CN215037465U - Special manipulator for carrying cylindrical products - Google Patents
Special manipulator for carrying cylindrical products Download PDFInfo
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- CN215037465U CN215037465U CN202121586870.3U CN202121586870U CN215037465U CN 215037465 U CN215037465 U CN 215037465U CN 202121586870 U CN202121586870 U CN 202121586870U CN 215037465 U CN215037465 U CN 215037465U
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Abstract
A special manipulator for carrying cylindrical products relates to the technical field of manipulators. The robot comprises a connection control mechanism, a rotation control steering engine, a large arm control steering engine, a small arm control steering engine, a lifting control steering engine, a grabbing control motor and a mechanical gripper mechanism, wherein the left end of the connection control mechanism is mechanically connected with the right end of the rotation control steering engine, the upper end of the large arm control steering engine is connected with the lower end of the rotation control steering engine, the upper end of the large arm control steering engine is connected with the upper end of the small arm control steering engine, the lower end of the small arm control steering engine is provided with the lifting control steering engine, the lower end of the lifting control steering engine is connected with the upper end of the grabbing control motor, and the lower end of the grabbing control motor is mechanically connected with the mechanical gripper mechanism. The utility model discloses beneficial effect does: when grabbing and carrying cylindrical products, the manipulator is not limited by the length of the cylindrical products, can grab longer cylindrical products, and has wider movable angle, so that the grabbing and carrying capacity of the manipulator is improved.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to special manipulator of cylinder class product transport.
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 prior patent CN201810958879.9 discloses a flat plate and cylindrical member clamping type carrying manipulator, which comprises a manipulator main body (1), a driving mechanism, a clamping plate (4) and a sucker assembly (5); the driving mechanisms are symmetrically arranged on two sides of the manipulator main body (1), the driving mechanisms extend outwards to form telescopic rods (3) capable of stretching horizontally, the tail ends of the telescopic rods (3) are fixedly connected with the clamping plates (4) in the vertical direction, and horizontal suckers (8) extending inwards are formed on the two clamping plates (4); at least two sucker assemblies (5) are formed on the bottom end face of the manipulator main body (1), and a space for clamping a flat plate or a cylindrical part is formed between each sucker assembly (5) and each horizontal sucker (8) on two sides. This manipulator is carried to dull and stereotyped and cylinder centre gripping formula simple structure, high durability and convenient use can stabilize centre gripping, safe transportation and steadily place dull and stereotyped and cylinder, has guaranteed the transport security, but the manipulator can be because of the length restriction of its cylinder class product when snatching transport cylinder class product, when the longer cylinder class product of transport length needs snatch, the manipulator then can't be fine snatch the transport, lead to its manipulator to receive the restriction to snatching transport of its cylinder class product, comparatively not enough.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art, the manipulator can be because of the length restriction of its cylinder class product when snatching the transport cylinder class product, when needs snatch the longer cylinder class product of transport length, the manipulator then can't be fine snatch the transport, lead to its manipulator to receive the restriction to the transport of snatching of its cylinder class product, comparatively not enough problem provides a special manipulator of cylinder class product transport.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a special manipulator of cylinder class product transport, it includes connection control mechanism 1, rotation control steering wheel 2, big arm control steering wheel 3, forearm control steering wheel 4, lifting control steering wheel 5, snatchs control motor 6, mechanical tongs mechanism 7, the left end of connection control mechanism 1 and the right-hand member mechanical connection of rotation control steering wheel 2, the upper end of big arm control steering wheel 3 is connected to the lower extreme of rotation control steering wheel 2, and big arm control steering wheel 3 is connected with the upper end of forearm control steering wheel 4, and the lower extreme of forearm control steering wheel 4 is equipped with lifting control steering wheel 5, and the lower extreme of lifting control steering wheel 5 is connected with the upper end of snatching control motor 6, and snatchs the lower extreme mechanical tongs mechanism 7 of control motor 6 mechanical connection, mechanical tongs mechanism 7 is by supporting connection post 71, snatchs total support 72, first snatchs arm 73, cushion layer 74, two-tooth grappling hook 75, The three-tooth grab hook 76, the reinforcing suction cup 77, the damping support rod 78, the second grabbing arm 79 and the connection control wire 710 are arranged, the middle of the grabbing control motor 6 is connected with the main grabbing bracket 72 through the supporting connection column 71, the grabbing control motor 6 is connected with the first grabbing arm 73 and the second grabbing arm 79 through the connection control wire 710, the first grabbing arm 73 and the second grabbing arm 79 are movably connected to the left end and the right end of the main grabbing bracket 72, the damping support rod 78 is arranged in the middle of the lower end of the main grabbing bracket 72, the reinforcing suction cup 77 is arranged at the lower end of the damping support rod 78, the buffer cushion layer 74 is arranged on the inner sides of the first grabbing arm 73 and the second grabbing arm 79, the lower end of the first grabbing arm 73 is fixedly connected with the two-tooth grab hook 75, and the three-tooth grab hook 76 is welded at the lower end of the second grabbing arm 79.
