CN215471132U - Material taking robot hand for corrosion-resistant phosphorus-copper alloy castings - Google Patents
Material taking robot hand for corrosion-resistant phosphorus-copper alloy castings Download PDFInfo
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- CN215471132U CN215471132U CN202121248218.0U CN202121248218U CN215471132U CN 215471132 U CN215471132 U CN 215471132U CN 202121248218 U CN202121248218 U CN 202121248218U CN 215471132 U CN215471132 U CN 215471132U
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Abstract
The utility model belongs to the technical field of mechanical arms, and particularly relates to a material taking manipulator for a corrosion-resistant phosphorus-copper alloy casting, which comprises: arm main part, snatch shell and rotating electrical machines, the output end-to-end of arm main part is installed and is snatched the shell, the inside bottom of snatching the shell is installed electric putter, the slide is installed to electric putter's output, just slide swing joint has the inner wall of snatching the shell, buffer spring is installed on the top of slide, just buffer spring's top is connected with the inside top of snatching the shell, the connecting block is all installed to the bottom both sides of slide, the connecting block is connected with the gag lever post through first connection joint. This material taking robot hand of corrosion resistant type phosphorus copper alloy foundry goods can grab the not casting of equidimension under the condition of unmanned control, convenient to use, and application scope is wider, snatchs the dynamics less when snatching moreover, can not cause the damage to the surface of casting.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a material taking manipulator for a corrosion-resistant phosphorus-copper alloy casting.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading. When the corrosion-resistant phosphorus copper alloy casting is produced, a robot is also needed to finish the material taking operation. But the foundry goods of equidimension often is inconvenient to be snatched to current device, needs the work of manual control machine hand when snatching not equidimension foundry goods, and it is very inconvenient to use, and application scope is less, and the dynamics is inconvenient to control when snatching moreover, causes the damage to the foundry goods easily.
SUMMERY OF THE UTILITY MODEL
This section is for the purpose of summarizing some aspects of embodiments of the utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the utility model.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions:
a material taking robot hand for corrosion-resistant phosphorus-copper alloy castings comprises: the mechanical arm comprises a mechanical arm main body, a grabbing shell and a rotating motor, wherein the grabbing shell is arranged at the tail end of the output end of the mechanical arm main body, the bottom end in the grabbing shell is provided with an electric push rod, the output end of the electric push rod is provided with a sliding plate, the sliding plate is movably connected with the inner wall of the grabbing shell, the top end of the sliding plate is provided with a buffer spring, the top end of the buffer spring is connected with the inner top end of the grabbing shell, the two sides of the bottom end of the sliding plate are both provided with connecting blocks, the connecting block is connected with a limiting rod through a first connecting joint, fixing arms are arranged on the outer sides of through grooves formed in two outer side walls of the grabbing shell, the tail end of the fixed arm is connected with a grabbing arm through a second connecting joint, the limiting rod is movably connected with the fixed arm and the grabbing arm, a grabbing spring is mounted on one side wall of the outer portion of the grabbing arm, and one end of the grabbing spring is connected with a grabbing shell;
when the grabbing arm is in a grabbing state, the tail end of the limiting rod is located in the fixed arm, the sliding plate is close to the top end of the inner portion of the grabbing shell, the electric push rod is in a fully-extended state, and the grabbing spring is in a retracted state.
As a preferable scheme of the material taking robot for the corrosion-resistant phosphorus-copper alloy casting, the utility model comprises the following steps: an observation rod is installed on the top end of the sliding plate, the top end of the observation rod penetrates through the grabbing shell, and the observation rod is movably connected with the grabbing shell.
As a preferable scheme of the material taking robot for the corrosion-resistant phosphorus-copper alloy casting, the utility model comprises the following steps: the tail end of the grabbing arm is provided with an anti-slip pad, and anti-slip lines are arranged on the anti-slip pad.
