CN215853836U

CN215853836U - Hold-in range manipulator grabbing device

Info

Publication number: CN215853836U
Application number: CN202121901916.6U
Authority: CN
Inventors: 项德羽
Original assignee: Ningxia Deris Intelligent Technology Co ltd
Current assignee: Ningxia Deris Intelligent Technology Co ltd
Priority date: 2021-08-14
Filing date: 2021-08-14
Publication date: 2022-02-18
Anticipated expiration: 2031-08-14

Abstract

The utility model discloses a synchronous belt manipulator grabbing device which comprises a first supporting leg and an electric cabinet, wherein the electric cabinet is arranged on the left side of the upper end of the first supporting leg, the first supporting leg is fixedly connected with the electric cabinet through a bolt, the electric cabinet is electrically connected with a power supply, a transmission seat is arranged on the upper end of the first supporting leg, a transmission gear is arranged on one side, close to a protection plate, of an end cover, the transmission gear is meshed with a second rack inside a vertical rod through the transmission gear, the phenomenon of large friction force is avoided through the mutual matching of the transmission gear and the gear, a sponge body is arranged on one side of the protection plate in the direction close to the vertical rod, lubricating oil is added into the sponge body, and the lubricating oil in the sponge body is in mutual contact with the first rack inside the vertical rod through the mutual contact of the vertical rod and the sponge body when the vertical rod moves up and down, thereby achieving the effect of lubricating in the process of movement.

Description

Hold-in range manipulator grabbing device

Technical Field

The utility model belongs to the technical field of manipulator correlation, and particularly relates to a synchronous belt manipulator grabbing device.

Background

The manipulator is the earliest occurring industrial robot and the earliest occurring modern robot, which can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The prior manipulator gripping device has the following problems: when grabbing, the existing manipulator grabbing device generally adopts single-tooth face gear transmission, and the other face slides through a clamping groove, so that under long-time use, larger friction force can occur, and the phenomenon of inconvenient transmission occurs when transmission is performed.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model aims to provide a synchronous belt manipulator grabbing device, which solves the problem of inconvenient transmission caused by large friction force.

(II) technical scheme

In order to achieve the purpose, the utility model provides the following technical scheme: a synchronous belt manipulator grabbing device comprises a first supporting leg and an electric cabinet, wherein the electric cabinet is arranged on the left side of the upper end of the first supporting leg, the first supporting leg is fixedly connected with the electric cabinet through a bolt, the electric cabinet is electrically connected with a power supply, a transmission seat is arranged on the upper end of the first supporting leg, the transmission seat is fixedly connected with the first supporting leg through a bolt, a third motor is arranged at the left end of the transmission seat, a second transmission box is arranged on the upper end of the right side of the transmission seat, a transverse rod is arranged inside the second transmission box, a second motor is arranged on the left side of the upper end of the second transmission box, the second transmission box is fixedly connected with the second motor through a bolt, a first transmission box is arranged at the right end of the transverse rod, a vertical rod is arranged at the axis inside the first transmission box, and a first motor is arranged on the surface side of the right end of the first transmission box, first motor passes through bolt fixed connection with first transmission case, the bottom of montant is provided with snatchs the mechanism, the right-hand member downside of driving seat is provided with the second supporting leg, the constitution of first transmission case is including connecting hole, guard plate, cavernosum, box and end cover, the right-hand member of box is provided with the end cover, the right-hand member table side of box is provided with the connecting hole, the left end upper side of box is provided with the guard plate, the right side of guard plate is provided with the cavernosum, first transmission case passes through bolt fixed connection through connecting hole and first motor.

Furthermore, the grabbing mechanism comprises a connecting plate, a cylinder assembly, a fixing plate, a spring assembly and a clamping arm, the cylinder assembly is arranged at the bottom end of the connecting plate and electrically connected with a power supply, the fixing plate is arranged at the bottom end of the cylinder assembly, the spring assembly is arranged at the bottom end of the fixing plate, the clamping arm is arranged on the lower side of the left end and the lower side of the right end of the spring assembly, and the grabbing mechanism is fixedly connected with the vertical rod through the connecting plate and a bolt.

