CN215363717U

CN215363717U - Site manipulator

Info

Publication number: CN215363717U
Application number: CN202121506611.5U
Authority: CN
Inventors: 马业明; 冯盛春; 马宇飞; 马云飞; 赵珊珊; 马丽丽
Original assignee: Shandong Tiankang Hengda Technology Co Ltd
Current assignee: Shandong Tiankang Hengda Technology Co Ltd
Priority date: 2021-07-02
Filing date: 2021-07-02
Publication date: 2021-12-31
Anticipated expiration: 2031-07-02

Abstract

The utility model provides a place manipulator, includes the chassis, installs two guide arms that set up side by side on the chassis, all cooperates to install on every guide arm to erect and moves the cover, and two are erected to move and are connected with between the cover and erect and move the board, erect the bottom of moving the board and install and erect and move switching-over cage device, erect and move switching-over cage device and include first axle sleeve and second axle sleeve, it is fixed through the connecting piece between first axle sleeve and the second axle sleeve, all be equipped with the region that four circumferences were arranged on the lower bottom surface of first axle sleeve and the last top surface of second axle sleeve. The vertical movement reversing cage device can complete automatic reversing in the lifting process, the chassis synchronous movement and the opening and closing action of the manipulator are driven, the operation of the whole device is facilitated, meanwhile, due to the fact that only one power device is arranged, the difficulty of later maintenance is reduced to a certain extent, the manipulator is automatically opened or tightened by a mechanical structure after being grabbed and placed in place, an electric control element is not needed to control the grabbing and placing actions, and the fault rate is low.

Description

Site manipulator

Technical Field

The utility model relates to the technical field of building block transfer equipment, in particular to a field manipulator.

Background

The building block is a block building product with a size larger than that of a clay brick, is an artificial block material mainly made of concrete, industrial waste or local materials, has the advantages of simple equipment and high building speed, and meets the requirement of wall body reformation in the industrial development of buildings. The building block needs to be transferred among the working procedures in the production process of the existing building block, the commonly used grabbing manipulator generally has two functions, one is to carry out the lifting of the manipulator, the other is to control the opening and closing of the grabbing manipulator, the implementation of the two actions basically depends on two sets of independent power devices and is separately controlled, and the difficulty of operation and later maintenance is improved to a certain extent.

Disclosure of Invention

The utility model aims to provide a field manipulator, wherein the lifting and opening and closing actions of the manipulator can be completed by one set of power device, the linkage control action is adopted, the opening and closing actions of the manipulator can be completed while the manipulator is lifted, and the problems in the prior art are solved.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model relates to a field manipulator which comprises an underframe, wherein two guide rods arranged side by side are arranged on the underframe, each guide rod is provided with a vertical moving sleeve in a matching way, a vertical moving plate is connected between the two vertical moving sleeves, the bottom of the vertical moving plate is provided with a vertical moving reversing cage device, the vertical moving reversing cage device comprises a first shaft sleeve and a second shaft sleeve, the first shaft sleeve and the second shaft sleeve are fixed through a connecting piece, four circumferentially arranged regions are respectively arranged on the lower bottom surface of the first shaft sleeve and the upper top surface of the second shaft sleeve, first guiding chutes with the same direction are respectively arranged in each region of the lower bottom surface of the first shaft sleeve, second guiding chutes with the same direction are respectively arranged in each region of the upper top surface of the second shaft sleeve, vertical surfaces are respectively arranged between the adjacent first guiding chutes and the adjacent second guiding chutes, and the first guiding chutes are arranged in a staggered way, a rotating shaft is arranged in the first shaft sleeve and the second shaft sleeve in a matching way, a guide convex block is arranged on the rotating shaft, the guide convex block can enter between the guide chute and the vertical surface, the lower end of the rotating shaft penetrates through the second connecting plate and is provided with a long block, the bottom frame is provided with a limit groove plate, the limit groove plate is provided with a clamping plate, the clamping plate is provided with a long strip hole matched with the long strip block, when the vertical moving sleeve moves downwards along the guide rod, the long strip blocks in the vertically moving reversing cage device can enter the long strip holes and contact with the limiting groove plate, when the vertically moving sleeve moves upwards along the guide rod, the long block can rotate and drive the clamping plate to move upwards together, two first hinge arms are arranged on each vertical moving sleeve, a second hinge arm is arranged at the end part of each first hinge arm, the second hinged arms are hinged on the base frame, clamping plates are arranged on the two second hinged arms at the same side of the base frame, and the clamping plates on the two sides can be driven to mutually approach or keep away by vertically moving the lifting sleeve on the guide rod. The connecting piece is including fixing the first connecting plate in erecting the shifting board bottom, and first connecting plate downside fixedly connected with second connecting plate, first connecting plate bottom is equipped with first axle sleeve, and the upper portion of second connecting plate is equipped with the second axle sleeve, and first axle sleeve and second axle sleeve correspond the setting. And a hoisting cage is arranged on the vertical moving plate. The first connecting plate and the second connecting plate are connected through adjusting studs, first nuts are installed on the peripheries of the adjusting studs on the lower side of the first connecting plate in a matched mode, and second nuts are installed on the peripheries of the adjusting studs on the upper side of the first connecting plate in a matched mode. The bottoms of the two ends of the long strip block in the length direction are provided with inclined planes.

