CN212470692U

CN212470692U - Three-axis self-positioning flexible manipulator for machining

Info

Publication number: CN212470692U
Application number: CN202020932452.4U
Authority: CN
Inventors: 龚灿
Original assignee: Chongqing Gongjia Intelligent Technology Co ltd
Current assignee: Chongqing Gongjia Intelligent Technology Co ltd
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2021-02-05
Anticipated expiration: 2030-05-28

Abstract

The utility model belongs to the technical field of mechanical arm, and discloses a three-axis self-positioning flexible mechanical arm for machining, which comprises a mounting seat, wherein a connecting block is arranged at the top end of the mounting seat, a first mounting plate is fixed at the top end of the connecting block, a first hydraulic cylinder is arranged at one end of the upper surface wall of the first mounting plate, the output end of the first hydraulic cylinder is connected with a second mounting plate through a hydraulic telescopic rod, and the bottom end of the second mounting plate is symmetrically connected with a first slide bar, the elastic pad can be directly pulled outwards, and the inserting strip can be pulled out from the slot, so that the replacement is rapid and convenient.

Description

Three-axis self-positioning flexible manipulator for machining

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to self-align flexible manipulator of triaxial for machining.

Background

The manipulator is a certain action function that can imitate people's hand and arm for snatch according to fixed procedure, carry the automatic operation device of article or operation tool, along with the development of science and technology, more and more manipulators are used for machining, in order to replace traditional manpower, can effectively reduce the human input, improve machining efficiency, and especially triaxial is from locating manipulator because of its activity direction is comprehensive, uses more extensively.

But present triaxial self-align manipulator exists certain defect, the stability of each axial motion of traditional triaxial self-align manipulator is relatively poor, and traditional triaxial self-align manipulator does not set up the buffer structure who is convenient for change, is difficult to change after buffer structure damages, and in addition, traditional triaxial self-align manipulator is when installing on the mount pad of lathe, and the mounted position is not accurate enough, is difficult to once target in place, and it is accurate to need to move just the mountable many times, comparatively wastes time and energy.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a self-align flexible manipulator of triaxial for machining to provide each axial motion stability of traditional triaxial manipulator relatively poor and not set up the problem of being convenient for change buffer structure among the solution above-mentioned background art, in addition, traditional triaxial manipulator when installing on the mount pad of lathe, the mounted position is not accurate enough, is difficult to the problem that once targets in place.

In order to achieve the above object, the utility model provides a following technical scheme: a three-axis self-positioning flexible manipulator for machining comprises a mounting seat, wherein a connecting block is mounted at the top end of the mounting seat, a first mounting plate is fixed at the top end of the connecting block, a first hydraulic cylinder is mounted at one end of the upper wall of the first mounting plate, the output end of the first hydraulic cylinder is connected with a second mounting plate through a hydraulic telescopic rod, a first slide bar is symmetrically connected to the bottom end of the second mounting plate, a first sliding groove matched with the first slide bar is symmetrically formed in the upper wall of the first mounting plate, a third hydraulic cylinder is mounted at one end of the upper wall of the second mounting plate, the output end of the third hydraulic cylinder is connected with a third mounting plate through a hydraulic telescopic rod, a second sliding bar is symmetrically connected to the lower wall of the third mounting plate, a second sliding groove matched with the second slide bar is symmetrically formed in the upper wall of the second mounting plate, and a second hydraulic cylinder is mounted at one end, far away from the third hydraulic cylinder, the output of second pneumatic cylinder is connected with the fourth mounting panel through hydraulic telescoping rod, the gripper is installed to the bottom of fourth mounting panel, the slot has been seted up to the inner wall of gripper, and the inner wall of gripper installs the cushion, one side that the cushion is close to the gripper is connected with the cutting with slot looks adaptation.

