CN212075674U - Multifunctional manipulator - Google Patents
Multifunctional manipulator Download PDFInfo
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- CN212075674U CN212075674U CN202020050620.7U CN202020050620U CN212075674U CN 212075674 U CN212075674 U CN 212075674U CN 202020050620 U CN202020050620 U CN 202020050620U CN 212075674 U CN212075674 U CN 212075674U
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- clamping jaw
- arm
- mechanical arm
- upper clamping
- fixed
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- 230000008093 supporting effect Effects 0.000 claims description 18
- 239000011111 cardboard Substances 0.000 claims description 5
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011087 paperboard Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000123 paper Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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Abstract
The utility model discloses a multifunctional manipulator, including first arm, second arm, base, anchor clamps and fixing base, the bottom of first arm rotates with the base level and links to each other, the top of first arm with the one end of second arm is vertical links to each other, first arm and second arm homoenergetic swing in vertical direction, the top of fixing base with the base level rotates and links to each other. The utility model provides a current manipulator pile up neatly function singleness, only can carry out the pile up neatly to the product of a specification, and can only adopt artifical pile up neatly when wanting multiple specification product pile up neatly, can't realize the problem of the pile up neatly of automatic many specifications product.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a multifunctional manipulator.
Background
The most of the stacking on the market is manual stacking for products with multiple specifications or robot stacking for single products, the former adopts manual stacking, the production efficiency is low, and the latter can only aim at one type of products due to single function of a manipulator, so that the stacking requirements for multiple products cannot be met.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a multifunctional manipulator realizes that the case of the multiple size of centre gripping carries out the pile up neatly when efficient.
To achieve the purpose, the utility model adopts the following technical proposal:
a multifunctional manipulator comprises a first mechanical arm, a second mechanical arm, a base, a clamp and a fixed seat, wherein the bottom end of the first mechanical arm is vertically connected with the base, the top end of the first mechanical arm is vertically connected with one end of the second mechanical arm, the other end of the second mechanical arm is vertically connected with the clamp, the first mechanical arm and the second mechanical arm can swing in the vertical direction, and the top end of the fixed seat is horizontally and rotatably connected with the base;
the clamp comprises a main frame, a bearing frame, an upper clamping jaw, a lower clamping jaw, a first telescopic assembly and a second telescopic assembly; the supporting frame is arranged on the front side of the main frame, one end of the first telescopic assembly is fixed to the main frame, the other end of the first telescopic assembly is fixed to the supporting frame, and the first telescopic assembly is used for driving the main frame to move in the front-back direction;
the lower clamping jaw is fixed in the bottom of body frame, the supporting rack is located to the upper clamping jaw, the upper clamping jaw is located the top of lower clamping jaw, just the upper clamping jaw with lower clamping jaw parallel arrangement, the flexible subassembly of second sets up in the supporting rack and is used for the drive the upper clamping jaw removes along upper and lower direction.
Preferably, still include the connector, the top and the second arm of connector rotate to be connected, the bottom of connector is rotated through first rotary platform and anchor clamps and is connected.
Preferably, the second telescopic assembly comprises a telescopic piece, a guide sliding block and a guide rail; the guide rail is vertically fixed on the supporting frame, the guide sliding block is fixed at the rear end of the upper clamping jaw, the guide sliding block is in sliding fit with the guide rail, the upper clamping jaw is connected with the guide sliding block, and the telescopic piece can drive the upper clamping jaw to move up and down along the guide rail through the guide sliding block.
Preferably, the supporting frame comprises a baffle plate, the baffle plate is provided with an elongated slot, the guide rail is fixed to the rear side of the baffle plate, the guide slider is located on the rear side of the baffle plate, and the front end of the upper clamping jaw penetrates through the elongated slot of the baffle plate.
Preferably, the telescopic part is a rodless cylinder, two ends of the rodless cylinder are fixed at the rear end of the baffle, and a movable sliding block of the rodless cylinder is connected with the guide sliding block.
Preferably, the lower jaw is rake-shaped.
Preferably, the side of the main frame is provided with a plurality of sucker components, and the sucker components are used for sucking the paperboard.
Preferably, still include the third arm, the one end and the second arm of third arm are passed through the second rotary platform and are rotated and be connected, the other end of third arm is rotated through pivot and connector and is connected, but the axial rotation of third arm.
