CN216000566U

CN216000566U - Multifunctional clamping manipulator

Info

Publication number: CN216000566U
Application number: CN202122221690.1U
Authority: CN
Inventors: 温启浩
Original assignee: Zhengzhou Chuanliu Auto Parts Co ltd
Current assignee: Zhengzhou Chuanliu Auto Parts Co ltd
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2022-03-11
Anticipated expiration: 2031-09-14

Abstract

The utility model provides a multifunctional clamping manipulator, which belongs to the technical field of manipulators, and comprises a fixed seat of the manipulator, wherein a lower surface array of the fixed seat is surrounded by five mechanical fingers, each mechanical finger comprises a stand column fixedly arranged on the lower surface of the fixed seat, a first clamping arm is arranged on the lower end surface of the stand column, a first rotating mechanism is arranged between the upper end of the first clamping arm and the lower end surface of the stand column, a second clamping arm is arranged on the lower end surface of the first clamping arm, and a second rotating mechanism is arranged between the upper part of the second clamping arm and the lower end surface of the first clamping arm; the utility model discloses can the laminating work piece of multi-angle carry out the centre gripping, prevent that the work piece from droing.

Description

Multifunctional clamping manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to multi-functional centre gripping manipulator.

Background

In the machining of automobile parts, various heating and cooling steps are used, so that workers cannot perform clamping and moving operations by hands, and therefore mechanical tools are often used for clamping and moving, but due to the asymmetry and smooth surface of the workpiece, the tool is often difficult to grasp irregular workpieces, various cooling liquids and oily substances are adhered to the surface of the workpiece, and great operation difficulty is caused to clamp the workpiece.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a multi-functional centre gripping manipulator carries out the centre gripping by the laminating work piece of multi-angle, prevents that the work piece from droing.

In order to solve the technical problem, the utility model provides a multifunctional clamping manipulator, which comprises a fixed seat comprising a manipulator, wherein five mechanical fingers are arranged on the lower surface array of the fixed seat in a surrounding manner;

the mechanical finger comprises a stand column fixedly arranged on the lower surface of the fixing seat, a first clamping arm arranged on the lower end surface of the stand column, a first rotating mechanism arranged between the upper end of the first clamping arm and the lower end surface of the stand column, a second clamping arm arranged on the lower end surface of the first clamping arm, and a second rotating mechanism arranged between the upper portion of the second clamping arm and the lower end surface of the first clamping arm.

Further, the upper surface center of fixing base sets up the stock, the stock upper end sets up the horizontal pole, horizontal pole one end sets up rotates the seat, it rotates the setting on the fixed column to rotate the seat.

Furthermore, the lower end face of the stand column is provided with two first fixing plates, the two first fixing plates are oppositely arranged at two edges of the lower end face of the stand column, a first shaft lever is arranged between the first fixing plates, and a first clamping arm is arranged on the first shaft lever in a penetrating mode.

Furthermore, first rotation mechanism is including being located the hydraulic telescoping cylinder that sets up on the stand lower surface between two first fixed plates, hydraulic telescoping cylinder output level is towards the outside of fixing base, spherical circular arc groove is seted up on the upper end right side arm surface of first centre gripping arm, hydraulic telescoping cylinder output sets up spherical universal head, spherical universal head card is established in the spherical circular arc inslot.

Furthermore, the lower end face of the first clamping arm is provided with two second fixing plates, the two second fixing plates are oppositely arranged at two edges of the lower end face of the first clamping arm, a second shaft lever is arranged between the second fixing plates, and the second clamping arm is arranged on the second shaft lever in a penetrating mode.

Furthermore, the second rotating mechanism comprises a driving motor horizontally arranged on the upper end face of the second clamping arm, the output end of the driving motor faces the surface of any one second fixing plate, a first gear is arranged at the output end of the driving motor, a second gear is arranged at the joint of the second shaft lever on the side of the first gear and the second fixing plate, and the second gear is matched with the first gear.

Furthermore, the lower end head of the second clamping arm is provided with an arc-shaped plate, and the inner surface of the arc-shaped plate is provided with an anti-skid layer.

The utility model discloses an above-mentioned technical scheme's beneficial effect as follows:

1. the first clamping arm is pushed and pulled by a lever to realize the grabbing of a large workpiece through a hydraulic telescopic cylinder arranged on the lower end surface of the upright column, a spherical universal head and a spherical arc groove.

2. The driving motor arranged on the upper end face of the second clamping arm and the first gear arranged at the output end of the driving motor rotate the second gear arranged on the second shaft rod to drive the second clamping arm to rotate so as to realize clamping of workpieces in a small range, and the arc-shaped plate arranged at the lower end of the second clamping arm lifts small workpieces, so that the clamping of the small workpieces is further stabilized.

3. Through setting up stock, horizontal pole and the rotation seat in the fixing base top, remove the article of centre gripping.

Drawings

Fig. 1 is a schematic structural view of a multifunctional clamping manipulator of the present invention;

FIG. 2 is a schematic structural view of the fixing base of the present invention;

fig. 3 is a schematic structural diagram of the first rotating mechanism of the present invention;

fig. 4 is a schematic structural diagram of a second rotating mechanism of the present invention.

1. A fixed seat; 2. a mechanical finger; 3. a column; 4. a first clamp arm; 5. a first rotating mechanism; 6. a second clamp arm; 7. a second rotating mechanism; 8. a long rod; 9. a cross bar; 10. a rotating seat; 11. fixing a column; 12. a first fixing plate; 13. a first shaft lever; 14. a hydraulic telescopic cylinder; 15. a spherical arc groove; 16. a spherical universal head; 17. a second fixing plate; 18. a second shaft lever; 19. a drive motor; 20. a first gear; 21. a second gear; 22. an arc-shaped plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived from the description of the embodiments of the present invention by a person skilled in the art, are within the scope of the present invention.