Preferably, the upper wall of the mounting seat is symmetrically provided with grooves, the inner walls of the grooves are equidistantly provided with limiting grooves, the bottom end of the connecting block is symmetrically connected with inserting rods matched with the grooves, and the outer walls of the inserting rods are symmetrically fixed with limiting blocks matched with the limiting grooves.

Preferably, the clamping surface of the elastic cushion is uniformly fixed with anti-skidding tips, and the anti-skidding tips are in a sawtooth shape.

Preferably, the outside of first pneumatic cylinder, second pneumatic cylinder and third pneumatic cylinder all covers and is equipped with the safety cover, the louvre has been seted up to the exterior wall of safety cover.

Preferably, the cross sections of the first sliding chute and the second sliding chute are both inverted T-shaped structures, and the specifications of the first sliding chute and the second sliding chute are consistent.

Preferably, a bottom plate is fixed at the bottom end of the mounting seat, and mounting holes are symmetrically formed in four corners of the outer surface wall of the bottom plate.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model discloses a cooperation of first draw runner and first spout, the stability that multiplicable second mounting panel removed, cooperation through second draw runner and second spout, the stability that multiplicable third mounting panel removed, and then can effectively increase the stability that this manipulator centre gripping article removed, the accuracy of having guaranteed transporting of article targets in place, furthermore, through the slot and the cooperation of inserting the strip, realized inserting of cushion and establish fixedly, when needs are changed the cushion, can directly draw the cushion outward, to insert the strip take out from the slot can, it is swift convenient to change, time saving and labor saving.

(2) The utility model discloses a cooperation of recess, spacing groove, inserted bar and stopper when installing this manipulator on the mount pad of lathe through the connecting block, can insert the inserted bar of connecting block bottom and establish into the recess, make the stopper insert simultaneously and establish into the spacing inslot, can once target in place, guarantee the accuracy of installation, need not to move many times, install comparatively labour saving and time saving.

Drawings

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

fig. 2 is a top view of the second mounting plate of the present invention;

fig. 3 is a side view of the gripper of the present invention;

fig. 4 is a side view of the first mounting plate of the present invention;

fig. 5 is a top view of the mounting base of the present invention;

FIG. 6 is an enlarged view of portion A of FIG. 1;

FIG. 7 is an enlarged view of portion B of FIG. 1;

in the figure: 1-mounting a base; 2, connecting blocks; 3-a first mounting plate; 4-a first hydraulic cylinder; 5-a second mounting plate; 6-a first slider; 7-a second hydraulic cylinder; 8-a third mounting plate; 9-a fourth mounting plate; 10-a gripper; 11-a groove; 12-a plunger; 13-a limiting block; 14-a first runner; 15-a third hydraulic cylinder; 16-a slot; 17-a second runner; 18-a limiting groove; 19-a second slide; 20-cutting; 21-an elastic pad; 22-anti-slip tip; 23-protective cover.

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.

