CN214870657U - Automatic change material loading manipulator - Google Patents

Automatic change material loading manipulator Download PDF

Info

Publication number
CN214870657U
CN214870657U CN202121557966.7U CN202121557966U CN214870657U CN 214870657 U CN214870657 U CN 214870657U CN 202121557966 U CN202121557966 U CN 202121557966U CN 214870657 U CN214870657 U CN 214870657U
Authority
CN
China
Prior art keywords
supporting
telescopic
plate
goods
support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN202121557966.7U
Other languages
Chinese (zh)
Inventor
陈礼勇
李爽爽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhengzhou University of Aeronautics
Original Assignee
Zhengzhou University of Aeronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhengzhou University of Aeronautics filed Critical Zhengzhou University of Aeronautics
Priority to CN202121557966.7U priority Critical patent/CN214870657U/en
Application granted granted Critical
Publication of CN214870657U publication Critical patent/CN214870657U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)

Abstract

The utility model discloses an automatic feeding manipulator in the technical field of manipulators, which comprises a supporting top plate and a supporting bottom plate, wherein the supporting bottom plate is arranged below the supporting top plate in parallel, supporting columns are vertically arranged between the four corners of the bottom of the supporting top plate and the four corners of the top of the supporting bottom plate through countersunk bolts, and a plurality of positioning sleeves are uniformly welded on the bottom of the supporting top plate in a rectangular arrangement manner, when a manipulator drives the manipulator to clamp goods downwards, the bottom end of a telescopic slide rod can be contacted with the top of the goods, the top of the goods is utilized to extrude the telescopic slide rod, so that the telescopic slide rods can be contracted into recesses matched with the top of the goods according to the shape of the top of the goods, and a clamping sucker can clamp the periphery of the goods through the extension of the telescopic ends of four telescopic cylinders, so that a single manipulator can be used for clamping and feeding the goods with different shapes, avoiding the complexity of needing to repeatedly replace the manipulator.

