CN212150736U - Manipulator for clamping large goods - Google Patents
Manipulator for clamping large goods Download PDFInfo
- Publication number
- CN212150736U CN212150736U CN202020608408.8U CN202020608408U CN212150736U CN 212150736 U CN212150736 U CN 212150736U CN 202020608408 U CN202020608408 U CN 202020608408U CN 212150736 U CN212150736 U CN 212150736U
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- clamping
- manipulator
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- rod
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- 230000000670 limiting effect Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
The utility model discloses a manipulator for clamping large goods, which comprises a paw base, a transmission part rotationally mounted on the paw base, a gripper jaw in threaded connection with the transmission part, a limiting rod for limiting the rotation of the gripper jaw and a power motor for driving the rotation of the transmission part, wherein the number of the gripper jaws is two, and the positive and negative screws of the transmission part synchronously move in opposite directions or in opposite linear directions; the transmission part comprises a positive and negative screw rod and bearing end seats, the positive and negative screw rod is horizontally and rotatably arranged between the two bearing end seats, and the bearing end seats are fixedly connected to the bottom of the paw base; the limiting rod is a polished rod, is horizontally and fixedly connected between the two bearing end seats and is positioned right below the positive and negative screw rod; the gripper jaw comprises connecting rods which are vertically distributed and a clamping plate fixedly connected to the lower ends of the connecting rods, and the connecting rods are in threaded connection with the positive and negative lead screws and are in sliding connection with the limiting rods. The utility model discloses a manipulator for centre gripping major possession goods can be firm snatch the goods, work efficiency is high.
Description
Technical Field
The utility model relates to a machine-building technical field, in particular to manipulator for centre gripping major possession goods.
Background
In the modern food production industry, boxing is a terminal link of the whole production line, and because the production speed of the production line is high, the pace of boxing is very urgent. Most of the existing manipulators for carrying large-size goods such as large-size cartons adopt a vacuum chuck to lift the goods so as to carry the goods. However, the use of vacuum chucks is prone to the occurrence of a phenomenon of being unable to pick up or lift up, and in repetitive operations of suction and release, the vacuum chucks are prone to aging, requiring frequent replacement of the vacuum chucks. To the environment of using sucking disc manipulator transport goods on a large scale, change vacuum chuck often and greatly influenced work efficiency.
Therefore, it is highly desirable to design a gripper for holding large goods, which can easily grip the goods and has high working efficiency.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a manipulator for centre gripping major possession goods, it can be firm snatch the goods, work efficiency is high.
The above object of the present invention can be achieved by the following technical solutions:
the utility model provides a manipulator for centre gripping major possession goods, includes the hand claw base, rotates the driving medium of installing on the hand claw base, with driving medium threaded connection's gripper jaw, restriction gripper jaw pivoted gag lever post and order about driving medium pivoted driving motor, gripper jaw quantity is established to two, makes opposite or opposite linear motion in opposite directions in step through the positive and negative tooth lead screw of driving medium.
By adopting the technical scheme, when the practical novel manipulator works, the power motor is started, the power motor drives the positive and negative screw rods to rotate forwards, and the connecting rods of the two clamping claws synchronously move in opposite directions along the axes of the positive and negative screw rods under the limiting action of the limiting rods, so that goods can be clamped; when the power motor drives the positive and negative screw rods to rotate reversely, the two clamping claws synchronously move reversely, so that the clamping claws and the goods are separated. The manipulator of the utility model takes the motor as the power source, realizes the operation of loosening or clamping the mechanical claw by controlling the positive and negative rotation of the motor, and has simple and convenient operation process; in addition, the positive and negative screw rod transmission is adopted, so that the center of the manipulator and the center of the clamped goods are on the same vertical plane, the movement positioning of the manipulator is facilitated, and the working efficiency is improved.
The utility model discloses further set up to: the transmission part comprises a positive and negative screw rod and bearing end seats, the positive and negative screw rod is horizontally and rotatably installed between the two bearing end seats, and the bearing end seats are fixedly connected to the bottom of the paw base.
Through adopting above-mentioned technical scheme, positive and negative tooth lead screw passes through bearing end seat horizontal installation in hand claw base bottom, assembles with the gripper jaw respectively.
The utility model discloses further set up to: the limiting rod is a polished rod and is horizontally and fixedly connected between the two bearing end seats and is positioned right below the positive and negative screw rod.
By adopting the technical scheme, the clamping jaws are in threaded connection with the positive and negative screw rods and are in sliding connection with the limiting rods, and when the positive and negative screw rods rotate, the connecting rods of the two clamping jaws synchronously move in opposite directions or far away from each other along the axes of the positive and negative screw rods under the limiting action of the limiting rods.