The utility model has the positive effects that: according to the field manipulator, the linkage control of the lifting of the manipulator and the opening and closing of the manipulator can be completed through the lifting of the vertical moving sleeve on the guide rod, the actions can be completed only by one power device, the vertical moving reversing cage device can complete automatic reversing in the lifting process, the actions of driving the chassis to synchronously move and opening and closing of the manipulator are realized, the operation of the whole device is facilitated, meanwhile, the difficulty of later maintenance is reduced to a certain extent due to the fact that only one power device is provided, the manipulator is automatically opened or tightened by a mechanical structure after being grabbed and placed in place, the grabbing and placing actions are controlled without an electric control element, and the failure rate is low.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic structural view of a vertically displaced reversing cage assembly;

FIG. 4 is a front view of the vertically displaced tilt cage assembly;

FIG. 5 is an enlarged view of the cross-sectional view taken along line A-A in FIG. 4;

FIG. 6 is an enlarged view of the cross-sectional view taken along line B-B in FIG. 4;

fig. 7 is a sectional view taken along line C-C in fig. 2.

Detailed Description

The field manipulator comprises an underframe 1, two guide rods 2 arranged side by side are mounted on the underframe 1, the guide rods 2 are vertically arranged, a vertical moving sleeve 3 is mounted on each guide rod 2 in a matched mode, and the vertical moving sleeve 3 can vertically lift along the guide rods 2. A vertical moving plate 4 is connected between the two vertical moving sleeves 3, and a power device can be arranged on the vertical moving plate 4 to drive the vertical moving plate 4 to lift, namely, the vertical moving sleeves 3 are driven to lift vertically along the guide rod 2 synchronously.

The bottom of the vertical moving plate 4 is provided with a vertical moving reversing cage device, as shown in fig. 3 and 4, the vertical moving reversing cage device comprises a first shaft sleeve 7 and a second shaft sleeve 8, the first shaft sleeve 7 and the second shaft sleeve 8 are fixed through a connecting piece, four areas arranged in the circumference are arranged on the lower bottom surface of the first shaft sleeve 7 and the upper top surface of the second shaft sleeve 8, a first guiding chute 10 with the same direction is arranged in each area of the lower bottom surface of the first shaft sleeve 7, a second guiding chute 11 with the same direction is arranged in each area of the upper top surface of the second shaft sleeve 8, a vertical surface 25 is arranged between each adjacent first guiding chute 10 and each adjacent second guiding chute 11, the first guiding chute 10 and the second guiding chute 11 are arranged in a staggered mode, and a rotating shaft 9 is installed in the first shaft sleeve 7 and the second shaft sleeve 8 in a matched mode. Wherein the bottom of the first shaft sleeve 7 is provided with a first guide chute 10 arranged circumferentially, and the top of the second shaft sleeve 8 is provided with a second guide chute 11 arranged circumferentially, as shown in fig. 5 and 6, the installation angles of the circle centers of the first guide chute 10 and the second guide chute 11 can differ by 45 degrees.

The rotating shaft 9 is provided with a guide projection 12, the guide projection 12 can enter between the guide chute and the vertical surface 25, the first guide chute 10 and the second guide chute 11 respectively limit the upper limit position and the lower limit position of the guide projection 12, and the guide projection 12 can drive the rotating shaft 9 to rotate when moving in the guide chute. The lower end of the rotating shaft 9 penetrates through the second connecting plate 6 and is provided with a long block 13, as shown in fig. 7, a limiting groove plate 14 is installed on the underframe 1, a clamping plate 15 is arranged on the limiting groove plate 14, and a long hole 16 matched with the long block 13 is formed in the clamping plate 15. When the vertically moving sleeve 3 moves downwards along the guide rod 2, the long block 13 in the vertically moving reversing cage device can enter the long hole 16 and contact with the limiting groove plate 14, and when the vertically moving sleeve 3 moves upwards along the guide rod 2, the long block 13 can rotate 90 degrees and drive the clamping plate 15 to move upwards together.