The utility model has the advantages that: the stacking problem of the existing manipulator is solved, the stacking function is single, only products of one specification can be stacked, only manual stacking can be adopted when products of multiple specifications are stacked, and automatic stacking of products of multiple specifications cannot be realized; the manipulator has wide range of motion, flexible motion and wider application range.
Drawings
The accompanying drawings are provided to further illustrate the present invention, but the content in the accompanying drawings does not constitute any limitation to the present invention.
Fig. 1 is a schematic structural diagram of a multifunctional manipulator according to an embodiment of the present invention;
FIG. 2 is a schematic view of the clamp of one embodiment of the present invention for clamping a box;
FIG. 3 is a schematic view of the case in which the clamp of one embodiment of the present invention is used;
FIG. 4 is a schematic diagram of a second retraction assembly according to one embodiment of the present invention;
wherein: a first robot arm 10; a second robot arm 20; a base 30; a jig 40; a fixed seat 50; a connector 60; a third robot arm 70; a main frame 1; a support frame 2; a baffle plate 21; an elongated slot 211; an upper jaw 3; a lower jaw 4; a first telescopic assembly 5; a second telescopic assembly 6; a telescopic member 61; a slider 62; a guide rail 63; and a sucker assembly 8.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
A multifunctional manipulator of this embodiment, as shown in fig. 1, includes a first manipulator 10, a second manipulator 20, a base 30, a clamp 40, and a fixing seat 50, where a bottom end of the first manipulator 10 is vertically connected to the base 30, a top end of the first manipulator 10 is vertically connected to one end of the second manipulator 20, another end of the second manipulator 20 is vertically connected to the clamp 40, both the first manipulator 10 and the second manipulator 20 can swing in a vertical direction, and a top end of the fixing seat 50 is horizontally and rotatably connected to the base 30;
as shown in fig. 2 and 3, the device comprises a main frame 1, a support frame 2, an upper clamping jaw 3, a lower clamping jaw 4, a first telescopic assembly 5 and a second telescopic assembly 6; the supporting frame 2 is arranged on the front side of the main frame 1, one end of the first telescopic assembly 5 is fixed to the main frame 1, the other end of the first telescopic assembly 5 is fixed to the supporting frame 2, and the first telescopic assembly 5 is used for driving the main frame 1 to move in the front-back direction;
The multifunctional manipulator solves the problems that the stacking function of the existing manipulator is single, products (boxes) with one specification can only be stacked, manual stacking can only be adopted when products with multiple specifications are stacked, and automatic stacking of products with multiple specifications cannot be realized.
When stacking is needed, the first mechanical arm 10 and the second mechanical arm 20 swing in the vertical direction, the horizontal rotation of the base 30 is matched, the clamp 40 is controlled to be close to a product, then the clamp 40 clamps the product, then the clamp 40 is controlled to be close to a product stacking area, and finally the clamp 40 places the product in a stacking area.
Further, when the box needs to be clamped, the supporting frame 2 is fixed, the first telescopic assembly 5 drives the main frame 1 to move forwards, the lower clamping jaw 4 is inserted into the bottom of the box, the second telescopic assembly 6 drives the upper clamping jaw 3 to move downwards and press the top of the box, and the upper clamping jaw 3 and the lower clamping jaw 4 act simultaneously to clamp the box; accomplish to press from both sides and get the back, the case is got to the blowing district to the manipulator clamp, and when needs blowing, still support clamp 2 is fixed motionless, and first flexible subassembly 5 drive body frame 1 moves backward, and lower clamping jaw 4 withdraws the bottom of case, and the second flexible subassembly 6 drives upper clamping jaw 3 and moves upward, accomplishes the pile up neatly of case, and the manipulator continues the centre gripping case.
Preferably, as shown in fig. 1, the robot further includes a connector 60, a top end of the connector 60 is rotatably connected to the second robot arm 20, and a bottom end of the connector 60 is rotatably connected to the clamp 40 through the first rotating platform.
The second mechanical arm 20 and the clamp 40 are respectively connected in a rotating mode through the connecting head 60, so that the moving range of the mechanical arm is wider, the mechanical arm is more flexible, and the application range is wider.
