CN214025747U - Automatic change material taking manipulator - Google Patents
Automatic change material taking manipulator Download PDFInfo
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- CN214025747U CN214025747U CN202022478776.8U CN202022478776U CN214025747U CN 214025747 U CN214025747 U CN 214025747U CN 202022478776 U CN202022478776 U CN 202022478776U CN 214025747 U CN214025747 U CN 214025747U
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Abstract
The utility model relates to a manipulator technical field specifically is an automatic change material taking manipulator, including shell, grabbing device and fixing device, one side fixedly connected with grabbing device of shell, grabbing device's inside is provided with fixing device, grabbing device includes bearing, lead screw, L template, lifter plate, first motor, telescopic link, slide bar, sliding sleeve, fly leaf, tongs, arc, lifting belt, roller bearing, loading board, second motor, vacuum manufacture ware, vacuum chuck, locating lever and locating plate. The utility model has the advantages that: through setting up lead screw, L template, lifter plate, roller bearing, lifting belt and loading board, the in-process that can make two device switch only moves about going on, can not occupy great space, has also reduced the potential safety hazard simultaneously, through setting up movable rod, connecting rod, push rod, gleitbretter and stationary blade, also can provide pressure when the sucking disc adsorbs the work when playing the effect of fixed whole device.
Description
Technical Field
The utility model relates to a manipulator technical field, especially an automatic change and get material manipulator.
Background
The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Get material pay-off work to the manipulator in glassware manufacture industry commonly, but current extracting device can not freely change and snatch the mode for need change different manipulators or install a plurality of manipulators and snatch the product of different grade type when glassware factory work, increased the manufacturing cost also be convenient for operate.
The Chinese patent CN209425438U discloses a material feeding and taking manipulator, which is provided with a motor, a rotating shaft and a fixed sleeve, so that a mechanical head can be replaced quickly and conveniently to meet the requirements of different types of products.
However, the following problems still exist with this device:
1. the rotary mechanical arm replacing process needs to occupy a large space through the rotation of the rotating shaft, and products or operators can be collided in the rotating process, so that potential safety hazards are easily caused.
2. Through pivot conversion manipulator, there is not corresponding fixed measure after the conversion, can cause to snatch unstability scheduling problem in follow-up snatching the in-process.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming, provide an automatic change material manipulator.
The purpose of the utility model is realized through the following technical scheme: an automatic material taking manipulator comprises a shell, a grabbing device and a fixing device, wherein the grabbing device is fixedly connected to one side of the shell, and the fixing device is arranged inside the grabbing device;
the gripping device comprises a bearing, a lead screw, an L-shaped plate, a lifting plate, a first motor, a telescopic rod, a sliding sleeve, a movable plate, a gripper, an arc plate, a lifting belt, a rolling shaft, a bearing plate, a second motor, a vacuum maker, a vacuum chuck, a positioning rod and a positioning plate, wherein the lead screw is fixedly connected to one side of the bearing, the L-shaped plate is arranged on one side of the lead screw, the lifting plate is in threaded connection with the surface of the lead screw, the first motor is fixedly connected to the bottom of the lifting plate, the telescopic rod is fixedly connected to the bottom of the first motor, the sliding rod is fixedly connected to the surface of the telescopic rod, the sliding sleeve is in sliding connection with the surface of the sliding rod, the movable plate is fixedly connected to the top of the sliding sleeve, the gripper is fixedly connected to the bottom of the sliding sleeve, the arc plate is fixedly connected to the bottom of the gripper, and the lifting belt is fixedly connected to one side of the lifting plate, the lifting belt comprises a lifting belt body, a bearing plate, a second motor, a vacuum maker, a vacuum sucker and a positioning rod, wherein the top of the lifting belt body is provided with a rolling shaft, one side of the lifting belt body is fixedly connected with the bearing plate, the bottom of the bearing plate is fixedly connected with the second motor, the bottom of the second motor is fixedly connected with the vacuum maker, the bottom of the vacuum maker is fixedly connected with the vacuum sucker, the interior of the bearing plate is connected with the positioning rod in a sliding manner, and the bottom of the positioning rod is fixedly connected with the positioning plate;
the fixing device comprises a lifting lug, a movable rod, a spring, a connecting rod, a push rod, a slip sheet and a fixing sheet, wherein the lifting lug is fixedly connected to the top of the bearing plate, the movable rod is arranged inside the lifting lug, the spring is fixedly connected to the bottom of the movable rod, the connecting rod is fixedly connected to the bottom of the movable rod, the push rod is movably connected to the bottom of the connecting rod, the slip sheet is movably connected to one side of the push rod, and the fixing sheet is fixedly connected to the bottom of the slip sheet.
