CN215037626U - Snatch manipulator structure of work piece - Google Patents

Abstract

The utility model discloses a manipulator structure for grabbing workpieces, which comprises a horizontal moving rod, a clamp, a base and a vertical moving rod, and further comprises a rotating structure for changing the operating angle of a manipulator, a stable adjusting structure for adjusting the operating height and stability of the manipulator and a stretching structure for limiting the moving range of the manipulator, wherein a spiral column shell is arranged in the middle of the top end of the base, and a screw rod is sleeved in the spiral column shell; the rotating structure is arranged at the top end of the base. The utility model discloses a set up the cylinder in the inside one side of keeping away from the screw rod of piece that connects, the inner prop is installed on the top of cylinder, and the outside cover of inner prop is equipped with the outer prop, and the top of outer prop is installed and is accepted the board, and the both sides of accepting the board top all install the elasticity screw, and the centre department of outer prop one side is connected with the connecting block, and one side of connecting block installs the fixed block, and the fixed screw is all installed in the front of fixed block, can be used for the height that the lift clamp was got and the stability of adjusting device during operation.

Description

Snatch manipulator structure of work piece

Technical Field

The utility model relates to a manipulator technical field specifically is a snatch manipulator structure of work piece.

Background

The manipulator structure is one kind and gets the work piece clamp, and the equipment of transportation, the wide application is in panel beating trade or building trade, and the work piece is got to the unable multi-angle clamp that carries on of current manipulator structure on fixed production line, even present equipment can the multi-angle, but equipment requires too high to operational environment, is unsuitable to use in batches, can't stabilize anchor clamps on carrying out translation or vertically, leads to the work piece to drop easily, present manipulator structure still has many shortcomings:

firstly, the traditional manipulator structure is inconvenient to operate at multiple angles and use;

secondly, the traditional manipulator structure is unstable in moving in the horizontal or vertical direction, so that the clamped workpiece is easy to fall off;

thirdly, the traditional manipulator structure cannot limit or change the moving track, and the applicability is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a snatch manipulator structure of work piece to the problem of unstable and unable restriction or change removal orbit is removed to the multi-angle operation of being not convenient for that proposes in solving above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a snatch manipulator structure of work piece, includes horizontal migration pole, anchor clamps, base and vertical carriage release lever, its characterized in that: the manipulator is characterized by also comprising a rotating structure used for changing the operation angle of the manipulator, a stable adjusting structure used for adjusting the operation height and stability of the manipulator and a stretching structure used for limiting the moving range of the manipulator;

a speed regulating motor is arranged inside the base, a spiral column shell is arranged in the middle of the top end of the base, and a screw rod is sleeved inside the spiral column shell; the rotating structure is arranged at the top end of the base

The screw rod vertically penetrates through the interior of the bearing block, and the stable adjusting structure is arranged on one side of the bearing block, which is far away from the horizontal moving rod;

side spout is installed to one side on bearing block top, horizontal migration pole transversely runs through in the groove that sideslips, horizontal migration pole's internally mounted has the track, and one side cover of horizontal migration pole's outside is equipped with mechanical joint, anchor clamps are installed to mechanical joint's bottom, tensile structure sets up department in the centre of horizontal migration pole bottom.

As a preferred embodiment, revolution mechanic includes the side spout, the side spout sets up in one side of accepting the piece top, the inside of side spout is provided with vertical carriage release lever, and the inside in groove that sideslips is provided with the slider, the vertical setting in the inside of accepting the piece of spiral post shell, and the inside of spiral post shell is provided with the screw rod, the bottom of spiral post shell is provided with buncher, the upper and lower both ends of slider all are rectangle form, and the central point of slider and the central point of vertical carriage release lever are on same water flat line simultaneously.

In a preferred embodiment, the external thread structure of the screw is matched with the internal thread structure of the spiral column shell, the number of threads is the same, two sides of the sliding block are overlapped with the outer side of the side sliding groove, and a sliding structure is formed between the sliding block and the inner side of the side sliding groove.