The utility model discloses further set up to: the clamping jaw comprises connecting rods and clamping plates, the connecting rods are vertically distributed, the clamping plates are fixedly connected to the lower ends of the connecting rods, and the connecting rods are in threaded connection with the positive and negative screw rods and are in sliding connection with the limiting rods.
Through adopting above-mentioned technical scheme, connecting rod and positive and negative tooth lead screw, gag lever post cooperation realize reciprocal translation, are carried out the centre gripping by splint to the goods.
The utility model discloses further set up to: two clamping piece is all installed to the splint one side in opposite directions of gripper jaw, the clamping piece includes the clamping arm of two settings in opposite directions, clamping arm is the folding rod form, including hinge connecting portion on splint and the clamping part that is used for the centre gripping object.
Through adopting above-mentioned technical scheme, during gripper centre gripping goods, two splint remove to the goods simultaneously, the connecting portion of two clamp arms earlier with goods surface butt, rotate around its self pin joint respectively when connecting portion receive pressure to make the clamping part do the relative motion simultaneously, further carry out the centre gripping to another relative lateral wall of goods, with this stability of snatching that improves.
The utility model discloses further set up to: the outer sides of the connecting portion and the clamping portion corner are fixedly connected with bosses, two connecting lugs are arranged on the side wall of the clamping plate at intervals, and the bosses are located in the two connecting lugs and are connected in a rotating mode through pin shafts.
Through adopting above-mentioned technical scheme, the boss realizes with the engaging lug cooperation that the rotation of pressing from both sides tight arm and splint is connected.
The utility model discloses further set up to: the clamping part is arranged on the clamping plate, and the clamping part is arranged on the clamping plate.
Through adopting above-mentioned technical scheme, the elasticity of positioning spring is used on connecting portion for the clamping part rotates towards the direction of keeping away from connecting portion, under the influence that does not receive other external forces, and the clamping part can support always to press on the splint lateral wall, and when avoiding the gripper jaw to press from both sides tightly, the clamping part took place the position with the goods and interferes.
The utility model discloses further set up to: the clamping plate is arranged in a telescopic manner.
Through adopting above-mentioned technical scheme, make two clamping arms of clamping piece can adapt to the goods of unidimensional not.
The utility model discloses further set up to: the clamping plate comprises a main plate and an auxiliary plate, the main plate is fixedly connected with the connecting rod, and the middle part of one side of the main plate is fixedly connected with a sleeve; the two auxiliary plates penetrate through the two ends of the sleeve and are in sliding fit with the sleeve, and the sleeve is provided with a butterfly jackscrew; the two clamping arms are respectively arranged on the two auxiliary plates.
Through adopting above-mentioned technical scheme, subplate and sleeve pipe sliding fit to this length that realizes splint is adjustable, fixes the subplate position through the butterfly jackscrew, and two clamping arms of clamping piece are installed respectively on two subplates, through the position of adjusting two subplates, realize that the interval of two clamping arms is adjustable.
To sum up, the utility model discloses following beneficial effect has:
1. the manipulator takes the motor as a power source, realizes the loosening or clamping operation of the mechanical claw by controlling the positive and negative rotation of the motor, and has simple and convenient operation process;
2. the positive and negative screw drive is adopted, so that the center of the manipulator and the center of the clamped goods are on the same vertical plane, the movement positioning of the manipulator is facilitated, and the working efficiency is improved;
3. through set up the clamping piece on the gripper jaw, after the gripper jaw centre gripping goods, the clamping part of two clamp arms carries out the centre gripping to another relative lateral wall of goods simultaneously, effectively improves the stability of snatching.
Drawings
Fig. 1 is a schematic structural view of a robot of the present embodiment;
fig. 2 is a schematic structural view of the clamping member of the present embodiment.
In the figure, 1, a paw base; 2. a transmission member; 21. a positive and negative tooth lead screw; 22. a bearing end mount; 3. a gripper jaw; 31. a connecting rod; 32. a splint; 321. a main board; 322. a sub-board; 33. connecting lugs; 4. a limiting rod; 5. a power motor; 6. a clamping member; 61. a clamp arm; 611. a connecting portion; 612. a clamping portion; 613. a boss; 62. a position adjusting spring; 7. a sleeve; 8. butterfly jackscrew.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A manipulator for clamping large cargos is shown in figure 1 and comprises a paw base 1, a transmission piece 2 rotatably mounted on the paw base 1, a clamping jaw 3 in threaded connection with the transmission piece 2, a limiting rod 4 in sliding fit with the clamping jaw 3 and a power motor 5 for driving the transmission piece 2 to rotate.