Preferably, the housing comprises a top plate, a baffle plate and a third motor, the bottom of the top plate is fixedly connected with the baffle plate, and the top of the top plate is fixedly connected with the third motor.
Preferably, the number of the bearings is two and is respectively located at the top and the bottom of the screw rod, one side of the lifting plate is provided with a roller, and the lifting plate is connected with the L-shaped plate in a sliding mode through the roller.
Preferably, the both sides of lifting belt are provided with the screw, the lifting belt passes through the bolt respectively with lifter plate and loading board fixed connection, the inside of roof is seted up flutedly, the roller bearing sets up in the inside of recess.
Preferably, the third motor is fixedly connected with the screw rod, the top of the positioning rod is fixedly connected with the top plate, and the number of the vacuum suckers is three and is circumferentially arrayed at the bottom of the bearing plate.
Preferably, the inside of the bearing plate is provided with a sliding groove, the inside of the lifting lug is provided with a movable groove, two sides of the movable rod are provided with idler wheels, two sides of the sliding piece are provided with pulleys, and the length of the bearing plate is greater than that of the positioning plate.
The utility model has the advantages of it is following:
1. this automatic material taking manipulator through setting up lead screw, L template, lifter plate, roller bearing, lifting belt and loading board, and the lead screw drives the lifter plate and goes up and down when using to drive the tongs and go up and down, simultaneously, the lifting belt passes the roller bearing and drives the loading board, thereby makes vacuum chuck carry out the opposite direction removal, and this kind of setting can make the in-process of two device switchings only move about from top to bottom, can not occupy great space, has also reduced the potential safety hazard simultaneously.
2. This automatic material taking manipulator, through setting up movable rod, connecting rod, push rod, gleitbretter and stationary blade, thereby the movable rod is upwards pulled and drives the connecting rod and drive the push rod and promote the gleitbretter when using, and then makes the stationary blade open in the spout, and the movable rod puts down after the loading board descends to the locating plate top, and the locating plate is blocked in the stationary blade shrink, will play fixing device's effect through such setting to also can provide pressure when the sucking disc carries out adsorption work.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the gripping device of the present invention;
FIG. 3 is a schematic structural view of the middle fixing device of the present invention;
fig. 4 is a schematic view of the slide bar structure of the present invention.
In the figure: 1-shell, 101-top plate, 102-baffle, 103-third motor, 2-grabbing device, 201-bearing, 202-screw rod, 203-L-shaped plate, 204-lifting plate, 205-first motor, 206-telescopic rod, 207-sliding rod, 208-sliding sleeve, 209-movable plate, 210-gripper, 211-arc plate, 212-lifting belt, 213-rolling shaft, 214-bearing plate, 215-second motor, 216-vacuum maker, 217-vacuum chuck, 218-positioning rod, 219-positioning plate, 3-fixing device, 301-lifting lug, 302-movable rod, 303-spring, 304-connecting rod, 305-push rod, 306-sliding blade, 307-fixing blade.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following description.
