CN212241081U

CN212241081U - Jaw adjusting device for loading and unloading manipulator

Info

Publication number: CN212241081U
Application number: CN201922193470.5U
Authority: CN
Inventors: 王庆贺
Original assignee: Tianjin Wujin Machinery Equipment Co ltd
Current assignee: Tianjin Wujin Machinery Equipment Co ltd
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-12-29
Anticipated expiration: 2029-12-10

Abstract

The utility model discloses a loading and unloading manipulator adjusting device that keeps silent, including the centre gripping pincers body and arm, the arm is located the top of the centre gripping pincers body, the inner wall one side central point of the centre gripping pincers body puts fixedly connected with pneumatic cylinder, the top fixedly connected with second of pneumatic cylinder clamps, the first slider of the equal fixedly connected with in both sides of second clamp, first spout has all been seted up to the position that the inner wall both sides of the centre gripping pincers body correspond first slider, and first spout and first slider sliding connection, the equal fixedly connected with motor in inner wall both sides of second clamp. The utility model discloses in, the pneumatic cylinder can promote the second clamp and shift out the inside of the centre gripping pincers body to can carry out the centre gripping to less certain object, first clamp can carry out the centre gripping to the object of minimum and remove, and the centre gripping pincers body can carry out the centre gripping to great object and remove, thereby can conveniently remove the stable centre gripping of object of equidimension not, easy operation, convenient to use.

Description

Jaw adjusting device for loading and unloading manipulator

Technical Field

The utility model relates to a manipulator technical field especially relates to a loading and unloading manipulator adjusting device that keeps silent.

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 is characterized in that various expected operations can be completed through programming, the robot has the advantages of both human and robot machines in structure and performance, the robot is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate in a harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like;

the manipulator is used for carrying out the centre gripping removal to the most object that can not directly touch to the human body, and current manipulator is at the centre gripping in-process, and because some objects are less, the fixed size manipulator can not carry out the centre gripping to the object of equidimension not, especially than tiny object, and difficult centre gripping gets up, and people need change different manipulators and carry out the centre gripping, brings certain inconvenience.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a jaw adjusting device of a loading and unloading manipulator.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a manipulator jaw adjusting device for loading and unloading comprises a clamping jaw body and a mechanical arm, wherein the mechanical arm is positioned above the clamping jaw body, a hydraulic cylinder is fixedly connected to the center of one side of the inner wall of the clamping jaw body, a second clamp is fixedly connected to the top of the hydraulic cylinder, first sliding blocks are fixedly connected to the two sides of the second clamp, first sliding grooves are formed in the positions, corresponding to the first sliding blocks, of the two sides of the inner wall of the clamping jaw body, the first sliding grooves are in sliding connection with the first sliding blocks, a motor is fixedly connected to the two sides of the inner wall of the second clamp, a second belt pulley is fixedly connected to an output shaft of the motor, fourth fixing rods are fixedly connected to the inner part of the second clamp, the fourth fixing rods are symmetrical, the center of the outer surface of the fourth fixing rods is rotatably connected with a gear and a first belt pulley through a bearing, and the gear is fixedly connected with a, the inside central point of second clamp puts and is provided with first clamp, the both sides of first clamp all imbed and are connected with the rack, and the rack is connected with the gear engagement.

As a further description of the above technical solution:

the top central point of arm puts through connection and pushes away the handle, the one end fixedly connected with second dead lever that pushes away the handle, the both ends of second dead lever all are rotated through the bearing and are connected with the connecting rod, the first dead lever of one end fixedly connected with that pushes away the handle is kept away from to the connecting rod, the one end of first dead lever is rotated through the bearing and is connected with the centre gripping arm, one side fixedly connected with locating lever of centre gripping arm, one side fixedly connected with third dead lever of arm, and the third dead lever passes through the bearing and rotates with two locating levers respectively and be connected.

As a further description of the above technical solution:

the outer surface of second belt pulley and first belt pulley overlaps jointly to be equipped with the belt, and the second belt pulley passes through the belt and is connected with first belt pulley rotation.

As a further description of the above technical solution:

the clamping arm is fixedly connected with the clamping forceps body.

As a further description of the above technical solution:

the two sides of the first clamp are fixedly connected with second sliding blocks, second sliding grooves are formed in the positions, corresponding to the second sliding blocks, of the inner walls of the second clamp, and the second sliding blocks are connected with the second sliding grooves in a sliding mode.