Furthermore, the end cover comprises a transmission gear, a first fastening piece, a cover plate and a second fastening piece, the transmission gear is arranged at the left end axle center of the cover plate, the first fastening piece is arranged at the upper end of the cover plate, the second fastening piece is arranged at the bottom end of the cover plate, and the end cover is fixedly connected with the box body through the first fastening piece.

Further, the constitution of montant is including the body of rod, first rack, second rack and connecting seat, the left end table side of the body of rod is provided with first rack, first rack is fixed with body of rod spot welding, the right-hand member table side of the body of rod is provided with the second rack, the second rack is fixed with body of rod spot welding, the bottom of the body of rod is provided with the connecting seat, the montant passes through the second rack and is connected with the end cover meshing.

Further, the size and the specification of first supporting leg and second supporting leg are the same, the bottom of first supporting leg and second supporting leg all is provided with the backing plate, the upper end of first supporting leg and second supporting leg all is provided with the connecting piece.

Furthermore, the first motor, the second motor and the third motor are all electrically connected with a power supply, the types of the first motor, the second motor and the third motor are all the same, and gears are arranged at one ends of the first motor, the second motor and the third motor.

Furthermore, the first transmission box and the second transmission box are both box-type structures, displacement sensors are arranged inside the first transmission box and the second transmission box, and the displacement sensors inside the first transmission box and the second transmission box are electrically connected with the power supply.

Further, the cavernosum is the cuboid structure, the bottom of cavernosum is provided with lubricating oil case, the inside of cavernosum contains lubricating oil.

(III) advantageous effects

The utility model provides a synchronous belt manipulator grabbing device which has the following beneficial effects:

(1) the protection plate is arranged at the upper end of the interior of the first transmission box, so that dust can be prevented from entering the interior of the first transmission box under the action of the protection plate and the protection plate, the protection of the gear can be effectively improved under the action of the protection plate, and the phenomenon that the transmission gear enters impurities or is accidentally injured by a user is avoided;

(2) the transmission gear is arranged on one side, close to the protection plate, of the end cover, and is meshed with the second rack inside the vertical rod through the transmission gear, so that the vertical rod can move up and down more conveniently under the mutual matching of the transmission gear and the gear during transmission, and the phenomenon of large friction force is avoided;

(3) the device is provided with the cavernous body in the direction close to the vertical rod on one side of the protection plate, so that lubricating oil is added into the cavernous body, and when the vertical rod moves up and down, the lubricating oil in the cavernous body is in contact with the first rack in the vertical rod under the mutual contact of the vertical rod and the cavernous body, so that the lubricating effect in the movement process can be achieved;

(4) through setting up traditional screw rod mechanism in the inside of transmission seat, when carrying out the transmission like this, can carry out better lubrication through the inside screw rod mechanism of transmission seat, set up screw rod mechanism in addition inside, like this can effectual improvement screw rod mechanism's life.

Drawings

FIG. 1 is a schematic structural view of a synchronous belt manipulator gripping device of the present invention;

FIG. 2 is a schematic front view of the grasping mechanism according to the present invention;

FIG. 3 is a schematic view of the overall structure of the first transmission case of the present invention;

FIG. 4 is a schematic structural view of an end cap according to the present invention in elevation;