As a preferable scheme of the material taking robot for the corrosion-resistant phosphorus-copper alloy casting, the utility model comprises the following steps: the utility model discloses a mechanical arm, including arm main part, mounting seat, protective housing, bottom plate, arm main part's mounting seat below is connected with the output of rotating electrical machines, the outside of rotating electrical machines is provided with protective housing and bottom plate, just the protective housing is run through to the output of rotating electrical machines, the bottom plate is installed to the bottom of protective housing.
As a preferable scheme of the material taking robot for the corrosion-resistant phosphorus-copper alloy casting, the utility model comprises the following steps: the louvre has all been seted up to the inside both sides wall of protective housing, the internally mounted of louvre has the dust screen.
As a preferable scheme of the material taking robot for the corrosion-resistant phosphorus-copper alloy casting, the utility model comprises the following steps: the mounting structure is characterized in that pulleys are attached to two sides below the mounting seat of the mechanical arm main body, the pulleys are movably connected with grooves formed in the top ends of first supporting rods, damping springs are mounted at the bottom ends of the first supporting rods, the bottom ends of the damping springs are connected with the bottom ends of grooves formed in the second supporting rods, the first supporting rods are movably connected with the grooves formed in the second supporting rods, and the bottom ends of the second supporting rods are connected with a bottom plate.
Compared with the prior art: when the manipulator is in operation, the movement of the shell is grabbed through the control of the mechanical arm main body, the electric push rod drives the sliding plate to move, meanwhile, the buffer spring enables the sliding plate to be kept stable, the sliding plate drives the connecting block to move, the connecting block drives the limiting rod to slide through the first connecting joint, the limiting rod rotates on the first connecting joint and simultaneously enables the limiting rod to be separated from the fixed arm and the grabbing arm, the grabbing spring is tightened, the grabbing arm is driven to rotate and tighten on the fixed arm through the second connecting joint, castings of different sizes are grabbed, the material taking manipulator for the corrosion-resistant phosphorus-copper alloy castings can grab the castings of different sizes under the condition of no manual control, the manipulator is convenient to use and wide in application range, the grabbing force is small when the grabbing, and damage to the surfaces of the castings can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail with reference to the accompanying drawings and detailed embodiments, 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 to obtain other drawings without inventive exercise. Wherein:
FIG. 1 is a front view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
fig. 3 is an enlarged view of the utility model at a in fig. 1.
In the figure: 100 mechanical arm main body, 200 grabbing shell, 210 electric push rod, 220 sliding plate, 221 observation rod, 230 buffer spring, 240 connecting block, 241 first connecting joint, 242 limiting rod, 250 fixing arm, 251 second connecting joint, 252 grabbing arm, 253 grabbing spring, 254 non-slip mat, 300 rotating motor, 310 protective shell, 311 heat dissipation hole, 312 dust screen, 400 pulley, 410 first supporting rod, 420 damping spring, 430 second supporting rod and 440 bottom plate.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and it will be apparent to those of ordinary skill in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The utility model provides a material taking manipulator for corrosion-resistant phosphorus-copper alloy castings, which can grab castings with different sizes without manual control, is convenient to use and wide in application range, has small grabbing force during grabbing, and cannot damage the surfaces of the castings, and please refer to fig. 1, fig. 2 and fig. 3, and the material taking manipulator comprises: a robot arm main body 100, a grip housing 200, and a rotation motor 300;
referring to fig. 1, 2 and 3 again, a grabbing housing 200 is installed at the end of the output end of the robot arm main body 100, an electric push rod 210 is installed at the bottom end of the interior of the grabbing housing 200, a sliding plate 220 is installed at the output end of the electric push rod 210, the sliding plate 220 is movably connected with the inner wall of the grabbing housing 200, a buffer spring 230 is installed at the top end of the sliding plate 220, the top end of the buffer spring 230 is connected with the top end of the interior of the grabbing housing 200, connecting blocks 240 are installed on both sides of the bottom end of the sliding plate 220, the connecting blocks 240 are connected with a limiting rod 242 through a first connecting joint 241, fixing arms 250 are installed outside through grooves formed in both side walls of the exterior of the grabbing housing 200, the end of the fixing arm 250 is connected with a grabbing arm 252 through a second connecting joint 251, the limiting rod 242 is movably connected with the fixing arm 250 and the grabbing