Each vertical moving sleeve 3 is provided with two first hinge arms 17, the end parts of the first hinge arms 17 are provided with second hinge arms 18, the second hinge arms 18 are hinged on the base frame 1, the two second hinge arms 18 on the same side of the base frame 1 are provided with clamping plates 19, and the lifting energy of the vertical moving sleeve 3 on the guide rod 2 drives the clamping plates 19 on the two sides to be close to or far away from each other.

Wherein the connecting piece between first axle sleeve 7 and the second axle sleeve 8 is including fixing the first connecting plate 5 in the 4 bottoms of vertical shift board, and 5 downside fixedly connected with second connecting plate 6 of first connecting plate, 5 bottoms of first connecting plate are equipped with first axle sleeve 7, and the upper portion of second connecting plate 6 is equipped with second axle sleeve 8, and first axle sleeve 7 and second axle sleeve 8 correspond the setting.

Taking the difference of 45 degrees between the installation angles of the circle centers of the first guide chute 10 and the second guide chute 11 as an example, when the device performs grabbing transfer of building blocks, the power device drives the vertical moving plate 4 to move downwards, the vertical moving sleeve 3 moves downwards along the guide rod 2, the vertical moving sleeve 3 is driven by the hinged arm in the downward moving process, the clamping plates 19 on two sides rotate to open, the long block 13 passes through the long hole 16 and enters the limiting groove plate 14, due to the existence of the limiting groove plate 14, the long block 13 and the rotating shaft 9 do not move downwards any more, in the process that the vertical moving plate 4 drives the first connecting plate 5 and the second connecting plate 6 to move downwards continuously, the guide convex block 12 enters the first guide chute 10 from the second guide chute 11 until the guide convex block 12 rises to the top position of the first guide chute 10 and cannot rise continuously, and at this time, under the guide effect of the first guide chute 10, the rotating shaft 9 rotates 45 degrees. Then the power device drives the vertical moving plate 4 to move upwards, the vertical moving sleeve 3 moves upwards along the guide rod 2, the vertical moving sleeve 3 moves upwards in the moving process through transmission of the hinged arm, the clamping plates 19 on two sides rotate and clamp, the building blocks are grabbed, the vertical moving plate 4 moves upwards to synchronously drive the first connecting plate 5 and the second connecting plate 6 to move upwards, the first shaft sleeve 7 and the second shaft sleeve 8 move upwards relative to the rotating shaft 9, the guide convex block 12 is lowered into the second guide chute 11 from the first guide chute 10, the rotating shaft 9 continues to rotate for 45 degrees under the guiding action of the second guide chute 11, the guide convex block 12 is lowered to the bottommost part of the second guide chute 11, the strip block 13 cannot penetrate through the strip hole 16 after rotating for 90 degrees, the vertical moving reversing cage device can synchronously drive the bottom frame 1 to ascend and descend, lifting and grabbing actions of a manipulator are realized, and the whole device is also capable of grabbing the building blocks and moving upwards.

And after the building block shifts to the setting position, chassis 1 does not change in the height position, erect and move board 4 and drive and erect and move cover 3 and move down, the splint 19 of both sides rotates and opens, rectangular piece 13 moves down and contacts with spacing frid 14 simultaneously, guide lug 12 moves up to in the first direction chute 10, when erectting and move board 4 and move up again, guide lug 12 enters into the second direction chute 11 again from first direction chute 10, axis of rotation 9 and rectangular piece 13 rotate 90 degrees, rectangular piece 13 can pass rectangular hole 16 again and move up, and resume to the state that fig. 1 shows.

Further, in order to facilitate the vertical movement of the vertical movement plate 4, a hoisting cage 20 is arranged on the vertical movement plate 4, and an output shaft of the power device can be connected with the hoisting cage 20 to control the vertical movement of the vertical movement plate 4.