Preferably, as shown in fig. 4, said second telescopic assembly 6 comprises a telescopic member 61, a guide slider 62 and a guide rail 63; the guide rail 63 is vertically fixed on the support frame 2, the guide slider 62 is fixed at the rear end of the upper jaw 3, the guide slider 62 is in sliding fit with the guide rail 63, the upper jaw 3 is connected with the guide slider 62, and the telescopic part 61 can drive the upper jaw 3 to move up and down along the guide rail 63 through the guide slider 62.
When the upper clamping jaw 3 needs to be controlled to move upwards or downwards, the telescopic piece 61 drives the upper clamping jaw 3 to move upwards and downwards along the guide rail 63, and the stability of the upper clamp 3 in up-and-down movement is improved through the guiding and supporting effects of the guide rail 63.
Preferably, as shown in fig. 2 and 3, the supporting frame 2 includes a baffle plate 21, the baffle plate 21 is provided with an elongated slot 211, the guide rail 63 is fixed to the rear side of the baffle plate 21, the guide slider 62 is located on the rear side of the baffle plate 21, and the front end of the upper clamping jaw 3 passes through the elongated slot 211 of the baffle plate 21.
Baffle 21 is used for getting the in-process and has the effect that blocks spacingly to the case, through locating the rear side of baffle 2 with the flexible subassembly 6 of second, can not take place to interfere with the case when the case is got to anchor clamps clamp, simple structure moreover, and usage space is little.
Preferably, as shown in fig. 4, the telescopic member 61 is a rodless cylinder, two ends of the rodless cylinder are fixed to the rear end of the baffle 21, and a movable slider of the rodless cylinder is connected with the guide slider 62.
The upper clamping jaw 3 is driven to move up and down through the movable sliding block outside the rodless cylinder, and the rodless cylinder is simple in structure and small in size, so that the mounting space is further saved.
Preferably, as shown in fig. 2 and 3, the lower jaw 4 is rake-shaped.
The manipulator snatchs the case through the cylinder on-line, sets lower clamping jaw 4 into the rake form, is favorable to snatching the case from the cylinder on-line, also can adapt to snatching of the case of multiple model, and the area of contact of the bottom of lower clamping jaw 4 and case is few moreover, and frictional force is little when lower clamping jaw 4 withdraws the bottom of case, reduces the acting of the flexible subassembly 6 of second.
Preferably, as shown in fig. 2 and 3, the side of the main frame 1 is provided with a plurality of suction cup assemblies 8, and the suction cup assemblies 8 are used for sucking the paper boards.
At the pile up neatly in-process, according to the customer requirement, need absorb the cardboard before the pile up neatly and place on the cardboard, or put a cardboard again after the pile up neatly accomplishes the one deck, accomplish the absorption to the cardboard through a plurality of sucking disc subassemblies 8 of the side setting of body frame 1, place simple structure, convenient operation.
Preferably, the robot further comprises a third mechanical arm 70, one end of the third mechanical arm 70 is rotatably connected with the second mechanical arm 20 through a second rotating platform, the other end of the third mechanical arm 70 is rotatably connected with the connecting joint 60 through a rotating shaft, and the third mechanical arm 70 can axially rotate.
The axial rotation of the third mechanical arm 70 is for swinging the clamp 40 in the vertical direction to suck and place the paper partition.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (8)
1. A multifunctional manipulator which is characterized in that: the clamp comprises a first mechanical arm, a second mechanical arm, a base, a clamp and a fixed seat, wherein the bottom end of the first mechanical arm is vertically connected with the base, the top end of the first mechanical arm is vertically connected with one end of the second mechanical arm, the other end of the second mechanical arm is vertically connected with the clamp, the first mechanical arm and the second mechanical arm can swing in the vertical direction, and the top end of the fixed seat is horizontally and rotatably connected with the base;
the clamp comprises a main frame, a bearing frame, an upper clamping jaw, a lower clamping jaw, a first telescopic assembly and a second telescopic assembly; the supporting frame is arranged on the front side of the main frame, one end of the first telescopic assembly is fixed to the main frame, the other end of the first telescopic assembly is fixed to the supporting frame, and the first telescopic assembly is used for driving the main frame to move in the front-back direction;
the lower clamping jaw is fixed in the bottom of body frame, the supporting rack is located to the upper clamping jaw, the upper clamping jaw is located the top of lower clamping jaw, just the upper clamping jaw with lower clamping jaw parallel arrangement, the flexible subassembly of second sets up in the supporting rack and is used for the drive the upper clamping jaw removes along upper and lower direction.