arm 252, and a grabbing spring 253 is installed on one side wall of the exterior of the grabbing arm 252, one end of the grabbing spring 253 is connected with a grabbing shell 200, specifically, the tail end of the output end of the mechanical arm main body 100 is connected with the grabbing shell 200 through a bolt, the bottom end of the interior of the grabbing shell 200 is connected with an electric push rod 210 through a bolt, the output end of the electric push rod 210 is connected with a sliding plate 220 through a bolt, the sliding plate 220 is connected with the inner wall of the grabbing shell 200 in a sliding manner, the top end of the sliding plate 220 is welded with a buffer spring 230, the top end of the buffer spring 230 is welded with the top end of the interior of the grabbing shell 200, both sides of the bottom end of the sliding plate 220 are connected with a connecting block 240 through bolts, the connecting block 240 is connected with a limiting rod 242 through a first connecting joint 241, the outer sides of through grooves formed in two outer side walls of the grabbing shell 200 are connected with a fixed arm 250 through bolts, and the tail end of the fixed arm 250 is connected with a grabbing arm 252 through a second connecting joint 251, the limiting rod 242 is slidably connected with a fixing arm 250 and a grabbing arm 252, a grabbing spring 253 is welded on one side wall of the outer portion of the grabbing arm 252, a grabbing shell 200 is welded on one end of the grabbing spring 253, the mechanical arm main body 100 is used for providing a function of driving the grabbing shell 200 to move up and down, the grabbing shell 200 is used for accommodating and installing an internal device, the electric push rod 210 is used for pushing the sliding plate 220 to move up and down, the sliding plate 220 is used for driving the connecting block 240 to move, the buffer spring 230 is used for providing a buffer function and preventing the sliding plate 220 from moving too fast, the connecting block 240 is used for connecting the sliding plate 220 with the first connecting joint 241, the first connecting joint 241 is used for connecting the connecting block 240 with the limiting rod 242 so that the limiting rod 242 can rotate along the first connecting joint 241, the limiting rod 242 is used for limiting the movement of the grabbing arm 252, and the fixing arm 250 is used for connecting the grabbing shell 200 with the second connecting joint 251, the second connecting joint 251 is used for connecting the fixing arm 250 and the grabbing arm 252, so that the grabbing arm 252 can rotate along the second connecting joint 251, the grabbing arm 252 is used for providing grabbing function, and the grabbing spring 253 is used for tightening the grabbing arm 252, so that the grabbing arm 252 can grab the casting;
when the grabbing arm 252 is in the grabbing state, the end of the limiting rod 242 is located in the fixed arm 250, the sliding plate 220 is close to the inner top end of the grabbing shell 200, the electric push rod 210 is in the fully extended state, and the grabbing spring 253 is in the contracted state;
referring to fig. 1, fig. 2 and fig. 3 again, an observation rod 221 is installed at the top end of the sliding plate 220, the top end of the observation rod 221 penetrates through the grabbing housing 200, and the grabbing housing 200 is movably connected to the observation rod 221, specifically, the top end of the sliding plate 220 is connected to the observation rod 221 through a bolt, the top end of the observation rod 221 penetrates through the grabbing housing 200, the observation rod 221 is connected to the grabbing housing 200 in a sliding manner, and the observation rod 221 is used for enabling the sliding plate 220 to slide along a straight line and knowing the working state of the electric push rod 210 by observing the movement of the observation rod 221;
referring to fig. 3 again, the end of the grabbing arm 252 is provided with an anti-slip pad 254, the anti-slip pad 254 is provided with anti-slip lines, specifically, the end of the grabbing arm 252 is bonded with the anti-slip pad 254, the anti-slip pad 254 is provided with anti-slip lines, and the anti-slip pad 254 is used for enabling the grabbing arm 252 to grasp the casting;
referring to fig. 1 and fig. 2 again, an output end of the rotary motor 300 is connected to the lower portion of the mounting seat of the robot arm main body 100, the outer side of the rotary motor 300 is provided with a protective shell 310 and a bottom plate 440, the output end of the rotary motor 300 penetrates through the protective shell 310, the bottom plate 440 is installed at the bottom end of the protective shell 310, specifically, the lower portion of the mounting seat of the robot arm main body 100 is connected to the output end of the rotary motor 300 through a bolt, the outer side of the rotary motor 300 is provided with the protective shell 310 and the bottom plate 440, the output end of the rotary motor 300 penetrates through the protective shell 310, the bottom end of the protective shell 310 is connected to the bottom plate 440 through a bolt, the rotary motor 300 is used for driving the robot arm main body 100 to rotate, the protective shell 310 is used for protecting the rotary motor 300 by matching with the bottom plate 440, and the bottom plate 440 is used for connecting with external equipment.