Further, in order to adjust the distance between the first sleeve 7 and the second sleeve 8 and adjust the vertical displacement height distance required when the rotating shaft 9 rotates, the first connecting plate 5 and the second connecting plate 6 are connected through the adjusting stud 21, the first nut 22 is installed on the outer periphery of the adjusting stud 21 on the lower side of the first connecting plate 5 in a matched mode, the second nut 23 is installed on the outer periphery of the adjusting stud 21 on the upper side of the first connecting plate 5 in a matched mode, the first connecting plate 5 is clamped and positioned on the adjusting stud 21 through the first nut 22 and the second nut 23, and the distance between the first connecting plate 5 and the second connecting plate 6, namely the distance between the first sleeve 7 and the second sleeve 8, can be adjusted by adjusting the positions of the first nut 22 and the second nut 23 on the adjusting stud 21.

Further, in order to facilitate the long block 13 to normally enter the long hole 16 when moving downwards, the bottom parts of the two ends of the long block 13 in the length direction are both provided with an inclined surface 24, so that the distance of the bottom part of the long block 13 in the length direction is slightly smaller than the length distance of the long hole 16, and the long block can conveniently enter the long hole 16.

The technical solution of the present invention is not limited to the scope of the embodiments of the present invention. The technical contents not described in detail in the present invention are all known techniques.

Claims

1. The utility model provides a place manipulator which characterized in that: comprises a chassis (1), two guide rods (2) arranged side by side are arranged on the chassis (1), each guide rod (2) is provided with a vertical moving sleeve (3) in a matching way, a vertical moving plate (4) is connected between the two vertical moving sleeves (3), the bottom of the vertical moving plate (4) is provided with a vertical moving reversing cage device, the vertical moving reversing cage device comprises a first shaft sleeve (7) and a second shaft sleeve (8), the first shaft sleeve (7) and the second shaft sleeve (8) are fixed through a connecting piece, four areas arranged in the circumference are arranged on the lower bottom surface of the first shaft sleeve (7) and the upper top surface of the second shaft sleeve (8), a first guiding chute (10) with the same direction is arranged in each area of the lower bottom surface of the first shaft sleeve (7), a second guiding chute (11) with the same direction is arranged in each area of the upper top surface of the second shaft sleeve (8), and a vertical surface (25) is arranged between the adjacent first guiding chute (10) and the adjacent second guiding chute (11), the first guide chutes (10) and the second guide chutes (11) are arranged in a staggered manner, the first shaft sleeve (7) and the second shaft sleeve (8) are internally provided with a rotating shaft (9) in a matched manner, the rotating shaft (9) is provided with a guide lug (12), the guide lug (12) can enter between the guide chutes and a vertical surface (25), the lower end of the rotating shaft (9) penetrates through the second connecting plate (6) and is provided with a long block (13), the underframe (1) is provided with a limiting groove plate (14), the limiting groove plate (14) is provided with a clamping plate (15), the clamping plate (15) is provided with a long hole (16) matched with the long block (13), when the vertical moving sleeve (3) moves downwards along the guide rod (2), the long block (13) in the vertical moving reversing cage device can enter into the long hole (16) and is contacted with the limiting groove plate (14), and when the vertical moving sleeve (3) moves upwards along the guide rod (2), long piece (13) can take place to rotate and drive cardboard (15) and move up together, every erects to move all to install two first articulated arms (17) on cover (3), and second articulated arm (18) are installed to the tip of first articulated arm (17), articulated the installing on chassis (1) of second articulated arm (18), install splint (19) on two second articulated arms (18) of chassis (1) same side, erectly move the splint (19) that cover (3) lift on guide arm (2) can drive both sides and be close to each other or keep away from.

2. The field robot of claim 1, wherein: the connecting piece is including fixing first connecting plate (5) in erecting removal board (4) bottom, first connecting plate (5) downside fixedly connected with second connecting plate (6), first connecting plate (5) bottom is equipped with first axle sleeve (7), and the upper portion of second connecting plate (6) is equipped with second axle sleeve (8), and first axle sleeve (7) and second axle sleeve (8) correspond the setting.

3. The field robot of claim 1, wherein: and a hoisting cage (20) is arranged on the vertical moving plate (4).

4. The field robot of claim 2, wherein: the first connecting plate (5) is connected with the second connecting plate (6) through adjusting studs (21), first nuts (22) are installed on the periphery of the adjusting studs (21) on the lower side of the first connecting plate (5) in a matched mode, and second nuts (23) are installed on the periphery of the adjusting studs (21) on the upper side of the first connecting plate (5) in a matched mode.

5. The field robot of claim 1, wherein: the bottoms of the two ends of the long block (13) in the length direction are provided with inclined planes (24).