The transmission piece 2 comprises a positive and negative tooth screw rod 21 and bearing end seats 22 rotatably arranged at two ends of the positive and negative tooth screw rod 21, and the two bearing end seats 22 are fixedly connected to the bottom of the paw base 1, so that the positive and negative tooth screw rod 21 can horizontally rotate relative to the paw base 1; the limiting rod 4 is a polished rod and is horizontally and fixedly connected between the two bearing end seats 22 and is positioned right below the positive and negative screw 21.
The gripper jaw 3 includes the connecting rod 31 of vertical setting and the splint 32 of rigid coupling in the connecting rod 31 bottom, and the quantity of gripper jaw 3 sets up to two, the upper end of the connecting rod 31 of two gripper jaws 3 respectively with positive and negative tooth lead screw 21 threaded connection to with gag lever post 4 sliding fit, the splint 32 of the gripper jaw 3 of two gripper jaws 3 sets up in opposite directions.
The power motor 5 is fixedly connected to the bottom of the paw base 1 and coaxially fixedly connected with one end of the positive and negative tooth screw 21.
When the practical novel manipulator works, the power motor 5 is started, the power motor 5 drives the positive and negative screw 21 to rotate forwards, and the connecting rods 31 of the two clamping claws 3 synchronously move in opposite directions along the axes of the positive and negative screw 21 under the limiting action of the limiting rod 4, so that goods can be clamped; when the power motor 5 drives the positive and negative screw 21 to rotate reversely, the two clamping claws 3 synchronously move reversely, so that the separation operation of the clamping claws 3 and goods is realized.
The manipulator of the utility model takes the motor as the power source, realizes the operation of loosening or clamping the mechanical claw by controlling the positive and negative rotation of the motor, and has simple and convenient operation process; in addition, the transmission of the screw rod 21 with the positive and negative teeth is adopted, so that the center of the manipulator and the center of the clamped goods are on the same vertical plane, the movement positioning of the manipulator is facilitated, and the working efficiency is improved.
The clamping piece 6 is arranged on one side of the clamping plates 32 of the two clamping claws 3, as shown in fig. 2, the clamping piece 6 comprises two clamping arms 61 and two positioning springs 62, wherein the clamping arms 61 are folded rod-shaped and comprise a connecting part 611 and a clamping part 612 for clamping an object, and the included angle between the connecting part 611 and the clamping part 612 is not less than 90 °. A boss 613 is fixed to the outer sides of the corners of the connecting portion 611 and the clamping portion 612, two engaging lugs 33 are correspondingly arranged on the side wall of the clamping plate 32 at intervals, and the boss 613 is located in the two engaging lugs 33 and is rotatably connected together through a pin shaft, so that the clamping arm 61 can rotate relative to the clamping plate 32. The two clamp arms 61 are disposed opposite each other.
The positioning spring 62 is obliquely installed between the connecting portion 611 and the clamping plate 32 from the connecting portion 611 to the clamping portion 612, the elastic force of the positioning spring 62 acts on the connecting portion 611, so that the clamping portion 612 rotates in a direction away from the connecting portion 611, the clamping portion 612 can always abut against the side wall of the clamping plate 32 without being influenced by other external forces, and the clamping portion 612 is prevented from interfering with the goods when the clamping claw 3 clamps the goods.
When the gripper grips the goods, the two clamping plates 32 move towards the goods simultaneously, the connecting parts 611 of the two clamping arms 61 are firstly abutted against the surface of the goods, and the connecting parts 611 rotate around the hinge points of the connecting parts 611 respectively when being pressed, so that the clamping parts 612 move oppositely at the same time, the other opposite side wall of the goods is further gripped, and the gripping stability is improved.
Furthermore, the length of the clamping plate 32 can be telescopically arranged, so that the two clamping arms 61 of the clamping part 6 can adapt to cargoes of different sizes; specifically, the clamping plate 32 comprises a main plate 321 and two auxiliary plates 322, the main plate 321 is fixedly connected with the lower end of the connecting rod 31, the middle part of one side of the main plate 321 facing the goods is horizontally and fixedly connected with the sleeve 7, the two auxiliary plates 322 respectively penetrate through two ends of the sleeve 7, and the auxiliary plates 322 are in sliding fit with the sleeve 7, so that the length of the clamping plate 32 is adjustable; the sleeve 7 is connected with a butterfly jackscrew 8 capable of penetrating into the sleeve, and the position of the auxiliary plate 322 is fixed through the butterfly jackscrew 8.