Referring to fig. 2 again, heat dissipation holes 311 are formed in both side walls of the interior of the protective shell 310, a dust screen 312 is installed inside the heat dissipation holes 311, specifically, heat dissipation holes 311 are formed in both side walls of the interior of the protective shell 310, the dust screen 312 is connected to the heat dissipation holes 311 in an embedded manner, the heat dissipation holes 311 are used for providing a heat dissipation function, and the dust screen 312 is used for preventing dust from passing through.
Referring to fig. 1 and 2 again, pulleys 400 are respectively attached to two sides of the lower portion of the mounting seat of the robot arm main body 100, the pulleys 400 are movably connected to a groove formed at the top end of a first support rod 410, a damping spring 420 is installed at the bottom end of the first support rod 410, the bottom end of the damping spring 420 is connected to the bottom end of a groove formed in a second support rod 430, the first support rod 410 is movably connected to a groove formed in a second support rod 430, the bottom end of the second support rod 430 is connected to a bottom plate 440, specifically, the pulleys 400 are respectively attached to two sides of the lower portion of the mounting seat of the robot arm main body 100, the pulleys 400 are rotatably connected to a groove formed at the top end of the first support rod 410 through shafts, the damping spring 420 is welded to the bottom end of the first support rod 410, the bottom end of the damping spring 420 is welded to a groove formed in the second support rod 430, the first support rod 410 is slidably connected to a groove formed in the second support rod 430, the bottom end of the second support rod 430 is connected with a bottom plate 440 through a bolt, the pulley 400 is used for assisting the rotation of the robot arm main body 100 and keeping the stability of the rotation, the first support rod 410 and the second support rod 430 are used for supporting the pulley 400, and the damping spring 420 is used for providing a damping function.
When the manipulator works, the manipulator main body 100 controls the grabbing shell 200 to move, the electric push rod 210 drives the sliding plate 220 to move, meanwhile, the buffer spring 230 enables the sliding plate 220 to be stable, the sliding plate 220 drives the connecting block 240 to move, the connecting block 240 drives the limiting rod 242 to slide through the first connecting joint 241, the limiting rod 242 rotates on the first connecting joint 241, the limiting rod 242 is enabled to be separated from the fixing arm 250 and the grabbing arm 252, the grabbing spring 253 tightens, the grabbing arm 252 is driven to rotate on the fixing arm 250 through the second connecting joint 251 to tighten, and castings of different sizes are grabbed.
While the utility model has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the various features of the disclosed embodiments of the utility model may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the utility model not be limited to the particular embodiments disclosed, but that the utility model will include all embodiments falling within the scope of the appended claims.
