CN214924537U

CN214924537U - Power-assisted carrying manipulator applied to automatic processing

Info

Publication number: CN214924537U
Application number: CN202121401891.3U
Authority: CN
Inventors: 卢权; 任志强; 雷竞翔; 张坤; 黄迎港
Original assignee: Lu'an Zhidong Intelligent Technology Co ltd
Current assignee: Lu'an Zhidong Intelligent Technology Co ltd
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2021-11-30
Anticipated expiration: 2031-06-23

Abstract

The utility model relates to an apply to helping hand transport manipulator of automated processing, including frame, connecting seat, tongs, servo driver, go up to rotate and install the tongs, go back fixed mounting on the connecting seat have with the corresponding servo driver of tongs, servo driver's bottom is provided with the stabilising arrangement who is located the tongs inboard, the front end of tongs is still fixed mounting to be used for promoting the fixing device who snatchs stability. This apply to helping hand transport manipulator of automated processing, tongs under the centre gripping promotes thing piece extrusion sucking disc, and through the inside air of one-way trachea discharge hollow cylinder, make the inside negative pressure that produces of hollow cylinder, and adsorb the thing, make the stability between article and the manipulator good, rotate through the connecting piece through pulling the piece outside and connect the arc clamp, make the arc clamp be convenient for carry out the secondary centre gripping to the thing under pulling the piece extrusion, make the fastness good between article and the tongs, thereby make the centre gripping more firm.

Description

Power-assisted carrying manipulator applied to automatic processing

Technical Field

The utility model relates to a manipulator technical field specifically is an apply to helping hand transport manipulator of automated processing.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

The carrying manipulator plays a vital role in an indispensable tool in automatic processing, but the clamping mode of the existing carrying manipulator is single, so that the phenomenon that clamping is not stable enough occurs under different objects, certain inconvenience is brought to actual operation and use, and the power-assisted carrying manipulator applied to automatic processing is provided.

SUMMERY OF THE UTILITY MODEL

The not enough to prior art, the utility model provides an apply to helping hand transport manipulator of automated processing possesses advantages such as the centre gripping is stable, has solved current transport manipulator centre gripping mode singleness, and the centre gripping is stable problem inadequately.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an apply to helping hand transport manipulator of automated processing, includes frame, connecting seat, tongs, servo driver, goes up to rotate and installs the tongs, still fixed mounting has the servo driver corresponding with the tongs on the connecting seat, servo driver's bottom is provided with the stabilising arrangement who is located the tongs inboard, the front end of tongs still fixed mounting has the fixing device who is used for promoting to snatch stability.

The stabilizing device comprises a hollow cylinder, the bottom of the hollow cylinder is fixedly provided with a sealing tube which runs through the hollow cylinder and extends to the lower part of the hollow cylinder, the top of the inner side of the sealing tube is fixedly provided with a limiting ring, the bottom of the sealing tube is slidably provided with a sucker, the sucker is fixedly provided with a spring between the limiting rings, and the inner wall left side and the inner wall right side of the hollow cylinder are fixedly provided with one-way air pipes which communicate with the inner cavity.

Further, fixing device includes the mounting panel, mounting panel fixed mounting is on the top inside wall of tongs, the inside rotation of mounting panel installs the arc clamp, the inside fixed mounting of mounting panel has to run through and extends to the mounting panel outside and be located the piece that pulls between two arc clamps, it is provided with the connecting piece to pull between piece and the arc clamp.

Further, a fixing piece is arranged between the outer portion of the sealing pipe and the inner wall of the hollow cylinder, and the sealing pipe is fixedly communicated with the hollow cylinder through the fixing piece.

Furthermore, the limiting ring is an annular part, and the upper side and the lower side of the limiting ring are communicated with each other.

Furthermore, the sucking disc comprises slide pipe and chassis, and the inner wall of slide pipe and sealed tube is closely sliding connection, and the bottom on chassis is seted up the inside negative pressure hole of intercommunication slide pipe simultaneously.

Furthermore, the traction piece is an elastic rod, an elastic piece is arranged in the rod sleeve, and the elastic piece pushes the ejector rod to extend between the two arc-shaped clamps.

Furthermore, the connecting piece comprises a fixed ring and a rotating rod which are fixedly arranged outside the traction piece sliding rod and inside the mounting plate, and the rotating rod is rotatably connected with the bottom ends of the fixed ring and the arc-shaped clamp through a connecting lug.