As a further description of the above technical solution:

and rubber pads are fixedly connected to one sides of the clamping pliers body, the second clamp and the first clamp.

The utility model discloses following beneficial effect has:

1. this loading and unloading manipulator adjusting device that keeps silent, when using, through the pneumatic cylinder, first clamp and the centre gripping pincers body that set up, the pneumatic cylinder can promote the second clamp and shift out the inside of the centre gripping pincers body to can carry out the centre gripping to less certain object, first clamp can carry out the centre gripping to the object of minimum and remove, and the centre gripping pincers body can carry out the centre gripping to great object and remove, thereby can conveniently remove the stable centre gripping of object of equidimension not.

2. When the adjusting device for the jaws of the loading and unloading manipulator is used, the pushing handle, the connecting rod and the clamping arm are arranged, the pushing handle can push the two connecting rods to move through the second fixing rod, the connecting rod can enable the clamping arm to move through the first fixing rod, and the clamping arm can rotate on a fixed position through the positioning rod, so that the clamping jaw body on the clamping arm can clamp and move.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the connection between the body of the pliers and the first and second pliers;

fig. 3 is an enlarged view of a in fig. 2 according to the present invention.

Illustration of the drawings:

1. a clamp body; 2. a mechanical arm; 3. a first fixing lever; 4. a connecting rod; 5. a second fixing bar; 6. a push handle; 7. a clamp arm; 8. positioning a rod; 9. a third fixing bar; 10. a first chute; 11. a first clamp; 12. a rack; 13. a hydraulic cylinder; 14. a second clamp; 15. a gear; 16. a first pulley; 17. a fourth fixing bar; 18. a belt; 19. a second pulley; 20. a motor; 21. a first slider; 22. a second slider; 23. a second chute; 24. and (7) a rubber 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", 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, but 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; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, 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 in specific cases to those skilled in the art.

Referring to fig. 1-3, the present invention provides an embodiment: a manipulator jaw adjusting device for a loading and unloading manipulator comprises a clamping body 1 and a mechanical arm 2, wherein the mechanical arm 2 is positioned above the clamping body 1, a hydraulic cylinder 13 is fixedly connected to the central position of one side of the inner wall of the clamping body 1, a second clamp 14 is fixedly connected to the top of the hydraulic cylinder 13, first sliders 21 are fixedly connected to the two sides of the second clamp 14, first chutes 10 are respectively formed in the two sides of the inner wall of the clamping body 1 corresponding to the positions of the first sliders 21, the first chutes 10 are slidably connected with the first sliders 21, motors 20 are respectively fixedly connected to the two sides of the inner wall of the second clamp 14, second belt pulleys 19 are fixedly connected to output shafts of the motors 20, fourth fixing rods 17 are fixedly connected to the inside of the second clamp 14, the fourth fixing rods 17 are symmetrical, a gear 15 and a first belt pulley 16 are rotatably connected to the central position of the outer surface of the fourth fixing rods 17 through bearings, and the gear 15 is fixedly connected with the first belt pulley 16, the internal central position of the second clamp 14 is provided with the first clamp 11, the two sides of the first clamp 11 are both embedded and connected with the rack 12, and the rack 12 is meshed and connected with the gear 15.

A pushing handle 6 is connected to the center of the top of the mechanical arm 2 in a penetrating mode, a second fixing rod 5 is fixedly connected to one end of the pushing handle 6, two ends of the second fixing rod 5 are rotatably connected with a connecting rod 4 through bearings, one end, far away from the pushing handle 6, of the connecting rod 4 is fixedly connected with a first fixing rod 3, one end of the first fixing rod 3 is rotatably connected with a clamping arm 7 through bearings, one side of the clamping arm 7 is fixedly connected with a positioning rod 8, one side of the mechanical arm 2 is fixedly connected with a third fixing rod 9, and the third fixing rod 9 is rotatably connected with the two positioning rods 8 through bearings respectively, so that people can clamp objects which cannot be directly touched; the belt 18 is sleeved on the outer surfaces of the second belt pulley 19 and the first belt pulley 16, and the second belt pulley 19 is rotatably connected with the first belt pulley 16 through the belt 18, so that the motor 20 can drive the rack 12 to move, and small objects can be clamped conveniently; the clamping arm 7 is fixedly connected with the clamping forceps body 1, so that people can conveniently clamp the clamping forceps body 1 by pushing the handle 6; the two sides of the first clamp 11 are fixedly connected with the second sliding blocks 22, the inner wall of the second clamp 14 is provided with second sliding grooves 23 corresponding to the positions of the second sliding blocks 22, and the second sliding blocks 22 are in sliding connection with the second sliding grooves 23, so that the first clamp 11 can move at the fixed position in the second clamp 14, and people can clamp stably; the rubber pads 24 are fixedly connected to one sides of the clamp body 1, the second clamp 14 and the first clamp 11, so that clamped objects can be protected, and the objects are prevented from being damaged due to over-tight clamping.