2. The multi-functional manipulator of claim 1, characterized in that: still include the connector, the top and the second arm of connector rotate to be connected, the bottom of connector is rotated through first rotary platform and anchor clamps and is connected.
3. The multi-functional manipulator of claim 1, characterized in that: the second telescopic assembly comprises a telescopic piece, a guide sliding block and a guide rail; the guide rail is vertically fixed on the supporting frame, the guide sliding block is fixed at the rear end of the upper clamping jaw, the guide sliding block is in sliding fit with the guide rail, the upper clamping jaw is connected with the guide sliding block, and the telescopic piece can drive the upper clamping jaw to move up and down along the guide rail through the guide sliding block.
4. A multi-functional manipulator according to claim 3, characterized in that: the supporting frame comprises a baffle, the baffle is provided with a long slotted hole, the guide rail is fixed on the rear side of the baffle, the guide sliding block is positioned on the rear side of the baffle, and the front end of the upper clamping jaw penetrates through the long slotted hole of the baffle.
5. The multi-functional manipulator of claim 4, characterized in that: the telescopic piece is a rodless cylinder, two ends of the rodless cylinder are fixed at the rear end of the baffle, and a movable sliding block of the rodless cylinder is connected with the guide sliding block.
6. The multi-functional manipulator of claim 1, characterized in that: the lower clamping jaw is in a rake shape.
7. The multi-functional manipulator of claim 1, characterized in that: the side of body frame is equipped with a plurality of sucking disc subassemblies, the sucking disc subassembly is used for absorbing the cardboard.
8. The multi-functional manipulator of claim 7, characterized in that: still include the third arm, the one end of third arm is rotated through second rotary platform with the second arm and is connected, the other end of third arm is rotated through pivot and connector and is connected, but the axial rotation of third arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020050620.7U CN212075674U (en) | 2020-01-10 | 2020-01-10 | Multifunctional manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020050620.7U CN212075674U (en) | 2020-01-10 | 2020-01-10 | Multifunctional manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212075674U true CN212075674U (en) | 2020-12-04 |
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ID=73566506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020050620.7U Active CN212075674U (en) | 2020-01-10 | 2020-01-10 | Multifunctional manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN212075674U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023380A (en) * | 2021-03-01 | 2021-06-25 | 浙江大学山东工业技术研究院 | Industrial automatic stacking robot |
-
2020
- 2020-01-10 CN CN202020050620.7U patent/CN212075674U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023380A (en) * | 2021-03-01 | 2021-06-25 | 浙江大学山东工业技术研究院 | Industrial automatic stacking robot |
| CN113023380B (en) * | 2021-03-01 | 2022-07-12 | 浙江大学山东工业技术研究院 | Industrial automatic stacking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220511 Address after: No.15 Ningjiang Road, Daning community, Humen Town, Dongguan City, Guangdong Province Patentee after: GUANGDONG LISHENG INTELLIGENT Co.,Ltd. Patentee after: Guangzhou Lisheng Robot Technology Co.,Ltd. Address before: No.15 Ningjiang Road, Daning community, Humen Town, Dongguan City, Guangdong Province 523900 Patentee before: GUANGDONG LISHENG INTELLIGENT Co.,Ltd. |
|
| 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: A multifunctional robotic arm Effective date of registration: 20230526 Granted publication date: 20201204 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: Guangzhou Lisheng Robot Technology Co.,Ltd. Registration number: Y2023980041929 |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No.15 Ningjiang Road, Daning community, Humen Town, Dongguan City, Guangdong Province Patentee after: GUANGDONG LISHENG INTELLIGENT Co.,Ltd. Country or region after: China Patentee after: Guangzhou Weihil Intelligent Technology Co.,Ltd. Address before: No.15 Ningjiang Road, Daning community, Humen Town, Dongguan City, Guangdong Province Patentee before: GUANGDONG LISHENG INTELLIGENT Co.,Ltd. Country or region before: China Patentee before: Guangzhou Lisheng Robot Technology Co.,Ltd. |