FIG. 5 is a schematic front view of a vertical rod according to the present invention;

in the figure: 1. an electric cabinet; 2. a first support leg; 3. a grabbing mechanism; 31. a connecting plate; 32. a cylinder assembly; 33. a fixing plate; 34. a spring assembly; 35. a clamp arm; 4. a second support leg; 5. a first motor; 6. a first transmission case; 61. connecting holes; 62. a protection plate; 63. a sponge body; 64. a box body; 65. an end cap; 651. a transmission gear; 652. a first fastener; 653. a cover plate; 654. a second fastener; 7. a vertical rod; 71. a rod body; 72. a first rack; 73. a second rack; 74. a connecting seat; 8. a second transmission case; 9. a second motor; 10. a cross bar; 11. a transmission seat; 12. a third motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a synchronous belt manipulator gripping device comprises a first supporting leg 2 and an electric cabinet 1, wherein the electric cabinet 1 is arranged on the left side of the upper end of the first supporting leg 2, the first supporting leg 2 is fixedly connected with the electric cabinet 1 through a bolt, the electric cabinet 1 is electrically connected with a power supply, a transmission seat 11 is arranged on the upper end of the first supporting leg 2, the transmission seat 11 is fixedly connected with the first supporting leg 2 through a bolt, a third motor 12 is arranged at the left end of the transmission seat 11, a second transmission box 8 is arranged at the upper end of the right side of the transmission seat 11, a cross rod 10 is arranged inside the second transmission box 8, a second motor 9 is arranged on the left side of the upper end of the second transmission box 8, the second transmission box 8 is fixedly connected with the second motor 9 through a bolt, a first transmission box 6 is arranged at the right end of the cross rod 10, a vertical rod 7 is arranged at the inner axle center of the first transmission box 6, a first motor 5 is arranged on the right end surface side of the first transmission box 6, first motor 5 passes through bolt fixed connection with first transmission case 6, the bottom of montant 7 is provided with snatchs mechanism 3, the right-hand member downside of transmission seat 11 is provided with second supporting leg 4, the constitution of first transmission case 6 is including connecting hole 61, protection plate 62, cavernosum 63, box 64 and end cover 65, the right-hand member of box 64 is provided with end cover 65, the right-hand member table side of box 64 is provided with connecting hole 61, the left end upper side of box 64 is provided with protection plate 62, the right side of protection plate 62 is provided with cavernosum 63, first transmission case 6 passes through bolt fixed connection through connecting hole 61 and first motor 5.

Snatch constitution of mechanism 3 including connecting plate 31, cylinder assembly 32, fixed plate 33, spring unit 34 and centre gripping arm 35, the bottom of connecting plate 31 is provided with cylinder assembly 32, cylinder assembly 32 and power electric connection, the bottom of cylinder assembly 32 is provided with fixed plate 33, the bottom of fixed plate 33 is provided with spring unit 34, the downside at both ends is provided with centre gripping arm 35 about spring unit 34, setting through centre gripping arm 35, can make better effect that reaches the centre gripping like this, it passes through bolt fixed connection through connecting plate 31 and montant 7 to snatch mechanism 3.

The end cover 65 comprises a transmission gear 651, a first fastening member 652, a cover plate 653 and a second fastening member 654, the transmission gear 651 is arranged at the left end of the cover plate 653, and the transmission gear 651 is arranged, so that better transmission can be achieved, the first fastening member 652 is arranged at the upper end of the cover plate 653, the second fastening member 654 is arranged at the bottom end of the cover plate 653, and the end cover 65 is fixedly connected with the box body 64 through the first fastening member 652.

The composition of montant 7 is including the body of rod 71, first rack 72, second rack 73 and connecting seat 74, the left end table side of the body of rod 71 is provided with first rack 72, first rack 72 is fixed with the body of rod 71 spot welding, the right-hand member table side of the body of rod 71 is provided with second rack 73, thereby can reduce the frictional force that receives in the driven time, second rack 73 is fixed with the body of rod 71 spot welding, the bottom of the body of rod 71 is provided with connecting seat 74, montant 7 is connected with end cover 65 meshing through second rack 73.

The size and the specification of first supporting leg 2 and second supporting leg 4 are the same, and first supporting leg 2 all is provided with the backing plate with the bottom of second supporting leg 4, through the setting of backing plate, can be so that the more stable of support, and first supporting leg 2 all is provided with the connecting piece with the upper end of second supporting leg 4.