The working principle is as follows: when the manipulator jaw adjusting device is used, firstly, the hydraulic cylinder 13 is opened, the hydraulic cylinder 13 pushes the second clamp 14 to move out of the interior of the clamp body 1, wherein the first chute 10 and the first slider 21 enable the second clamp to move on a fixed position, so that a smaller object can be clamped, then the motor 20 is opened, the motor 20 drives the second belt pulley 19 to rotate, the second belt pulley 19 drives the first belt pulley 16 to rotate through the belt 18, the first belt pulley 16 drives the gear 15 to rotate, the gear 15 drives the rack 12 to move, the rack 12 drives the first clamp 11 to move, so that the first clamp 11 can move out of the interior of the second clamp 14, so that a very small object can be clamped, and finally, when the second clamp 14 and the first clamp 11 both retract into the interior of the clamp body 1, the clamp body 1 can clamp a larger object, simple operation and certain practicability.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. The utility model provides a loading and unloading manipulator adjusting device that keeps silent, includes the centre gripping pincers body (1) and arm (2), its characterized in that: the mechanical arm (2) is located above the clamping forceps body (1), a hydraulic cylinder (13) is fixedly connected to the center of one side of the inner wall of the clamping forceps body (1), a second clamp (14) is fixedly connected to the top of the hydraulic cylinder (13), first sliding blocks (21) are fixedly connected to the two sides of the second clamp (14), first sliding grooves (10) are formed in the positions, corresponding to the first sliding blocks (21), of the two sides of the inner wall of the clamping forceps body (1), the first sliding grooves (10) are connected with the first sliding blocks (21) in a sliding mode, a motor (20) is fixedly connected to the two sides of the inner wall of the second clamp (14) in a sliding mode, a second belt pulley (19) is fixedly connected to an output shaft of the motor (20), a fourth fixing rod (17) is fixedly connected to the inside of the second clamp (14) and is symmetrical to each other, and a gear (15) and a second fixing rod (17) are rotatably connected to the center of the outer surface of the fourth fixing rod ( A belt pulley (16), and gear (15) and first belt pulley (16) fixed connection, the inside central point of second clamp (14) puts and is provided with first clamp (11), the both sides of first clamp (11) all imbed and are connected with rack (12), and rack (12) are connected with gear (15) meshing.

2. An unloading and loading manipulator jaw adjustment device according to claim 1, characterized in that: the top central point of arm (2) puts through connection and pushes away handle (6), push away one end fixedly connected with second dead lever (5) of handle (6), the both ends of second dead lever (5) all are rotated through the bearing and are connected with connecting rod (4), connecting rod (4) are kept away from and are pushed away the first dead lever (3) of one end fixedly connected with of handle (6), the one end of first dead lever (3) is rotated through the bearing and is connected with centre gripping arm (7), one side fixedly connected with locating lever (8) of centre gripping arm (7), one side fixedly connected with third dead lever (9) of arm (2), and third dead lever (9) rotate with two locating levers (8) respectively through the bearing and be connected.

3. An unloading and loading manipulator jaw adjustment device according to claim 1, characterized in that: the outer surface of second belt pulley (19) and first belt pulley (16) is overlapped jointly and is equipped with belt (18), and second belt pulley (19) pass through belt (18) and first belt pulley (16) and rotate and be connected.

4. An unloading and loading manipulator jaw adjustment device according to claim 2, characterized in that: the clamping arm (7) is fixedly connected with the clamping forceps body (1).

5. An unloading and loading manipulator jaw adjustment device according to claim 1, characterized in that: the both sides of first clamp (11) are all fixedly connected with second slider (22), second spout (23) have been seted up to the position that the inner wall of second clamp (14) corresponds second slider (22), and second slider (22) and second spout (23) sliding connection.

6. An unloading and loading manipulator jaw adjustment device according to claim 1, characterized in that: and one sides of the clamping pliers body (1), the second clamping pliers (14) and the first clamping pliers (11) are fixedly connected with rubber pads (24).