As a preferred embodiment, steadily transfer the structure and constitute by elasticity screw, fixed block, connecting block, cylinder, outer post, inner prop and accept the board, the cylinder sets up in the inside one side of keeping away from the screw rod of accepting the piece, the inner prop is installed on the top of cylinder, and the outside cover of inner prop is equipped with the outer post, the top of outer post is installed and is accepted the board, the elasticity screw is all installed to the both sides of accepting the board top, the centre department of outer post one side is connected with the connecting block, and one side of connecting block installs the fixed block, the fixed screw is all installed in the front of fixed block, the external screw thread structure of inner prop and the internal thread structure phase-match of outer post, and the number of threads is the same simultaneously, and the central point mutually perpendicular of the extreme point of connecting block one side and inner prop.

As a preferred embodiment, tensile structure is by first pulley, second pulley, conveyer, crank, position sensor and spring, the outside of vertical carriage release lever is located to the spring housing, one side of keeping away from first pulley is installed position sensor, the second pulley is installed in the bottom of side spout, and the bottom of second pulley is connected with conveyer, one side of conveyer is connected with first pulley, and conveyer's bottom is connected with the crank, position sensor's mid point and the central point of spring are on same water flat line.

In a preferred embodiment, the distance between the first pulley and the second pulley is half of the distance between the second pulley and the crank, and the center point of the first pulley and the center point of the position sensor are on the same horizontal line.

Compared with the prior art, the beneficial effects of the utility model are that: this snatch manipulator of work piece is rational in infrastructure, has following advantage:

(1) the sideslip groove is arranged on one side of the top end of the bearing block, the vertical moving rod is arranged inside the sideslip groove, the sliding block is arranged inside the sideslip groove, the spiral column shell is vertically arranged inside the bearing block, the screw rod is arranged inside the spiral column shell, the adjustable-speed motor is arranged at the bottom end of the spiral column shell, the upper end and the lower end of the sliding block are both rectangular, the center point of the sliding block and the center point of the vertical moving rod are on the same horizontal line, the external thread structure of the screw rod is matched with the internal thread structure of the spiral column shell, the number of threads is the same, the two sides of the sliding block and the outer side of the sideslip groove are overlapped with each other, a sliding structure is formed between the sliding block and the inside of the sideslip groove, and multi-angle clamping work can be carried out;

(2) the cylinder is arranged on one side, far away from the screw rod, inside the bearing block, the top end of the cylinder is provided with the inner column, the outer side of the inner column is sleeved with the outer column, the top end of the outer column is provided with the bearing plate, the two sides of the top end of the bearing plate are provided with the loose screws, the middle of one side of the outer column is connected with the connecting block, one side of the connecting block is provided with the fixed block, the front surface of the fixed block is provided with the fixed screws, the external thread structure of the inner column is matched with the internal thread structure of the outer column, the number of threads is the same, the end point of one side of the connecting block is perpendicular to the middle point of the inner column, stable movement can be carried out in the vertical direction, and meanwhile the stability of the equipment during working can be guaranteed;

(3) the stretching structure comprises a first pulley, a second pulley, a conveying belt, a crank, a position sensor and a spring, the spring is sleeved outside the vertical moving rod, the position sensor is arranged on one side far away from the first pulley, the second pulley is arranged at the bottom end of the side sliding chute, the bottom end of the second pulley is connected with a conveying belt, one side of the conveying belt is connected with a first pulley, the bottom end of the conveying belt is connected with a crank, the midpoint of the position sensor and the center point of the spring are on the same horizontal line, the distance between the first pulley and the second pulley is one half of the distance between the second pulley and the crank, meanwhile, the central point of the first pulley and the central point of the position sensor are on the same horizontal line, the data of the position sensor can be transmitted back, the operation condition of the clamp in the horizontal direction can be limited through the compression spring, the crank can also be shaken, and the condition of the operation track can be manually regulated through the tension.

Drawings

Fig. 1 is a schematic front view of a cross-sectional structure of the present invention;

fig. 2 is a front view of the rotating structure of the present invention;

FIG. 3 is a schematic front view of the stable adjustment structure of the present invention;

fig. 4 is a schematic front view of the stretching structure of the present invention.