The first motor 5, the second motor 9 and the third motor 12 are all electrically connected with a power supply, the types of the first motor 5, the second motor 9 and the third motor 12 are all the same, so that the three-dimensional space movement can be better carried out, and one end of each of the first motor 5, the second motor 9 and the third motor 12 is provided with a gear.

First transmission case 6 and second transmission case 8 are the box structure, and first transmission case 6 all is provided with displacement sensor with the inside of second transmission case 8 to can make more accurate carry out the displacement, the displacement sensor and the power electric connection of first transmission case 6 and the inside of second transmission case 8.

Cavernosum 63 is the cuboid structure, and the bottom of cavernosum 63 is provided with lubricating oil case to can make better lubricated effect that reaches, cavernosum 63's inside contains lubricating oil.

The working principle and the using process of the utility model are as follows: when the device is used, the device is fixed at a proper position through the first supporting leg 2 and the second supporting leg 4, then the program is set through the electric cabinet 1, after the program setting is completed, a starting button in the electric cabinet 1 is turned on, so that when a workpiece is transmitted, the third motor 12 works, the model of the third motor 12 is Y315S-2, the screw rod mechanism in the transmission seat 11 can be rotated under the clockwise driving of the third motor 12, so that the second transmission box 8 can be moved away from the third motor 12 under the action of the transmission seat 11, and displacement sensors are arranged in the second transmission box 8 and the first transmission box 6 and can detect according to the value set by the program, when the displacement sensor in the second transmission box 8 detects that the workpiece is moved to a limited value, at this time, the third motor 12 stops working, the second motor 9 works, the model of the second motor 9 is Y315S-2, under the clockwise rotation of the second motor 9, the second motor 9 can drive the inside of the second transmission box 8 to rotate in size, thereby driving the cross bar 10 to move, when the displacement sensor detects that the movement is a limit value, the second motor 9 stops working, then the first motor 5 works, under the clockwise rotation of the first motor 5, the model of the first motor 5 is Y315S-2, thereby driving the vertical bar 7 inside the first transmission box 6 to move towards the lower end, when moving to a proper position, the first motor 5 stops working, the cylinder assembly 32 inside the grabbing mechanism 3 moves out of stroke, thereby driving the clamping arms 35 at two ends to move towards the direction of the workpiece, thereby grabbing the workpiece, and then the first motor 5 rotates anticlockwise, the vertical rod 7 is driven to move towards the upper end, when the vertical rod is moved to a proper position, the first motor 5 stops rotating, at the moment, the second motor 9 rotates anticlockwise, the cross rod 10 can return to the original position, then the second motor 9 stops working, then the third motor 12 rotates anticlockwise, under the action of the transmission seat 11, the second transmission box 8 can move towards the direction close to the third motor 12, when the displacement sensor detects the proper position, the third motor 12 stops working, the first motor 5 drives the grabbing mechanism 3 to move towards the lower end, when the proper position is reached, the air cylinder assembly 32 inside the grabbing mechanism 3 makes return movement, therefore, the grabbing work of the workpiece is completed, and then the actions are sequentially repeated.