Referring to fig. 1-7, the present invention provides the following technical solutions: a three-axis self-positioning flexible manipulator for machining comprises a mounting seat 1, wherein a connecting block 2 is mounted at the top end of the mounting seat 1, a first mounting plate 3 is fixed at the top end of the connecting block 2, a first hydraulic cylinder 4 is mounted at one end of the upper surface wall of the first mounting plate 3, the output end of the first hydraulic cylinder 4 is connected with a second mounting plate 5 through a hydraulic telescopic rod, a first slide bar 6 is symmetrically connected to the bottom end of the second mounting plate 5, a first sliding groove 14 matched with the first slide bar 6 is symmetrically formed in the upper surface wall of the first mounting plate 3, a third hydraulic cylinder 15 is mounted at one end of the upper surface wall of the second mounting plate 5, the output end of the third hydraulic cylinder 15 is connected with a third mounting plate 8 through the hydraulic telescopic rod, a second sliding bar 19 is symmetrically connected to the lower surface wall of the third mounting plate 8, a second sliding groove 17 matched with the second slide bar 19, the upper surface wall of the third mounting plate 8 and one end far away from the third hydraulic cylinder 15 are provided with a second hydraulic cylinder 7, the output end of the second hydraulic cylinder 7 is connected with a fourth mounting plate 9 through a hydraulic telescopic rod, the bottom end of the fourth mounting plate 9 is provided with a gripper 10, the inner wall of the gripper 10 is provided with a slot 16, the inner wall of the gripper 10 is provided with an elastic pad 21, one side of the elastic pad 21 close to the gripper 10 is connected with a cutting 20 matched with the slot 16, the types of the first hydraulic cylinder 4, the second hydraulic cylinder 7 and the third hydraulic cylinder 15 are ROB32, wherein, through the matching of the first slide bar 6 and the first slide groove 14, the moving stability of the second mounting plate 5 can be increased, through the matching of the second slide bar 19 and the second slide groove 17, the moving stability of the third mounting plate 8 can be increased, further, the moving stability of the manipulator clamping articles can be effectively increased, and the accurate and in-, in addition, when the elastic pad 21 needs to be replaced, the elastic pad 21 can be directly pulled outwards, and the inserting strip 20 can be pulled out from the slot 16, so that the replacement is quick and convenient, and time and labor are saved.

Further, recess 11 has been seted up to the last wall symmetry of mount pad 1, spacing groove 18 has been seted up to the inner wall of recess 11 equidistant, the bottom symmetric connection of connecting block 2 has with recess 11 assorted inserted bar 12, the outer wall symmetry of inserted bar 12 is fixed with the stopper 13 with spacing groove 18 looks adaptation, when installing this manipulator on the mount pad 1 of lathe through connecting block 2, can insert the inserted bar 12 of 2 bottoms of connecting block and establish in recess 11, make stopper 13 insert simultaneously and establish into spacing groove 18, can once target in place, guarantee the accuracy of installation, need not to move many times, the installation is comparatively labour saving and time saving.

Furthermore, the anti-slip tips 22 are uniformly fixed on the clamping surface of the elastic pad 21, the anti-slip tips 22 are serrated, and the frictional force generated when the object is clamped can be increased through the serrated anti-slip tips 22, so that the danger caused by the sliding and falling of the object is avoided.

Further, first pneumatic cylinder 4, the outside of second pneumatic cylinder 7 and third pneumatic cylinder 15 all covers and is equipped with safety cover 23, the louvre has been seted up to safety cover 23's exterior wall, safety cover 23 can effectively all cover first pneumatic cylinder 4, the outside of second pneumatic cylinder 7 and third pneumatic cylinder 15 and be equipped with safety cover 23 and protect, avoid colliding with the damage, the heat that can in time dispel the hydraulic oil intensification production is seted up to the louvre, avoid the heat too high pneumatic cylinder damage that causes.

Furthermore, the sections of the first sliding groove 14 and the second sliding groove 17 are both inverted T-shaped structures, the specifications of the first sliding groove 14 and the second sliding groove 17 are consistent, and the sliding strip can be prevented from sliding out of the upper end of the sliding groove due to the inverted T-shaped structures, so that the safety is improved.

Furthermore, a bottom plate is fixed at the bottom end of the mounting seat 1, mounting holes are symmetrically formed in four corner positions of the outer surface wall of the bottom plate, and the mounting seat 1 can be stably mounted on the machine tool through the bottom plate with the mounting holes, so that the mounting seat is firm and reliable.