Compared with the prior art, the technical scheme of the application has the following beneficial effects:

this apply to helping hand transport manipulator of automated processing, tongs under the centre gripping promotes thing piece extrusion sucking disc, and through the inside air of one-way trachea discharge hollow cylinder, make the inside negative pressure that produces of hollow cylinder, and adsorb the thing, make the stability between article and the manipulator good, rotate through the connecting piece through pulling the piece outside and connect the arc clamp, make the arc clamp be convenient for carry out the secondary centre gripping to the thing under pulling the piece extrusion, make the fastness good between article and the tongs, thereby make the centre gripping more firm.

Drawings

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

FIG. 2 is an overall front view of the present invention;

FIG. 3 is an enlarged view of the point A of FIG. 1 according to the present invention;

fig. 4 is a schematic structural view of the fixing device of the present invention.

In the figure: the device comprises a frame 1, a connecting seat 2, a gripper 3, a servo driver 4, a stabilizing device 5, a hollow cylinder 501, a sealing tube 502, a limiting ring 503, a suction cup 504, a spring 505, a unidirectional air tube 506, a fixing device 6, a mounting plate 601, a traction piece 602, an arc clamp 603 and a connecting piece 604.

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.

Please refer to fig. 1-3, the power-assisted carrying manipulator applied to automated processing in this embodiment includes a frame 1, a connecting seat 2, a gripper 3, and a servo driver 4, wherein the connecting seat 2 is rotatably connected to the front end of the frame 1, the gripper 3 is rotatably installed on the connecting seat 2, the servo driver 4 corresponding to the gripper 3 is further fixedly installed on the connecting seat 2, the gripper 3 is pushed to rotate by an ejector rod of the servo driver 4, so that the front end of the gripper 3 is clamped, a stabilizing device 5 located inside the gripper 3 is disposed at the bottom of the servo driver 4, and a fixing device 6 for improving the gripping stability is further fixedly installed at the front end of the gripper 3.

In this embodiment, the stabilizing device 5 includes a hollow cylinder 501, a sealing pipe 502 extending through the hollow cylinder 501 and extending to the lower portion of the hollow cylinder 501 is fixedly installed at the bottom of the hollow cylinder 501, a fixing member is disposed between the outer portion of the sealing pipe 502 and the inner wall of the hollow cylinder 501, the sealing pipe 502 is communicated with the inner cavity of the hollow cylinder 501 through the fixing member, the sealing pipe 502 is stably installed and maintains the sealing performance, a limiting ring 503 is fixedly installed at the top end of the inner side of the sealing pipe 502, the limiting ring 503 is an annular member, the upper side and the lower side of the limiting ring 503 are communicated with each other, so that the communication of the sealing pipe 502 is not affected, a suction cup 504 is slidably installed at the bottom end of the sealing pipe 502, the suction cup 504 is composed of a sliding pipe and a base plate, the sliding pipe is closely slidably connected with the inner wall of the sealing pipe 502, a negative pressure hole communicating with the inside of the sliding pipe is formed at the bottom of the base plate, and the sealing pipe 502 and the suction cup 504 are communicated with each other, make the negative pressure hole of sucking disc 504 bottom communicate with hollow cylinder 501 each other, fixed mounting has spring 505 between sucking disc 504 and the spacing ring 503, and the equal fixed mounting in inner wall left and right sides of hollow cylinder 501 has the one-way trachea 506 of the inside cavity of intercommunication, and one-way trachea 506 sets up to the one-way exhaust towards the outside for the inside air of hollow cylinder 501 of discharging makes the inside negative pressure that produces of hollow cylinder 501.

Referring to fig. 4, in order to improve the grabbing stability of the manipulator, the fixing device 6 in this embodiment includes a mounting plate 601, the mounting plate 601 is fixedly installed on the inner side wall of the top end of the gripper 3, the arc-shaped clamps 603 are rotatably installed inside the mounting plate 601 through a rotating rod, a pulling member 602 that penetrates and extends to the outside of the mounting plate 601 and is located between the two arc-shaped clamps 603 is fixedly installed inside the mounting plate 601, the pulling member 602 is an elastic rod, an elastic member is disposed inside a rod sleeve, the elastic member pushes a push rod to extend between the two arc-shaped clamps 603, a connecting member 604 is disposed between the pulling member 602 and the arc-shaped clamps 603, the connecting member 604 is composed of a fixed ring and a rotating rod that are fixedly installed outside a sliding rod of the pulling member 602 and are located inside the mounting plate 601, the rotating rod is rotatably connected to the bottom ends of the fixed ring and the arc-shaped clamps 603 through a connecting lug, so that the arc-shaped clamps 603 are driven by the downward movement of the connecting member 604 and are further rotated and pushed to rotate to one side, where the two arc-shaped clamps 603 are close to each other, so as to fix the fixed ring 603 .