As shown in fig. 1-4, an automatic material taking manipulator comprises a housing 1, a gripping device 2 and a fixing device 3, wherein the gripping device 2 is fixedly connected to one side of the housing 1, and the fixing device 3 is arranged inside the gripping device 2;
the gripping device 2 comprises a bearing 201, a screw rod 202, an L-shaped plate 203, a lifting plate 204, a first motor 205, an expansion link 206, a sliding rod 207, a sliding sleeve 208, a movable plate 209, a hand grip 210, an arc-shaped plate 211, a lifting belt 212, a rolling shaft 213, a bearing plate 214, a second motor 215, a vacuum maker 216, a vacuum chuck 217, a positioning rod 218 and a positioning plate 219, wherein the screw rod 202 is fixedly connected to one side of the bearing 201, the L-shaped plate 203 is arranged on one side of the screw rod 202, a threaded hole is formed in the L-shaped plate, the size of the threaded hole is matched with that of the screw rod 202, the lifting plate 204 is in threaded connection with the surface of the screw rod 202, the first motor 205 is fixedly connected to the bottom of the lifting plate 204, the expansion link 206 is fixedly connected to the bottom of the first motor 205, the sliding rod 207 is fixedly connected to the surface of the expansion link 206, the sliding sleeve 208 is slidably connected to the surface of the sliding sleeve 207, the movable plate 209 is fixedly connected to the top of the sliding sleeve 208, The bottom of the sliding sleeve 208 is fixedly connected with a hand grip 210, when the telescopic rod 206 extends, the movable plate 209 drives the sliding sleeve 208 to contract inwards along the sliding rod 207, the hand grip 210 is polymerized with the hand grip to grip, the bottom of the hand grip 210 is fixedly connected with an arc-shaped plate 211, one side of the lifting plate 204 is fixedly connected with a lifting belt 212, the length of the lifting belt 212 is greater than the distance from the top plate 101 to the positioning plate 219, the top of the lifting belt 212 is provided with a roller 213, one side of the lifting belt 212 is fixedly connected with a bearing plate 214, the bottom of the bearing plate 214 is fixedly connected with a second motor 215, the bottom of the second motor 215 is fixedly connected with a vacuum maker 216, the bottom of the vacuum maker 216 is fixedly connected with a vacuum suction cup 217, the inside of the bearing plate 214 is slidably connected with a positioning rod 218, the surface of the bearing plate 214 is provided with a through hole with the size equivalent to that of the positioning rod 218, a roller is arranged inside the through hole to reduce friction between the roller and the positioning rod, the upper and lower movements are smoother, the bottom of the positioning rod 218 is fixedly connected with a positioning plate 219, and the positioning plate 219 is hollow, so that the vacuum chuck 217 can extend outwards;
As a preferred technical scheme of the utility model, shell 1 includes roof 101, baffle 102 and third motor 103, the bottom fixedly connected with baffle 102 of roof 101, the top fixedly connected with third motor 103 of roof 101, and third motor 103 provides power for lead screw 202.
As an optimal technical scheme of the utility model, the quantity of bearing 201 is two, is located the top and the bottom of lead screw 202 respectively, and one side of lifter plate 204 is provided with the gyro wheel, and lifter plate 204 passes through gyro wheel and L template 203 sliding connection.
As a preferred technical scheme of the utility model, the both sides of elevator belt 212 are provided with the screw, elevator belt 212 pass through the bolt respectively with lifter plate 204 and loading board 214 fixed connection, the inside of roof 101 is seted up flutedly, roller bearing 213 sets up in the inside of recess.
As a preferred technical solution of the present invention, the third motor 103 is fixedly connected to the lead screw 202, the top of the positioning rod 218 is fixedly connected to the top plate 101, and the number of the vacuum suction cups 217 is three and circumferentially arrayed at the bottom of the bearing plate (214).
As a preferred technical scheme of the utility model, the spout has been seted up to the inside of loading board 214, and the movable groove has been seted up to the inside of lug 301, and the both sides of movable rod 302 are provided with the gyro wheel, and the both sides of gleitbretter 306 are provided with the pulley, and pulley and gyro wheel effect are the reduction friction, and the length of loading board 214 is greater than the length of locating plate 219, and the distance after two stationary blades 307 are tensile is greater than the length of locating plate 219.
The working process of the utility model is as follows: during the use, third motor 103 drives lead screw 202 and rotates, lifter plate 204 goes up and down with it, and simultaneously, elevator belt 212 upwards stimulates movable rod 302, make connecting rod 304 rise, it is tensile to drive push rod 305, and then promote gleitbretter 306 parallel translation, two stationary blades 307 are opened this moment, when loading board 214 descends the top of locating plate 219, because elevator belt 212 is longer, can relax loading board 214, this moment, spring 303 pulls movable rod 302 back the normal position, stationary blade 307 also retracts with it, detain on locating plate 219, not only can make the conversion space of manipulator diminish through this kind of operation, can also fix the device, it is more stable at the in-process of getting the material.
