respectively fixedly arranged on the clamping seat 81 through a plurality of bolts.
As shown in fig. 1, the utility model provides a horizontal robot's manipulator mechanism, go up connecting block 41 and be triangle-shaped, triangle-shaped's design is favorable to strengthening the rigidity, makes whole more have the durability.
As shown in fig. 1, the utility model provides a horizontal robot's manipulator mechanism, lower connecting block 51 are triangle-shaped, and the design of triangle-shaped is favorable to strengthening the rigidity, makes whole more have the durability.
Compared with the prior art, the utility model, following beneficial effect has:
the mechanical arm mainly completes 4 functions: 1, taking materials: reliably obtaining a large bearing ring and a small bearing ring; 2, feeding: conveying the bearing ring to a metal mold and embedding the bearing ring into a mold cavity; 3, taking materials for the second time: taking the formed aluminum casting out of the mold; 4, conveying the aluminum casting to remove the flash.
The manipulator has a simple structure, the feeding and taking actions completely meet the requirements of actual operation, the feeding and taking processes are reliably linked with the working process of a casting and forming machine tool, and the processing technological requirements are met;
2, the manipulator positioning is driven by a servo motor and is executed by a roller screw, so that the positioning accuracy is ensured;
3 the fetching and delivering of the bearing ring are completed by the magnetic gauge stand, thus overcoming the instability of the electromagnetic chuck;
4, the finished aluminum casting is grabbed by the clamping jaw, the clamping jaw can clamp and loosen, move forwards and backwards, vertically and leftwards and rightwards, and can turn over by 90 degrees, so that grabbing of the workpiece is completed, and the grabbing is flexible and reliable;
5, the adjustment and parameter setting of the manipulator can be finished on the touch screen, and the setting and debugging are convenient;
6 the manipulator can realize a key and start, makes alone to operate many lathe and becomes possible, and it has not only reduced workman's intensity of labour, has improved economic benefits, the image of the enterprise that promotes simultaneously.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the spirit and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by the technical solution of the present invention by those skilled in the art should fall into the protection scope of the present invention, and the technical contents claimed by the present invention have been fully recorded in the claims.
Claims (7)
1. Horizontal robot's manipulator mechanism, its characterized in that: the clamping device comprises a main body (1), a driving mechanism (3) arranged on the left side of the main body (1), a cylinder (2) arranged on the right side of the main body (1), an upper clamping mechanism (4), a main clamping mechanism (6) and a lower clamping mechanism (5) which are respectively arranged above and below the driving mechanism (3); the main body (1) is provided with a frame (9) for supporting the position of the main body.
2. The manipulator mechanism of the horizontal robot according to claim 1, wherein the upper gripping mechanism (4) comprises an upper connecting block (41) arranged on the driving mechanism (3), an upper transverse connecting block (42) arranged on the upper connecting block (41), an upper air cylinder (43) fixedly arranged on the upper transverse connecting block (42), and an upper clamping jaw position (44) arranged on the upper air cylinder (43).
3. The manipulator mechanism of the horizontal robot according to claim 1, wherein the lower gripper mechanism (5) comprises a lower connecting block (51) disposed below the driving mechanism (3), a lower transverse connecting block (52) disposed on the lower connecting block (51), a lower cylinder (53) fixedly disposed on the lower transverse connecting block (52), and a lower gripper position (54) disposed on the lower cylinder (53).
4. The manipulator mechanism of the horizontal robot according to claim 3, wherein the main clamping mechanism (6) comprises a connecting fixed seat (61), a connecting rod (7) is connected to the connecting fixed seat (61), a clamping seat (81) is arranged on the connecting rod (7), and a clamping jaw assembly (8) is arranged on the clamping seat (81).
5. The robot hand mechanism of the horizontal robot according to claim 4, wherein: the jaw assembly (8) comprises a first jaw (82) and a second jaw (83); the first clamping jaw (82) and the second clamping jaw (83) are fixedly arranged on the clamping seat (81) through a plurality of bolts respectively.
6. The robot hand mechanism of the horizontal robot according to claim 2, wherein: the upper connecting block (41) is triangular.
7. The robot hand mechanism of the horizontal robot according to claim 3, wherein: the lower connecting block (51) is triangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922146705.5U CN211916862U (en) | 2019-12-04 | 2019-12-04 | Manipulator mechanism of horizontal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922146705.5U CN211916862U (en) | 2019-12-04 | 2019-12-04 | Manipulator mechanism of horizontal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211916862U true CN211916862U (en) | 2020-11-13 |
Family
ID=73325045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922146705.5U Active CN211916862U (en) | 2019-12-04 | 2019-12-04 | Manipulator mechanism of horizontal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211916862U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275792A (en) * | 2021-04-27 | 2021-08-20 | 西安费米人工智能有限公司 | A unloader in automation for crew cut welding machine equipment is used |
-
2019
- 2019-12-04 CN CN201922146705.5U patent/CN211916862U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275792A (en) * | 2021-04-27 | 2021-08-20 | 西安费米人工智能有限公司 | A unloader in automation for crew cut welding machine equipment is used |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| LU100822B1 (en) | Turnover multi-finger asynchronous gripper for casting robot | |
| CN102909600B (en) | Cantilever servo manipulator | |
| CN102699221B (en) | Loading and unloading manipulator | |
| CN107471234A (en) | Foundry robot refers to asynchronous handgrip with omnidirectional more | |
| CN102990270B (en) | Cylinder-pushed four-link clamping device | |
| CN103350286B (en) | A kind of welding equipment of door of elevator wallboard reinforcement end socket and method | |
| CN211916862U (en) | Manipulator mechanism of horizontal robot | |
| CN206840135U (en) | A kind of robot device | |
| CN209668152U (en) | A kind of disk high-precision turnover device for clean environment | |
| CN207447864U (en) | Multicenter Combined process system | |
| CN204844154U (en) | Centre gripping gripper mechanism | |
| CN208019907U (en) | A kind of Pneumatic feeding mechanism for centerless grinding machine | |
| CN210678757U (en) | Suction nozzle carrying manipulator | |
| CN217494255U (en) | Novel multi-station manipulator transmission die | |
| CN211250022U (en) | Two-dimensional walking magnetic control gripper | |
| CN213562595U (en) | Material loading and taking servo simulation machine | |
| CN212285878U (en) | Automatic feeding truss manipulator for lathe | |
| CN212666046U (en) | Carrying device with robot | |
| JPS61216828A (en) | Handling machine | |
| CN212706818U (en) | Robot workpiece taking insert clamping hand device | |
| CN214666662U (en) | Online bending control device based on 3D multi-view fusion technology | |
| CN214988610U (en) | Material grabbing and conveying device | |
| CN219213132U (en) | Be used for mechanical production centre gripping propelling movement material loading manipulator | |
| CN209794397U (en) | GP air inlet support three-plate mold manipulator tool tooling | |
| CN212859460U (en) | Robot gripper for carrying material frames |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Mechanical mobile phone structure of horizontal robots Effective date of registration: 20230606 Granted publication date: 20201113 Pledgee: Bank of Jiangsu Co.,Ltd. Xuzhou Branch Pledgor: XUZHOU GEILI MAGNETIC INDUSTRY CO.,LTD. Registration number: Y2023980042767 |