Further, the two-tooth grapple 75 and the three-tooth grapple 76 are distributed in a mutually crossed manner, so that the grabbing stability of the mechanical grabbing mechanism 7 is ensured.
Further, the first and second gripper arms 73 and 79 are vertically movably connected to the left and right ends of the gripper assembly 72.
Further, the width of the two-tooth grapple 75 is larger than the width of the three-tooth grapple 76, and the length of the two-tooth grapple 75 is smaller than the length of the three-tooth grapple 76.
Further, the damping support bar 78 is perpendicular to the grasping assembly bracket 72.
The utility model discloses a theory of operation: when the manipulator is used, the manipulator is firstly connected and installed on a control assembly through a connection control mechanism 1 by the worker so that the manipulator can be normally driven, when the manipulator is in work, a rotation control steering engine 2 can control the rotation of the manipulator, a large arm control steering engine 3 can control the movement of a large arm on the manipulator, a small arm control steering engine 4 and a lifting control steering engine 5 enable the manipulator to carry out small arm and lifting operation, the movable angle of the manipulator is increased by the combined use of the rotation control steering engine 2, the large arm control steering engine 3, the small arm control steering engine 4 and the lifting control steering engine 5, the movable angle of the manipulator is wider, and the mechanical gripper mechanism 7 is controlled by a gripping control motor 6 to carry out the gripping and carrying operation of the cylindrical products, when the mechanical gripper mechanism 7 works, the grabbing control motor 6 can control the first grabbing arm 73 and the second grabbing arm 79 through the connection control wire 710, so that the first grabbing arm 73 and the second grabbing arm 79 can move on the grabbing main support 72, then the cylindrical products can be grabbed by the two-tooth grabbing hook 75 and the three-tooth grabbing hook 76, at the moment, the reinforced sucking disc 77 can suck the cylindrical products under the support of the damping support rod 78, so that the cylindrical products can be more stably fixed on the mechanical gripper mechanism 7, the cushion layer 74 can effectively protect the safety of the cylindrical products, and the cushion layer 74 is prevented from being impacted by the first grabbing arm 73 and the second grabbing arm 79, wherein the support connection column 71 increases the connection stability between the grabbing control motor 6 and the mechanical gripper mechanism 7.
After the technical scheme is adopted, the utility model discloses beneficial effect does: when grabbing and carrying cylindrical products, the manipulator is not limited by the length of the cylindrical products, can grab longer cylindrical products, and has wider movable angle, so that the grabbing and carrying capacity of the manipulator is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an enlarged schematic view of a portion a in fig. 1.
Fig. 3 is a schematic top view of fig. 2.
Description of reference numerals: the device comprises a connection control mechanism 1, a rotation control steering engine 2, a large arm control steering engine 3, a small arm control steering engine 4, a lifting control steering engine 5, a grabbing control motor 6, a mechanical grabbing mechanism 7, a supporting connecting column 71, a grabbing main support 72, a first grabbing arm 73, a buffer layer 74, a two-tooth grabbing hook 75, a three-tooth grabbing hook 76, a reinforcing suction cup 77, a damping supporting rod 78, a second grabbing arm 79 and a connection control wire 710.