The working principle of the above embodiment is as follows:

by driving the servo driver 4, the ejector rod of the servo driver 4 pushes the two grippers 3 to rotate and clamp, and at the same time, the two grippers 3 approach each other to enable the object and the traction piece 602 at the top end of the gripper 3 to approach each other and extrude, so that the traction piece 602 compresses the elastic piece and drives the connecting piece 604 to move towards the inside of the mounting plate 601, the distance and the angle between the rotating rod and the arc clamp 603 in the connecting piece 604 are changed to rotate the arc clamp 603, so that the arc clamp 603 stabilizes the object, the object is good in clamping stability, and at the same time, the object and the suction cup 504 at the bottom of the servo driver 4 contact each other and extrude, so that the suction cup 504 slides towards the inside of the sealing tube 502, and simultaneously, the suction cup and the limiting ring 503 mutually extrude the spring 505, and air in the hollow cylinder 501 is discharged through the one-way air pipe 506, and the suction cup 504 slides downwards under the elastic force of the spring 504, and make the inside negative pressure that forms of hollow cylinder 501 to adsorb stably to the article top through the negative pressure hole of sucking disc 504 bottom, make the stability good under the centre gripping of manipulator for the article.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

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 an apply to helping hand transport manipulator of automated processing, includes frame (1), connecting seat (2), tongs (3), servo driver (4), its characterized in that: the front end of the rack (1) is rotatably connected with a connecting seat (2), the connecting seat (2) is rotatably provided with a gripper (3), the connecting seat (2) is also fixedly provided with a servo driver (4) corresponding to the gripper (3), the bottom of the servo driver (4) is provided with a stabilizing device (5) positioned on the inner side of the gripper (3), and the front end of the gripper (3) is also fixedly provided with a fixing device (6) for improving the gripping stability;

stabilising arrangement (5) include hollow cylinder (501), the bottom fixed mounting of hollow cylinder (501) has sealed tube (502) that runs through hollow cylinder (501) and extend to hollow cylinder (501) below, fixed mounting has spacing ring (503) on the inboard top of sealed tube (502), the bottom slidable mounting of sealed tube (502) has sucking disc (504), sucking disc (504) with fixed mounting has spring (505) between spacing ring (503), the equal fixed mounting in the inner wall left and right sides of hollow cylinder (501) has one-way trachea (506) of the inside cavity of intercommunication.

2. The manipulator as claimed in claim 1, wherein the manipulator comprises: fixing device (6) include mounting panel (601), mounting panel (601) fixed mounting is on the top inside wall of tongs (3), the inside rotation of mounting panel (601) installs arc clamp (603), the inside fixed mounting of mounting panel (601) has run through and extends to mounting panel (601) outside and is located two arc clamps (603) between pull piece (602), it is provided with connecting piece (604) to pull between piece (602) and arc clamp (603).

3. The manipulator as claimed in claim 1, wherein the manipulator comprises: a fixing piece is arranged between the outer portion of the sealing pipe (502) and the inner wall of the hollow cylinder (501), and the sealing pipe (502) is fixedly communicated with the hollow cylinder (501) through the fixing piece.

4. The manipulator as claimed in claim 1, wherein the manipulator comprises: the limiting ring (503) is an annular part, and the upper side and the lower side of the limiting ring are communicated with each other.

5. The manipulator as claimed in claim 1, wherein the manipulator comprises: the sucker (504) is composed of a sliding pipe and a base plate, the sliding pipe is tightly connected with the inner wall of the sealing pipe (502) in a sliding mode, and meanwhile a negative pressure hole communicated with the inside of the sliding pipe is formed in the bottom of the base plate.

6. The manipulator as claimed in claim 2, wherein the manipulator comprises: the traction piece (602) is an elastic rod, an elastic piece is arranged in the rod sleeve, and the elastic piece pushes the ejector rod to extend between the two arc-shaped clamps (603).

7. The manipulator as claimed in claim 6, wherein the manipulator comprises: the connecting piece (604) is composed of a fixing ring and a rotating rod which are fixedly arranged outside the sliding rod of the traction piece (602) and positioned inside the mounting plate (601), and the rotating rod is rotatably connected with the fixing ring and the bottom end of the arc-shaped clamp (603) through a connecting lug.