In the figure: 1. a mechanical joint; 2. a horizontal moving rod; 3. a clamp; 4. a bearing block; 5. a base; 6. a spiral column housing; 7. a speed-regulating motor; 8. a screw; 9. a stable adjustment structure; 901. tightening and loosening screws; 902. fixing screws; 903. a fixed block; 904. connecting blocks; 905. a cylinder; 906. an outer column; 907. an inner column; 908. a bearing plate; 10. a slider; 11. a side chute; 12. a vertical travel bar; 13. stretching the structure; 1301. a first pulley; 1302. a second pulley; 1303. a conveyor belt; 1304. a crank; 1305. a position sensor; 1306. a spring; 14. a track.

Detailed Description

The present invention will be further described with reference to the following examples.

The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention. The condition in the embodiment can be further adjusted according to concrete condition the utility model discloses a it is right under the design prerequisite the utility model discloses a simple improvement of method all belongs to the utility model discloses the scope of claiming.

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.

Example 1: referring to fig. 1-4, a manipulator structure for grabbing a workpiece includes a horizontal moving rod 2, a clamp 3, a base 5, a vertical moving rod 12, a rotating structure for changing the operating angle of the manipulator, a stable adjusting structure 9 for adjusting the operating height and stability of the manipulator, and a stretching structure 13 for limiting the range of motion of the manipulator;

a speed regulating motor 7 is arranged inside the base 5, a spiral column shell 6 is arranged in the middle of the top end of the base 5, and a screw rod 8 is sleeved inside the spiral column shell 6; the rotating structure is arranged at the top end of the base 5;

the screw rod 8 vertically penetrates through the interior of the bearing block 4, and the stable adjusting structure is arranged on one side, far away from the horizontal moving rod 2, of the bearing block 4;

a side sliding groove 11 is arranged on one side of the top end of the bearing block 4, the horizontal moving rod 2 transversely penetrates through the side sliding groove 11, a track 14 is arranged inside the horizontal moving rod 2, a mechanical joint 1 is sleeved on one side of the outer part of the horizontal moving rod 2, a clamp 3 is arranged at the bottom end of the mechanical joint 1, and a stretching structure 13 is arranged in the middle of the bottom end of the horizontal moving rod 2;

the rotating structure comprises a side sliding groove 11, the side sliding groove 11 is arranged on one side of the top end of the bearing block 4, a vertical moving rod 12 is arranged inside the side sliding groove 11, a sliding block 10 is arranged inside the side sliding groove 11, a spiral column shell 6 is vertically arranged inside the bearing block 4, a screw rod 8 is arranged inside the spiral column shell 6, a speed regulating motor 7 is arranged at the bottom end of the spiral column shell 6, the upper end and the lower end of the sliding block 10 are rectangular, meanwhile, the central point of the sliding block 10 and the central point of the vertical moving rod 12 are on the same horizontal line, an external thread structure of the screw rod 8 is matched with an internal thread structure of the spiral column shell 6, the number of threads is the same, the two sides of the sliding block 10 and the outer side of the side sliding groove 11 coincide with each other, and a sliding structure is formed between the sliding block 10 and the inside the side sliding groove 11;

specifically, as shown in fig. 2, during the use, move equipment to the work area that needs to press from both sides and get the work piece, turn on switch, anchor clamps 3 begin to work on the working line, according to on the production line of difference, turn on buncher 7, drive the screw rod 8 rotatory, drive simultaneously and hold the piece 4 rotatory, hold the top of piece 4 and install vertical travel rod 12, vertical travel rod 12 drives horizontal migration rod 2 and rotates to the work area that needs to press from both sides, anchor clamps 3 begin to work in the region that has adjusted.