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

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a hold-in range manipulator grabbing device, includes first supporting leg (2) and electric cabinet (1), its characterized in that: the electric cabinet is characterized in that an electric cabinet (1) is arranged on the left side of the upper end of the first supporting leg (2), the first supporting leg (2) is fixedly connected with the electric cabinet (1) through a bolt, the electric cabinet (1) is electrically connected with a power supply, a transmission seat (11) is arranged on the upper end of the first supporting leg (2), the transmission seat (11) is fixedly connected with the first supporting leg (2) through a bolt, a third motor (12) is arranged at the left end of the transmission seat (11), a second transmission box (8) is arranged at the upper end of the right side of the transmission seat (11), a cross rod (10) is arranged inside the second transmission box (8), a second motor (9) is arranged on the left side of the upper end of the second transmission box (8), the second transmission box (8) is fixedly connected with the second motor (9) through a bolt, and a first transmission box (6) is arranged at the right end of the cross rod (10), the inner axle center of the first transmission box (6) is provided with a vertical rod (7), the right end surface side of the first transmission box (6) is provided with a first motor (5), the first motor (5) is fixedly connected with the first transmission box (6) through a bolt, the bottom end of the vertical rod (7) is provided with a grabbing mechanism (3), the lower side of the right end of the transmission seat (11) is provided with a second supporting leg (4), the first transmission box (6) comprises a connecting hole (61), a protection plate (62), a sponge body (63), a box body (64) and an end cover (65), the right end of the box body (64) is provided with the end cover (65), the right end surface side of the box body (64) is provided with the connecting hole (61), the upper side of the left end of the box body (64) is provided with the protection plate (62), the right side of the protection plate (62) is provided with the sponge body (63), the first transmission box (6) is fixedly connected with the first motor (5) through a connecting hole (61) through a bolt.

2. The synchronous belt robot gripping device of claim 1, wherein: the grabbing mechanism (3) comprises a connecting plate (31), an air cylinder assembly (32), a fixing plate (33), a spring assembly (34) and a clamping arm (35), the air cylinder assembly (32) is arranged at the bottom end of the connecting plate (31), the air cylinder assembly (32) is electrically connected with a power supply, the fixing plate (33) is arranged at the bottom end of the air cylinder assembly (32), the spring assembly (34) is arranged at the bottom end of the fixing plate (33), the clamping arm (35) is arranged on the lower sides of the left end and the right end of the spring assembly (34), and the grabbing mechanism (3) is fixedly connected with a vertical rod (7) through the connecting plate (31) through bolts.

3. The synchronous belt robot gripping device of claim 1, wherein: the end cover (65) comprises a transmission gear (651), a first fastening piece (652), a cover plate (653) and a second fastening piece (654), the transmission gear (651) is arranged at the axis of the left end of the cover plate (653), the first fastening piece (652) is arranged at the upper end of the cover plate (653), the second fastening piece (654) is arranged at the bottom end of the cover plate (653), and the end cover (65) is fixedly connected with the box body (64) through the first fastening piece (652).

4. The synchronous belt robot gripping device of claim 1, wherein: the constitution of montant (7) is including the body of rod (71), first rack (72), second rack (73) and connecting seat (74), the left end table side of the body of rod (71) is provided with first rack (72), first rack (72) are fixed with body of rod (71) spot welding, the right-hand member table side of the body of rod (71) is provided with second rack (73), second rack (73) are fixed with body of rod (71) spot welding, the bottom of the body of rod (71) is provided with connecting seat (74), montant (7) are connected with end cover (65) meshing through second rack (73).

5. The synchronous belt robot gripping device of claim 1, wherein: the size and specification of first supporting leg (2) and second supporting leg (4) are the same, the bottom of first supporting leg (2) and second supporting leg (4) all is provided with the backing plate, the upper end of first supporting leg (2) and second supporting leg (4) all is provided with the connecting piece.

6. The synchronous belt robot gripping device of claim 1, wherein: the first motor (5), the second motor (9) and the third motor (12) are electrically connected with a power supply, the first motor (5), the second motor (9) and the third motor (12) are identical in type, and gears are arranged at one ends of the first motor (5), the second motor (9) and the third motor (12).

7. The synchronous belt robot gripping device of claim 1, wherein: the first transmission case (6) and the second transmission case (8) are both of a box-type structure, displacement sensors are arranged inside the first transmission case (6) and the second transmission case (8), and the displacement sensors inside the first transmission case (6) and the second transmission case (8) are electrically connected with a power supply.

8. The synchronous belt robot gripping device of claim 1, wherein: the sponge body (63) is of a rectangular structure, a lubricating oil storage box is arranged at the bottom end of the sponge body (63), and lubricating oil is contained in the sponge body (63).