The utility model discloses a theory of operation and use flow: when the utility model is used, hydraulic oil can be controlled to flow into the first hydraulic cylinder 4 arranged on the first mounting plate 3 through the control system of the machining workshop, the hydraulic motion of the first hydraulic cylinder 4 can push the second mounting plate 5 connected with the first slide bar 6 to move along the first chute 14, and the mechanical claw 10 can also be driven to move up and down through the hydraulic motion of the second hydraulic cylinder 7, and secondly, the third mounting plate 8 connected with the second slide bar 19 can be driven to move along the second chute 17 through the hydraulic motion of the third hydraulic cylinder 15, thereby realizing that the mechanical claw 10 can be controlled by the control system to clamp different position work pieces, in addition, when the mechanical hand is arranged on the mounting seat 1 of the machine tool through the connecting block 2, the inserting rod 12 at the bottom end of the connecting block 2 can be inserted into the groove 11, and the limit block 13 can be inserted into the limit groove 18, and can be in place once, guarantee the accuracy of installation, need not to move many times, install comparatively labour saving and time saving, in addition, when needs are changed cushion 21, can directly draw cushion 21 outward, will cut into a sheet 20 take out from slot 16 can, change swiftly convenient, labour saving and time saving.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a flexible manipulator of triaxial self-align for machining which characterized in that: the hydraulic support comprises a mounting seat (1), a connecting block (2) is installed on the top end of the mounting seat (1), a first mounting plate (3) is fixed on the top end of the connecting block (2), a first hydraulic cylinder (4) is installed at one end of the upper wall of the first mounting plate (3), the output end of the first hydraulic cylinder (4) is connected with a second mounting plate (5) through a hydraulic telescopic rod, a first slide bar (6) is symmetrically connected to the bottom end of the second mounting plate (5), a first sliding chute (14) matched with the first slide bar (6) is symmetrically formed in the upper wall of the first mounting plate (3), a third hydraulic cylinder (15) is installed at one end of the upper wall of the second mounting plate (5), the output end of the third hydraulic cylinder (15) is connected with a third mounting plate (8) through a hydraulic telescopic rod, and a second slide bar (19) is symmetrically connected to the lower wall of the third mounting plate (, the utility model discloses a mechanical gripper, including second mounting panel (5), last wall symmetry of second mounting panel (5) offer with second draw runner (19) looks adaptation second spout (17), third mounting panel (8) are gone up the wall and are kept away from the one end of third pneumatic cylinder (15) and install second pneumatic cylinder (7), the output of second pneumatic cylinder (7) is connected with fourth mounting panel (9) through hydraulic telescoping rod, gripper (10) are installed to the bottom of fourth mounting panel (9), slot (16) have been seted up to the inner wall of gripper (10), and the inner wall of gripper (10) is installed elastic pad (21), one side that elastic pad (21) are close to gripper (10) is connected with cutting (20) with slot (16) looks adaptation.

2. The three-axis self-positioning flexible manipulator for machining according to claim 1, wherein: the mounting base is characterized in that grooves (11) are symmetrically formed in the upper wall of the mounting base (1), limiting grooves (18) are formed in the inner wall of each groove (11) at equal intervals, inserting rods (12) matched with the grooves (11) are symmetrically connected to the bottom ends of the connecting blocks (2), and limiting blocks (13) matched with the limiting grooves (18) are symmetrically fixed to the outer wall of each inserting rod (12).

3. The three-axis self-positioning flexible manipulator for machining according to claim 1, wherein: the clamping surface of the elastic cushion (21) is uniformly fixed with anti-skidding pointed ends (22), and the anti-skidding pointed ends (22) are in a sawtooth shape.

4. The three-axis self-positioning flexible manipulator for machining according to claim 1, wherein: the outside of first pneumatic cylinder (4), second pneumatic cylinder (7) and third pneumatic cylinder (15) all covers and is equipped with safety cover (23), the louvre has been seted up to the exterior wall of safety cover (23).

5. The three-axis self-positioning flexible manipulator for machining according to claim 1, wherein: the sections of the first sliding chute (14) and the second sliding chute (17) are both inverted T-shaped structures, and the specifications of the first sliding chute (14) and the second sliding chute (17) are consistent.

6. The three-axis self-positioning flexible manipulator for machining according to claim 1, wherein: the bottom end of the mounting seat (1) is fixed with a bottom plate, and mounting holes are symmetrically formed in four corner positions of the outer surface wall of the bottom plate.