Example 2: the stable adjusting structure 9 of the stable adjusting structure consists of an elastic screw 901, a fixed screw 902, a fixed block 903, a connecting block 904, an air cylinder 905, an outer column 906, an inner column 907 and a bearing plate 908, wherein the air cylinder 905 is arranged on one side, far away from a screw 8, in the bearing block 4, the top end of the air cylinder 905 is provided with the inner column 907, the outer side of the inner column 907 is sleeved with the outer column 906, the top end of the outer column 906 is provided with the bearing plate 908, the two sides of the top end of the bearing plate 908 are both provided with the elastic screw 901, the middle of one side of the outer column 906 is connected with the connecting block 904, one side of the connecting block 904 is provided with the fixed block 903, the front surface of the fixed block 903 is provided with the fixed screw 902, the external thread structure of the inner column 907 is matched with the internal thread structure of the outer column 906, the number of threads is the same, and the end point of one side of the connecting block 904 is perpendicular to the midpoint of the inner column 907;

specifically, as shown in fig. 3, when the height of the device needs to be changed, the tightening screw 901 is firstly tightened on the horizontal moving rod 2, the bearing plate 908 is attached to the bottom end of the horizontal moving rod 2, the cylinder 905 is opened, the fixing screw 902 on the fixing block 903 is simultaneously tightened, the vertical moving rod 12 starts to move in the vertical direction, and the device integrally moves in the vertical direction, so that the proper height is reached, and the movement in the horizontal direction and the movement in the vertical direction are stabilized.

Example 3: the stretching structure 13 comprises a first pulley 1301, a second pulley 1302, a transmission belt 1303, a crank 1304, a position sensor 1305 and a spring 1306, wherein the spring 1306 is sleeved outside the vertical moving rod 12, the position sensor 1305 is installed on one side of the 1306 far away from the first pulley 1301, the second pulley 1302 is installed at the bottom end of the side chute 11, the transmission belt 1303 is connected to the bottom end of the second pulley 1302, the first pulley 1301 is connected to one side of the transmission belt 1303, the crank 1304 is connected to the bottom end of the transmission belt 1303, the midpoint of the position sensor 1305 and the center point of the spring 1306 are on the same horizontal line, the distance between the first pulley 1301 and the second pulley 1302 is half of the distance between the second pulley 1302 and the crank 1304, and the center point of the first pulley 1301 and the center point of the position sensor 1305 are on the same horizontal line;

specifically, as shown in fig. 4, when the production line limiting device grips a workpiece, the position sensor 1305 is opened, and when the spring 1306 is compressed to the sensing area of the position sensor 1305 during transportation on a horizontal line, the moving range of the clamp 3 is limited, and the working distance of the clamp 3 can be manually controlled by rotating the crank 1304, thereby improving the applicability.

The utility model discloses a theory of operation and use flow: when the clamping device is used, the device is moved to a working area where a workpiece needs to be clamped, a power switch is turned on, the clamp 3 starts to work on a working line, the speed regulating motor 7 is turned on according to different production lines, the screw rod 8 is driven to rotate, the bearing block 4 is driven to rotate at the same time, the vertical moving rod 12 is installed at the top end of the bearing block 4, the vertical moving rod 12 drives the horizontal moving rod 2 to rotate to the working area where the workpiece needs to be clamped, and the clamp 3 starts to work in the adjusted area;

when the height of the equipment needs to be changed, firstly, the elastic screws 901 clamp the horizontal moving rod 2, the bearing plate 908 is attached to the bottom end of the horizontal moving rod 2, the air cylinder 905 is opened, meanwhile, the fixing screws 902 on the fixing blocks 903 are tightened, the vertical moving rod 12 starts to move in the vertical direction, and meanwhile, the whole equipment moves in the vertical direction to reach the proper height;

when the production line limiting equipment clamps the workpiece, the position sensor 1305 is opened, when the spring 1306 is compressed to the sensing area of the position sensor 1305 in horizontal line transportation, the moving range of the clamp 3 is limited, and the working distance of the clamp 3 can be manually controlled by rotating the crank 1304, so that the applicability is improved.