Two clamping arms 61 of the clamping part 6 are respectively arranged on the two auxiliary plates 322, and the distance between the two clamping arms 61 can be adjusted by adjusting the positions of the two auxiliary plates 322.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.
Claims (9)
1. A manipulator for centre gripping bulky device, its characterized in that: including hand claw base (1), rotate driving medium (2) of installing on hand claw base (1), with driving medium (2) threaded connection's gripper jaw (3), restriction gripper jaw (3) pivoted gag lever post (4) and order about driving medium (2) pivoted driving motor (5), gripper jaw (3) quantity is established to two, and positive and negative tooth lead screw (21) through driving medium (2) do in opposite directions or opposite linear motion in step.
2. The manipulator of claim 1, for holding large items of merchandise, wherein: the transmission part (2) comprises a positive and negative tooth lead screw (21) and bearing end seats (22), the positive and negative tooth lead screw (21) is horizontally rotated and installed between the two bearing end seats (22), and the bearing end seats (22) are fixedly connected to the bottom of the paw base (1).
3. The manipulator of claim 2, wherein: the limiting rod (4) is a polished rod and is horizontally and fixedly connected between the two bearing end seats (22) and is positioned right below the positive and negative tooth lead screw (21).
4. The manipulator of claim 3, wherein: the clamping jaw (3) comprises a connecting rod (31) and a clamping plate (32), wherein the connecting rod (31) is vertically distributed, the clamping plate (32) is fixedly connected to the lower end of the connecting rod (31), and the connecting rod (31) is in threaded connection with the positive and negative screw rod (21) and is in sliding connection with the limiting rod (4).
5. The manipulator of claim 4, for holding large items of merchandise, wherein: clamping piece (6) are all installed to splint (32) one side in opposite directions of gripper jaw (3), clamping piece (6) are including two clamping arm (61) that set up in opposite directions, clamping arm (61) are folding rod form, including connecting portion (611) that articulate on splint (32) and clamping part (612) that are used for the centre gripping object.
6. The manipulator of claim 5, for holding large items of merchandise, wherein: the outer side of connecting portion (611) and clamping part (612) corner rigid coupling has boss (613), the interval is provided with two engaging lugs (33) on the lateral wall of splint (32), boss (613) are arranged in two engaging lugs (33), rotate through the round pin axle and connect.
7. The manipulator of claim 5, for holding large items of merchandise, wherein: a positioning spring (62) is obliquely arranged between the connecting part (611) and the clamping plate (32), and the positioning spring (62) drives the clamping part (612) to rotate towards the direction far away from the connecting part (611).
8. The manipulator of claim 5, for holding large items of merchandise, wherein: the clamping plate (32) is arranged in a telescopic manner.
9. The manipulator of claim 8, wherein: the clamping plate (32) comprises a main plate (321) and an auxiliary plate (322), the main plate (321) is fixedly connected with the connecting rod (31), and the middle of one side of the main plate (321) is fixedly connected with a sleeve (7); the number of the auxiliary plates (322) is two, the two auxiliary plates (322) penetrate through the two ends of the sleeve (7) and are in sliding fit with the sleeve (7), and a jackscrew is arranged on the sleeve (7); the two clamping arms (61) are respectively arranged on the two auxiliary plates (322).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020608408.8U CN212150736U (en) | 2020-04-21 | 2020-04-21 | Manipulator for clamping large goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020608408.8U CN212150736U (en) | 2020-04-21 | 2020-04-21 | Manipulator for clamping large goods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212150736U true CN212150736U (en) | 2020-12-15 |
Family
ID=73722782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020608408.8U Expired - Fee Related CN212150736U (en) | 2020-04-21 | 2020-04-21 | Manipulator for clamping large goods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212150736U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112832072A (en) * | 2021-02-24 | 2021-05-25 | 温州市瑞基科技有限公司 | Sleeper clamp convenient to adjust |
| CN113233171A (en) * | 2021-04-12 | 2021-08-10 | 黄金仙 | Automatic discharging platform for bearing production |
-
2020
- 2020-04-21 CN CN202020608408.8U patent/CN212150736U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112832072A (en) * | 2021-02-24 | 2021-05-25 | 温州市瑞基科技有限公司 | Sleeper clamp convenient to adjust |
| CN113233171A (en) * | 2021-04-12 | 2021-08-10 | 黄金仙 | Automatic discharging platform for bearing production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201215 |