Detailed Description
Referring to fig. 1 to fig. 3, the technical solution adopted by the present embodiment is: the mechanical gripper comprises a connection control mechanism 1, a rotation control steering engine 2, a large arm control steering engine 3, a small arm control steering engine 4, a lifting control steering engine 5, a gripping control motor 6 and a mechanical gripper mechanism 7, wherein the left end of the connection control mechanism 1 is mechanically connected with the right end of the rotation control steering engine 2, the lower end of the rotation control steering engine 2 is connected with the upper end of the large arm control steering engine 3, the large arm control steering engine 3 is connected with the upper end of the small arm control steering engine 4, the lower end of the small arm control steering engine 4 is provided with the lifting control steering engine 5, the lower end of the lifting control steering engine 5 is connected with the upper end of the gripping control motor 6, the lower end of the gripping control motor 6 is mechanically connected with the mechanical gripper mechanism 7, and the mechanical gripper mechanism 7 consists of a support connecting column 71, a gripping main support 72, a first gripping arm 73, a buffer cushion layer 74, a two-tooth gripper hook 75, a three-tooth gripper 76, a reinforcing sucker 77 and a damping support rod 78, The second snatchs arm 79, connection control wire 710 and constitutes, the middle part of snatching control motor 6 is connected with through snatching main support 72 through support connection post 71, and snatchs control motor 6 and connects first snatching arm 73 and second through connection control wire 710 and snatch arm 79, and first snatching arm 73 and second snatch arm 79 swing joint and snatch main support 72's both ends about, snatch the middle part of main support 72 lower extreme and be equipped with damping support bar 78, and the lower extreme of damping support bar 78 is equipped with reinforced suction cup 77, first snatching arm 73 and second snatchs and be equipped with cushion 74 on the inboard of arm 79, and the lower extreme and the bidentate grapple 75 fixed connection of first snatching arm 73, the lower extreme welding that the arm 79 was snatched to the second has tridentate grapple 76.
The two-tooth grapple 75 and the three-tooth grapple 76 are distributed in a mutually crossed manner to ensure the grabbing stability of the mechanical grabbing mechanism 7, the first grabbing arm 73 and the second grabbing arm 79 are vertically and movably connected to the left end and the right end of the grabbing main support 72, the width of the two-tooth grapple 75 is larger than that of the three-tooth grapple 76, the length of the two-tooth grapple 75 is smaller than that of the three-tooth grapple 76, and the damping support rod 78 is perpendicular to the grabbing main support 72.
The utility model discloses a theory of operation: when the manipulator is used, the manipulator is firstly connected and installed on a control assembly through a connection control mechanism 1 by the worker so that the manipulator can be normally driven, when the manipulator is in work, a rotation control steering engine 2 can control the rotation of the manipulator, a large arm control steering engine 3 can control the movement of a large arm on the manipulator, a small arm control steering engine 4 and a lifting control steering engine 5 enable the manipulator to carry out small arm and lifting operation, the movable angle of the manipulator is increased by the combined use of the rotation control steering engine 2, the large arm control steering engine 3, the small arm control steering engine 4 and the lifting control steering engine 5, the movable angle of the manipulator is wider, and the mechanical gripper mechanism 7 is controlled by a gripping control motor 6 to carry out the gripping and carrying operation of the cylindrical products, when the mechanical gripper mechanism 7 works, the grabbing control motor 6 can control the first grabbing arm 73 and the second grabbing arm 79 through the connection control wire 710, so that the first grabbing arm 73 and the second grabbing arm 79 can move on the grabbing main support 72, then the cylindrical products can be grabbed by the two-tooth grabbing hook 75 and the three-tooth grabbing hook 76, at the moment, the reinforced sucking disc 77 can suck the cylindrical products under the support of the damping support rod 78, so that the cylindrical products can be more stably fixed on the mechanical gripper mechanism 7, the cushion layer 74 can effectively protect the safety of the cylindrical products, and the cushion layer 74 is prevented from being impacted by the first grabbing arm 73 and the second grabbing arm 79, wherein the support connection column 71 increases the connection stability between the grabbing control motor 6 and the mechanical gripper mechanism 7.
First, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed; secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other; and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. The utility model provides a special manipulator of cylinder class product transport which characterized in that: the robot comprises a connection control mechanism (1), a rotation control steering engine (2), a large arm control steering engine (3), a small arm control steering engine (4), a lifting control steering engine (5), a grabbing control motor (6) and a mechanical grabbing mechanism (7), wherein the left end of the connection control mechanism (1) is mechanically connected with the right end of the rotation control steering engine (2), the lower end of the rotation control steering engine (2) is connected with the upper end of the large arm control steering engine (3), the large arm control steering engine (3) is connected with the upper end of the small arm control steering engine (4), the lower end of the small arm control steering engine (4) is provided with the lifting control steering engine (5), the lower end of the lifting control steering engine (5) is connected with the upper end of the grabbing control motor (6), and the lower end of the grabbing control motor (6) is mechanically connected with the mechanical grabbing mechanism (7);
the mechanical gripper mechanism (7) comprises a supporting connection column (71), a gripping main support (72), a first gripping arm (73), a cushion layer (74), a two-tooth gripping hook (75), a three-tooth gripping hook (76), a reinforced suction cup (77), a damping support rod (78), a second gripping arm (79) and a connection control lead (710), wherein the middle part of the gripping control motor (6) is connected with the gripping main support (72) through the supporting connection column (71), the gripping control motor (6) is connected with the first gripping arm (73) and the second gripping arm (79) through the connection control lead (710), the first gripping arm (73) and the second gripping arm (79) are movably connected with the left end and the right end of the gripping main support (72), the middle part of the lower end of the gripping main support (72) is provided with the damping support rod (78), the lower end of the damping support rod (78) is provided with the reinforced suction cup (77), the inner sides of the first grabbing arm (73) and the second grabbing arm (79) are provided with buffer cushions (74), the lower end of the first grabbing arm (73) is fixedly connected with the two-tooth grabbing hook (75), and the lower end of the second grabbing arm (79) is welded with the three-tooth grabbing hook (76).
2. The manipulator special for conveying cylindrical products as claimed in claim 1, wherein: the two-tooth grapple (75) and the three-tooth grapple (76) are distributed in a mutually crossed manner.
3. The manipulator special for conveying cylindrical products as claimed in claim 1, wherein: the first grabbing arm (73) and the second grabbing arm (79) are vertically and movably connected to the left end and the right end of the grabbing main support (72).
4. The manipulator special for conveying cylindrical products as claimed in claim 1, wherein: the width of the two-tooth grapple (75) is larger than that of the three-tooth grapple (76), and the length of the two-tooth grapple (75) is smaller than that of the three-tooth grapple (76).
5. The manipulator special for conveying cylindrical products as claimed in claim 1, wherein: the damping support rod (78) is perpendicular to the grabbing main support (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121586870.3U CN215037465U (en) | 2021-07-13 | 2021-07-13 | Special manipulator for carrying cylindrical products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121586870.3U CN215037465U (en) | 2021-07-13 | 2021-07-13 | Special manipulator for carrying cylindrical products |
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| Publication Number | Publication Date |
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| CN215037465U true CN215037465U (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121586870.3U Active CN215037465U (en) | 2021-07-13 | 2021-07-13 | Special manipulator for carrying cylindrical products |
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| CN (1) | CN215037465U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116101558A (en) * | 2023-04-11 | 2023-05-12 | 沈阳爱尔泰医疗科技有限公司 | Transfer manipulator for abdomen-expanding portable oxygenerator |
-
2021
- 2021-07-13 CN CN202121586870.3U patent/CN215037465U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116101558A (en) * | 2023-04-11 | 2023-05-12 | 沈阳爱尔泰医疗科技有限公司 | Transfer manipulator for abdomen-expanding portable oxygenerator |
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