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 a snatch manipulator structure of work piece, includes horizontal migration pole (2), anchor clamps (3), base (5) and vertical carriage bar (12), its characterized in that: the manipulator is characterized by also comprising a rotating structure used for changing the operation angle of the manipulator, a stable adjusting structure (9) used for adjusting the operation height and stability of the manipulator and a stretching structure (13) used for limiting the range of motion of the manipulator;

a speed regulating motor (7) is arranged inside the base (5), a spiral column shell (6) is arranged in the middle of the top end of the base (5), and a screw rod (8) is sleeved inside the spiral column shell (6); the rotating structure is arranged at the top end of the base (5);

the screw rod (8) vertically penetrates through the interior of the bearing block (4), and the stable adjusting structure is arranged on one side, far away from the horizontal moving rod (2), of the bearing block (4);

side spout (11) are installed to one side on bearing block (4) top, horizontal migration pole (2) transversely run through in side spout (11), the internally mounted of horizontal migration pole (2) has track (14), and one side cover of the outside of horizontal migration pole (2) is equipped with mechanical joint (1), anchor clamps (3) are installed to the bottom of mechanical joint (1), tensile structure (13) set up in the centre department of horizontal migration pole (2) bottom.

2. A robot structure for gripping a workpiece according to claim 1, wherein: rotating-structure includes side spout (11), side spout (11) set up in one side on holding piece (4) top, the inside of side spout (11) is provided with vertical carriage release lever (12), and the inside of sideslip groove (11) is provided with slider (10), spiral column shell (6) are vertical to be set up in the inside of holding piece (4), and the inside of spiral column shell (6) is provided with screw rod (8), the bottom of spiral column shell (6) is provided with buncher (7), the upper and lower both ends of slider (10) all are rectangular shape, and the central point of slider (10) and the central point of vertical carriage release lever (12) are on same water flat line simultaneously.

3. A robot structure for gripping a workpiece according to claim 2, wherein: the external thread structure of screw rod (8) and the internal thread structure phase-match of spiral post shell (6), the screw thread number is the same simultaneously, and the outside of the both sides of slider (10) and side spout (11) coincides each other, constitutes sliding construction between slider (10) and side spout (11) inside.

4. A robot structure for gripping a workpiece according to claim 1, wherein: the stable adjusting structure (9) of the stable adjusting structure is composed of a loose screw (901), a fixed screw (902), a fixed block (903), a connecting block (904), an air cylinder (905), an outer column (906), an inner column (907) and a bearing plate (908), wherein the air cylinder (905) is arranged on one side, far away from a screw rod (8), inside the bearing block (4), the inner column (907) is installed at the top end of the air cylinder (905), the outer column (906) is sleeved outside the inner column (907), the bearing plate (908) is installed at the top end of the outer column (906), the loose screw (901) is installed on two sides of the top end of the bearing plate (908), the connecting block (904) is connected to the middle of one side of the outer column (906), the fixed block (903) is installed on one side of the connecting block (904), the fixed screw (903) is installed on the front side of the fixed block (903), and an external screw structure of the inner column (907) is matched with an internal screw structure of the outer column (906), meanwhile, the number of threads is the same, and the end point of one side of the connecting block (904) is perpendicular to the middle point of the inner column (907).

5. The robot structure of claim 4, wherein: the stretching structure (13) is composed of a first pulley (1301), a second pulley (1302), a conveying belt (1303), a crank (1304), a position sensor (1305) and a spring (1306), the spring (1306) is sleeved on the outer side of the vertical moving rod (12), the position sensor (1305) is installed on one side, away from the first pulley (1301), of the spring (1306), the second pulley (1302) is installed at the bottom end of the side sliding groove (11), the bottom end of the second pulley (1302) is connected with the conveying belt (1303), one side of the conveying belt (1303) is connected with the first pulley (1301), the bottom end of the conveying belt (1303) is connected with the crank (1304), and the midpoint of the position sensor (1305) and the center point of the spring (1306) are on the same horizontal line.

6. The robot structure of claim 4, wherein: the distance between the first pulley (1301) and the second pulley (1302) is half of the distance between the second pulley (1302) and the crank (1304), and meanwhile, the center point of the first pulley (1301) and the center point of the position sensor (1305) are on the same horizontal line.

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