Description

Automatic change material loading manipulator
Technical Field
The utility model relates to a manipulator technical field specifically is an automatic change material loading manipulator.
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 has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped.
The manipulator of current centre gripping type is carrying out the in-process of centre gripping material loading to the goods, because its centre gripping shape is definite shape, therefore can only carry out the centre gripping to the goods of single shape, need change assorted manipulator with it when changing the material loading goods, and is comparatively loaded down with trivial details, and increases use cost and later maintenance's cost, based on this, the utility model designs an automatic material loading manipulator to solve above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic change material loading manipulator to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: an automatic feeding manipulator comprises a supporting top plate and a supporting bottom plate, wherein the supporting bottom plate is arranged below the supporting top plate in parallel, supporting columns are vertically arranged between the four corners of the bottom of the supporting top plate and the four corners of the top of the supporting bottom plate through countersunk bolts, a plurality of positioning sleeves are uniformly welded on the bottom of the supporting top plate in a rectangular arrangement mode and are arranged among the four supporting columns, spring telescopic columns are vertically arranged in inner cavities of the positioning sleeves, telescopic ends of the spring telescopic columns penetrate through the bottom of the supporting bottom plate, supporting side plates are fixed in the middle of the four side edges of the supporting bottom plate through bolts, telescopic cylinders are arranged on side walls of the supporting side plates through bolts, the telescopic ends of the telescopic cylinders penetrate through the side plates of the supporting side plates and are arranged towards the center of the supporting bottom plate, and clamping suckers are installed at the end parts of the telescopic ends of the telescopic cylinders, the pressure sensor is bonded in the middle of the inner cavity side wall of the clamping sucker, the PLC controller used for controlling the four telescopic cylinders to stretch is bonded in the middle of the top of the supporting top plate, the connecting top seat is fixed at the top of the supporting top plate through bolts, and the PLC controller is arranged below the connecting top seat.
Preferably, the spring telescopic column comprises a supporting sleeve connected with the positioning sleeve, a telescopic sliding rod is installed in an inner cavity of the supporting sleeve, the bottom end of the telescopic sliding rod penetrates through the bottom of the supporting sleeve, and a reset spring is vertically installed between the top of the telescopic sliding rod and the top of the inner cavity of the supporting sleeve.
Preferably, the outer wall of the top end of the supporting sleeve is uniformly provided with external threads, and the top end of the telescopic sliding rod is welded with a limiting baffle matched with the inner cavity of the supporting sleeve.
Preferably, the top of the supporting base plate is uniformly provided with positioning jacks matched with the telescopic slide bars, the bottom ends of the telescopic slide bars penetrate through the inner cavities of the positioning jacks, and the telescopic slide bars and the positioning jacks as well as the limiting baffle and the inner cavity of the supporting sleeve are in clearance fit.
Preferably, the lateral wall of the supporting side plate is provided with a limiting shaft hole matched with the telescopic end of the telescopic cylinder and a fixing screw hole matched with the bolt, the top end lateral wall of the supporting side plate is provided with a fixing clamping groove matched with the side edge of the supporting bottom plate, and the fixing clamping groove and the side edge of the supporting bottom plate are in interference fit.
Preferably, connect the footstock and constitute by a connecting plate and four L templates, and the vertical welding of four L templates is in the bottom four corners of connecting plate, a plurality of connection screw holes have evenly been seted up at the top of connecting plate, and the top fixed connection of L template through bolt and supporting roof.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model is provided with a plurality of spring telescopic columns in a rectangular arrangement between the supporting top plate and the supporting bottom plate, and the telescopic slide bars in the spring telescopic columns pass through the bottom of the supporting bottom plate, when the mechanical arm drives the mechanical arm to clamp the goods downwards, the bottom end of the telescopic slide rod can be contacted with the top of the goods, the top of the goods is utilized to extrude the telescopic slide rod, therefore, the plurality of telescopic slide rods can be contracted into the concave matched with the telescopic slide rods according to the shape of the top of the goods, and the clamping suckers can clamp the periphery of the goods by extending the telescopic ends of the four telescopic cylinders, so that a single mechanical arm can be used for clamping and feeding the goods in different shapes, and the replacement of the mechanical arm is not needed because of the replacement of the goods, the complexity of repeatedly replacing the mechanical arm is avoided, and avoid because every goods need correspond a manipulator and cause the phenomenon that use cost and later maintenance cost increase.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a schematic view of the structure of the spring telescopic column of the present invention;
fig. 4 is the utility model discloses PLC controller control telescopic cylinder extension clamping process flow chart.
In the drawings, the components represented by the respective reference numerals are listed below:
the device comprises a support top plate 1, a support bottom plate 2, a support column 3, a positioning sleeve 4, a spring telescopic column 5, a support sleeve 51, a telescopic slide rod 52, a reset spring 53, a support side plate 6, a telescopic cylinder 7, a clamping sucker 8, a pressure sensor 9, a PLC (programmable logic controller) 10 and a connection top seat 11.
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 of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: an automatic feeding manipulator comprises a supporting top plate 1 and a supporting bottom plate 2, wherein the supporting bottom plate 2 is arranged below the supporting top plate 1 in parallel, supporting columns 3 are vertically arranged between four corners of the bottom of the supporting top plate 1 and four corners of the top of the supporting bottom plate 2 through countersunk bolts, a plurality of positioning sleeves 4 are uniformly welded to the bottom of the supporting top plate 1 in a rectangular arrangement mode, the positioning sleeves 4 are arranged among the four supporting columns 3, spring telescopic columns 5 are vertically arranged in inner cavities of the positioning sleeves 4, telescopic ends of the spring telescopic columns 5 penetrate through the bottom of the supporting bottom plate 2, and the spring telescopic columns 5 are conveniently located and installed between the supporting bottom plate 2 and the supporting top plate 1 through the arrangement of the mounting 4;
the spring telescopic column 5 comprises a supporting sleeve 51 connected with the positioning sleeve 4, a telescopic slide rod 52 is installed in an inner cavity of the supporting sleeve 51, the bottom end of the telescopic slide rod 52 penetrates through the bottom of the supporting sleeve 51, external threads are uniformly arranged on the outer wall of the top end of the supporting sleeve 51, so that the mounting and dismounting between the supporting sleeve 51 and the positioning sleeve 4 are facilitated, a limit baffle matched with the inner cavity of the supporting sleeve 51 is welded at the top end of the telescopic slide rod 52, positioning jacks matched with the telescopic slide rod 52 are uniformly formed in the top of the supporting base plate 2, the bottom end of the telescopic slide rod 52 penetrates through the inner cavity of the positioning jacks, clearance fit is formed between the telescopic slide rod 52 and the positioning jacks as well as between the limit baffle and the inner cavity of the supporting sleeve 51, so that the telescopic slide rod 52 can slide up and down in the inner cavity of the supporting sleeve 51 conveniently, and a reset spring 53 is vertically installed between the top of the telescopic slide rod 52 and the top of the inner cavity of the supporting sleeve 51, the elastic force of the return spring 53 is utilized, so that the telescopic slide rod 52 can restore to the initial position after discharging;
the middle parts of four side edges of the supporting bottom plate 2 are all fixed with supporting side plates 6 through bolts, the side walls of the supporting side plates 6 are provided with telescopic cylinders 7 through bolts, the telescopic ends of the telescopic cylinders 7 penetrate through the side plates of the supporting side plates 6 and are arranged towards the center of the supporting bottom plate 2, the side walls of the supporting side plates 6 are provided with limiting shaft holes matched with the telescopic ends of the telescopic cylinders 7 and fixing screw holes matched with the bolts, the side walls of the top ends of the supporting side plates 6 are provided with fixing clamping grooves matched with the side edges of the supporting bottom plate 2, and the fixing clamping grooves are in interference fit with the side edges of the supporting bottom plate 2, so that the supporting side plates 6 can be clamped and fixed when being installed on the side edges of the supporting bottom plate 2;
the end part of the telescopic end of the telescopic cylinder 7 is provided with a clamping sucker 8, the middle part of the inner cavity side wall of the clamping sucker 8 is bonded with a pressure sensor 9, the middle part of the top of the supporting top plate 1 is bonded with a PLC (programmable logic controller) 10 for controlling the four telescopic cylinders 7 to stretch, when a mechanical arm drives the mechanical arm to clamp goods downwards, the bottom ends of the telescopic slide rods 52 can be contacted with the top of the goods, the top of the goods is utilized to extrude the telescopic slide rods 52, so that the telescopic slide rods 52 can be contracted into concave parts matched with the top of the goods according to the shape of the top of the goods, then the stretching of the telescopic ends of the four telescopic cylinders 7 is controlled by the PLC 10, the clamping sucker 8 is driven by the telescopic cylinders 7 to be contacted with the side wall of the goods, the pressure sensor 9 can detect the pressure after being contacted with the side wall of the goods, when the detected pressure value is the same as the preset value, the PLC 10 stops the stretching of the telescopic end of the telescopic cylinder 7, make and press from both sides tight sucking disc 8 and can press from both sides tightly all around the goods, make single manipulator can be used for the centre gripping material loading of different shapes goods, and need not change the manipulator because the change of goods, avoid the loaded down with trivial details nature that need change the manipulator repeatedly to and avoid causing use cost and the phenomenon that later maintenance cost increases because every kind of goods need correspond a manipulator
The top of supporting roof 1 is fixed with connection footstock 11 through the bolt, and PLC controller 10 establishes in the below of connecting footstock 11, it comprises a connecting plate and four L templates to connect footstock 11, and the vertical welding of four L templates is in the bottom four corners of connecting plate, a plurality of connection screws have evenly been seted up at the top of connecting plate, conveniently connect installation and the dismantlement between footstock 11 and the arm, and the L template passes through the bolt and the top fixed connection of supporting roof 1, conveniently connect installation and the dismantlement between footstock 11 and the supporting roof 1.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims (5)