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 (6)
1. The utility model provides an automatic change material taking manipulator, includes shell (1), grabbing device (2) and fixing device (3), its characterized in that: a grabbing device (2) is fixedly connected to one side of the shell (1), and a fixing device (3) is arranged in the grabbing device (2);
the gripping device (2) comprises a bearing (201), a screw rod (202), an L-shaped plate (203), a lifting plate (204), a first motor (205), a telescopic rod (206), a sliding rod (207), a sliding sleeve (208), a movable plate (209), a gripper (210), an arc-shaped plate (211), a lifting belt (212), a rolling shaft (213), a bearing plate (214), a second motor (215), a vacuum maker (216), a vacuum sucker (217), a positioning rod (218) and a positioning plate (219), wherein the screw rod (202) is fixedly connected to one side of the bearing (201), the L-shaped plate (203) is arranged on one side of the screw rod (202), the lifting plate (204) is in threaded connection with the surface of the screw rod (202), the first motor (205) is fixedly connected to the bottom of the lifting plate (204), the telescopic rod (206) is fixedly connected to the bottom of the first motor (205), the sliding rod (207) is fixedly connected to the surface of the telescopic rod (206), the surface of the sliding rod (207) is connected with a sliding sleeve (208) in a sliding way, the top of the sliding sleeve (208) is fixedly connected with a movable plate (209), the bottom of the sliding sleeve (208) is fixedly connected with a gripper (210), the bottom of the hand grip (210) is fixedly connected with an arc-shaped plate (211), one side of the lifting plate (204) is fixedly connected with a lifting belt (212), a roller (213) is arranged at the top of the lifting belt (212), a bearing plate (214) is fixedly connected with one side of the lifting belt (212), the bottom of the bearing plate (214) is fixedly connected with a second motor (215), the bottom of the second motor (215) is fixedly connected with a vacuum maker (216), the bottom of the vacuum maker (216) is fixedly connected with a vacuum sucker (217), a positioning rod (218) is connected inside the bearing plate (214) in a sliding manner, and a positioning plate (219) is fixedly connected to the bottom of the positioning rod (218);
fixing device (3) include lug (301), movable rod (302), spring (303), connecting rod (304), push rod (305), gleitbretter (306) and stationary blade (307), top fixedly connected with lug (301) of loading board (214), the inside of lug (301) is provided with movable rod (302), the bottom fixedly connected with spring (303) of movable rod (302), the bottom fixedly connected with connecting rod (304) of movable rod (302), the bottom swing joint of connecting rod (304) has push rod (305), one side swing joint of push rod (305) has gleitbretter (306), the bottom fixedly connected with stationary blade (307) of gleitbretter (306).
2. The automated reclaiming robot of claim 1, wherein: the shell (1) comprises a top plate (101), a baffle plate (102) and a third motor (103), the bottom of the top plate (101) is fixedly connected with the baffle plate (102), and the top of the top plate (101) is fixedly connected with the third motor (103).
3. The automated reclaiming robot of claim 1, wherein: the number of the bearings (201) is two and the bearings are respectively located at the top and the bottom of the screw rod (202), a roller is arranged on one side of the lifting plate (204), and the lifting plate (204) is in sliding connection with the L-shaped plate (203) through the roller.
4. The automated reclaiming robot of claim 2, wherein: the both sides of lift area (212) are provided with the screw, lift area (212) pass through the bolt respectively with lifter plate (204) and loading board (214) fixed connection, the inside of roof (101) is seted up flutedly, roller bearing (213) set up in the inside of recess.
5. The automated reclaiming robot of claim 2, wherein: the third motor (103) is fixedly connected with the screw rod (202), the top of the positioning rod (218) is fixedly connected with the top plate (101), and the number of the vacuum suckers (217) is three and the vacuum suckers are circumferentially arrayed at the bottom of the bearing plate (214).
6. The automated reclaiming robot of claim 1, wherein: the inside of loading board (214) has seted up the spout, the inside of lug (301) has seted up the activity groove, the both sides of movable rod (302) are provided with the gyro wheel, the both sides of gleitbretter (306) are provided with the pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022478776.8U CN214025747U (en) | 2020-11-01 | 2020-11-01 | Automatic change material taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022478776.8U CN214025747U (en) | 2020-11-01 | 2020-11-01 | Automatic change material taking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214025747U true CN214025747U (en) | 2021-08-24 |
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ID=77355491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022478776.8U Active CN214025747U (en) | 2020-11-01 | 2020-11-01 | Automatic change material taking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214025747U (en) |
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2020
- 2020-11-01 CN CN202022478776.8U patent/CN214025747U/en active Active
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