Claims (6)
1. The utility model provides a material machine hand is got to corrosion resistant type phosphorus copper alloy foundry goods which characterized in that includes: the mechanical arm comprises a mechanical arm main body (100), a grabbing shell (200) and a rotating motor (300), wherein the grabbing shell (200) is installed at the tail end of the output end of the mechanical arm main body (100), an electric push rod (210) is installed at the bottom end inside the grabbing shell (200), a sliding plate (220) is installed at the output end of the electric push rod (210), the sliding plate (220) is movably connected with the inner wall of the grabbing shell (200), a buffer spring (230) is installed at the top end of the sliding plate (220), the top end of the buffer spring (230) is connected with the top end inside the grabbing shell (200), connecting blocks (240) are installed on two sides of the bottom end of the sliding plate (220), a limiting rod (242) is connected with the connecting block (240) through a first connecting joint (241), and fixing arms (250) are installed on the outer sides of through grooves formed in two outer side walls of the grabbing shell (200), the tail end of the fixed arm (250) is connected with a grabbing arm (252) through a second connecting joint (251), the limiting rod (242) is movably connected with the fixed arm (250) and the grabbing arm (252), a grabbing spring (253) is installed on one side wall of the outer portion of the grabbing arm (252), and one end of the grabbing spring (253) is connected with a grabbing shell (200);
when the grabbing arm (252) is in a grabbing state, the tail end of the limiting rod (242) is located in the fixing arm (250), the sliding plate (220) is attached to the top end of the inside of the grabbing shell (200), the electric push rod (210) is in a fully-extended state, and the grabbing spring (253) is in a contracted state.
2. The taking robot hand for corrosion-resistant phosphorus copper alloy castings according to claim 1, characterized in that an observation rod (221) is mounted at the top end of the sliding plate (220), the top end of the observation rod (221) penetrates through the grabbing housing (200), and the grabbing housing (200) is movably connected with the observation rod (221).
3. The material taking robot hand for the corrosion-resistant phosphorus-copper alloy casting as claimed in claim 1, wherein a non-slip pad (254) is mounted at the tail end of the grabbing arm (252), and non-slip lines are formed on the non-slip pad (254).
4. The material taking robot hand for the corrosion-resistant phosphorus-copper alloy casting according to claim 1, wherein an output end of a rotating motor (300) is connected below a mounting seat of the robot arm main body (100), a protective shell (310) and a bottom plate (440) are arranged on the outer side of the rotating motor (300), the output end of the rotating motor (300) penetrates through the protective shell (310), and the bottom plate (440) is mounted at the bottom end of the protective shell (310).
5. The material taking manipulator for the corrosion-resistant phosphorus-copper alloy casting according to claim 4, wherein heat dissipation holes (311) are formed in two side walls of the protective shell (310), and a dust screen (312) is installed inside each heat dissipation hole (311).
6. The material taking robot hand for the corrosion-resistant phosphorus-copper alloy castings according to claim 1, wherein pulleys (400) are respectively attached to two sides below a mounting seat of the robot arm main body (100), each pulley (400) is movably connected with a groove formed in the top end of a first support rod (410), a damping spring (420) is installed at the bottom end of each first support rod (410), the bottom end of each damping spring (420) is connected with the bottom end of a groove formed in a second support rod (430), each first support rod (410) is movably connected with a groove formed in a second support rod (430), and the bottom end of each second support rod (430) is connected with a bottom plate (440).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121248218.0U CN215471132U (en) | 2021-06-04 | 2021-06-04 | Material taking robot hand for corrosion-resistant phosphorus-copper alloy castings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121248218.0U CN215471132U (en) | 2021-06-04 | 2021-06-04 | Material taking robot hand for corrosion-resistant phosphorus-copper alloy castings |
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| CN215471132U true CN215471132U (en) | 2022-01-11 |
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| CN202121248218.0U Active CN215471132U (en) | 2021-06-04 | 2021-06-04 | Material taking robot hand for corrosion-resistant phosphorus-copper alloy castings |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320948A (en) * | 2022-07-15 | 2022-11-11 | 烟台喜旺肉类食品有限公司 | Meat sausage bag two-end sealing equipment with sterilization and disinfection effects |
-
2021
- 2021-06-04 CN CN202121248218.0U patent/CN215471132U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320948A (en) * | 2022-07-15 | 2022-11-11 | 烟台喜旺肉类食品有限公司 | Meat sausage bag two-end sealing equipment with sterilization and disinfection effects |
| CN115320948B (en) * | 2022-07-15 | 2024-01-26 | 烟台喜旺肉类食品有限公司 | Meat sausage bag both ends sealing equipment that possesses disinfection effect of disinfecting |
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