1. The utility model provides an automatic change material loading manipulator, includes supporting roof (1) and supporting baseplate (2), and supporting baseplate (2) parallel arrangement is in the below of supporting roof (1), its characterized in that: support columns (3) are vertically installed between the four corners of the bottom of the support top plate (1) and the four corners of the top of the support bottom plate (2) through countersunk bolts, a plurality of positioning sleeves (4) are uniformly welded to the rectangular arrangement of the bottom of the support top plate (1), the plurality of positioning sleeves (4) are arranged among the four support columns (3), spring telescopic columns (5) are vertically installed in inner chambers of the positioning sleeves (4), the telescopic ends of the spring telescopic columns (5) penetrate through the bottom of the support bottom plate (2), support side plates (6) are fixed in the middle of the four side edges of the support bottom plate (2) through bolts, telescopic cylinders (7) are installed on the side walls of the support side plates (6) through bolts, the telescopic ends of the telescopic cylinders (7) penetrate through the side plates of the support side plates (6) and are arranged towards the center of the support bottom plate (2), clamping suckers (8) are installed at the end parts of the telescopic ends of the telescopic cylinders (7), the inner chamber lateral wall middle part of pressing from both sides tight sucking disc (8) bonds and has pressure sensor (9), it has PLC controller (10) that are used for controlling four telescopic cylinder (7) to stretch out and draw back to bond in the middle of the top of supporting roof (1), the top of supporting roof (1) is passed through the bolt fastening and is connected footstock (11), and PLC controller (10) establish the below at connecting footstock (11).
2. An automated loading manipulator according to claim 1, wherein: the telescopic spring column (5) comprises a supporting sleeve (51) connected with a positioning sleeve (4), a telescopic sliding rod (52) is installed in an inner cavity of the supporting sleeve (51), the bottom of the supporting sleeve (51) is penetrated by the bottom end of the telescopic sliding rod (52), and a reset spring (53) is vertically installed between the top of the telescopic sliding rod (52) and the top of the inner cavity of the supporting sleeve (51).
3. An automated loading manipulator according to claim 2, wherein: the outer wall of the top end of the supporting sleeve (51) is uniformly provided with external threads, and the top end of the telescopic sliding rod (52) is welded with a limiting baffle matched with the inner cavity of the supporting sleeve (51).
4. An automated loading manipulator according to claim 3, wherein: the top of the supporting base plate (2) is uniformly provided with positioning jacks matched with the telescopic slide rods (52), the bottom ends of the telescopic slide rods (52) penetrate through inner cavities of the positioning jacks, and the telescopic slide rods (52) are in clearance fit with the positioning jacks and the inner cavities of the limiting baffle and the supporting sleeve (51).
5. An automated loading manipulator according to claim 1, wherein: the side wall of the supporting side plate (6) is provided with a limiting shaft hole matched with the telescopic end of the telescopic cylinder (7) and a fixing screw hole matched with a bolt, the side wall of the top end of the supporting side plate (6) is provided with a fixing clamping groove matched with the side edge of the supporting bottom plate (2), and the fixing clamping groove and the side edge of the supporting bottom plate (2) are in interference fit.
CN202121557966.7U 2021-07-09 2021-07-09 Automatic change material loading manipulator Expired - Fee Related CN214870657U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121557966.7U CN214870657U (en) 2021-07-09 2021-07-09 Automatic change material loading manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121557966.7U CN214870657U (en) 2021-07-09 2021-07-09 Automatic change material loading manipulator

Publications (1)

Publication Number Publication Date
CN214870657U true CN214870657U (en) 2021-11-26

Family

ID=78928027

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121557966.7U Expired - Fee Related CN214870657U (en) 2021-07-09 2021-07-09 Automatic change material loading manipulator

Country Status (1)

Country Link
CN (1) CN214870657U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117921723A (en) * 2024-03-22 2024-04-26 长春职业技术学院 Manipulator for intelligent manufacturing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117921723A (en) * 2024-03-22 2024-04-26 长春职业技术学院 Manipulator for intelligent manufacturing
CN117921723B (en) * 2024-03-22 2024-05-17 长春职业技术学院 Manipulator for intelligent manufacturing

Similar Documents

Publication Publication Date Title
CN201711445U (en) Automatic material loading and unloading manipulator
CN206465097U (en) It is a kind of to grip the good manipulator of adaptability
CN208147848U (en) Loading and unloading truss manipulator
CN214870657U (en) Automatic change material loading manipulator
CN110587273A (en) Vertical oil cylinder assembling and tightening device
CN203973251U (en) Engine cylinder-body processing clamping device
CN212330288U (en) Automatic saw bit replacing and nut dismounting mechanism
CN212475244U (en) Mechanical automation grabbing device
CN211388836U (en) Self-adaptation cylinder bottle diameter electromechanical clamping jaw
CN219925279U (en) Special-shaped piece clamping device
CN211277587U (en) Feeding and discharging industrial robot
CN218802340U (en) Manipulator tool clamp
CN209207554U (en) It is lightly loaded Elastic manipulator
CN103029133A (en) Automatic installation attaching plug manipulator
CN108608446B (en) Three-paw device of oil pump shell machining transfer robot
CN211945279U (en) Multifunctional blanking gripper for engine cylinder cover
CN212601865U (en) Fixture for industrial robot
CN208628777U (en) Jig is taken out in 6 nut positioning implantation and overturning
CN114102647A (en) Full-automatic combined industrial manipulator and control method thereof
CN209599215U (en) A kind of conveying robot that can be adjusted
CN108620848A (en) Jig is taken out in 6 nut positioning implantation and overturning
CN207840769U (en) A kind of mold fixture for processing
CN111874615A (en) Efficient cylinder cover feeding and discharging mechanism capable of reducing hoisting unsafe factors
CN221064972U (en) Welding fixing device for industrial robot manufacturing
CN206623115U (en) A kind of uninstall protection device for air pressure driving manipulator

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20211126