As shown in fig. 1-4: a multifunctional clamping manipulator comprises a fixing seat of the manipulator, wherein five mechanical fingers are arranged on the lower surface array of the fixing seat in a surrounding mode, the mechanical fingers comprise an upright post fixedly arranged on the lower surface of the fixing seat, the lower end face of the upright post is provided with a first clamping arm, a first rotating mechanism is arranged between the upper end of the first clamping arm and the lower end face of the upright post, the lower end face of the first clamping arm is provided with a second clamping arm, and a second rotating mechanism is arranged between the upper portion of the second clamping arm and the lower end face of the first clamping arm;

specifically, the multifunctional clamping manipulator comprises a fixing seat 1 of the manipulator, wherein a lower surface array of the fixing seat 1 is surrounded by five mechanical fingers 2, the mechanical fingers 2 comprise a stand column 3 fixedly arranged on the lower surface of the fixing seat 1, a first clamping arm 4 is arranged on the lower end surface of the stand column 3, a first rotating mechanism 5 is arranged between the upper end of the first clamping arm 4 and the lower end surface of the stand column 3, a second clamping arm 6 is arranged on the lower end surface of the first clamping arm 4, and a second rotating mechanism 7 is arranged between the upper portion of the second clamping arm 6 and the lower end surface of the first clamping arm 4.

According to an embodiment of the present invention, as shown in fig. 1-4, two rods fixedly disposed above the fixing base 1 are hung on a fixing column 11, and a rotating base 10 is sleeved on the fixing column 11 to connect with the two rods, so as to achieve the purpose of rotation.

According to an embodiment of the present invention, as shown in fig. 1-4, there are four edges on the lower surface of the pillar 3, two fixing plates are welded on two opposite edges facing the center of the fixing base 1, a shaft rod is disposed at the center of the fixing plate, and a long block-shaped iron arm for grasping the workpiece is sleeved on the shaft rod.

According to the utility model discloses an embodiment, as shown in fig. 1-4, the terminal surface sets up a hydraulic stretching cylinder 14 under stand 3, hydraulic stretching cylinder 14 level towards the outside of two first fixed plates 12 to keep away from one side at fixing base 1 center, the arc groove is offered vertically on the one side that first centre gripping arm 4 is close hydraulic stretching cylinder 14, the spherical head that can vertically slide in the arc groove, and set up universal ball line head at hydraulic stretching cylinder 14's output, spherical universal head 16 is offered in the arc groove.

According to another embodiment of the present invention, as shown in fig. 1-4, there are four edges on the lower surface of the first clamping arm 4, two fixed plates are welded on the two edges, the surfaces of the two plates face to the center of the fixing base 1, a shaft rod is disposed at the center of the two plates, and a long block-shaped iron arm for grasping the workpiece is disposed on the shaft rod.

In an embodiment of the present invention, as shown in fig. 1-4, a driving motor 19 is horizontally disposed on the upper end surface of the second clamping arm 6, the output end of the driving motor 19 is disposed with a surface of the gear driving motor 19 facing the second fixing plate 17, and a gear with a larger diameter is fixedly disposed on the shaft rod of the surface facing the driving motor 19 for cooperating with the gear box on the driving motor 19.

In another embodiment of the present invention, as shown in fig. 1 to 4, an inwardly bent arc plate 22 is welded to the lower end surface of the second holding arm 6 in an extending manner, and a pattern for preventing slipping is further engraved on the inner surface of the arc plate 22.

The utility model discloses a working method (or theory of operation):

when needing centre gripping work piece, rotate and rotate the seat, with the fixing base commentaries on classics work piece top, start hydraulic telescoping cylinder, promote spherical universal head, and then promote the upper end of first centre gripping arm, make the lower extreme of first centre gripping arm shrink to the center of fixing base, restart driving motor, drive first gear drive, first gear card is established on the second gear, first gear rotates round the second gear, first gear drives second centre gripping arm upper end and rotates to keeping away from the fixing base center, thereby the lower extreme of second centre gripping arm rotates to inside, thereby centre gripping work piece, the lower extreme of second centre gripping arm drives the arc and then contracts to the heart, thereby centre gripping work piece.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a multi-functional centre gripping manipulator which characterized in that: the manipulator comprises a fixed seat (1) of a manipulator, wherein five mechanical fingers (2) are arranged on the lower surface of the fixed seat (1) in an array surrounding manner;

machinery indicates (2) including fixed setting up stand (3) on the lower surface of fixing base (1), the lower terminal surface of stand (3) sets up first centre gripping arm (4), the upper end of first centre gripping arm (4) with set up first slewing mechanism (5) between the lower terminal surface of stand (3), the lower terminal surface of first centre gripping arm (4) sets up second centre gripping arm (6), second centre gripping arm (6) upper portion with set up second slewing mechanism (7) between the lower terminal surface of first centre gripping arm (4).

2. The multi-functional gripping robot of claim 1, wherein: the upper surface center of fixing base (1) sets up stock (8), stock (8) upper end sets up horizontal pole (9), horizontal pole (9) one end sets up rotates seat (10), it rotates the setting on fixed column (11) to rotate seat (10).

3. The multi-functional gripping robot of claim 1, wherein: the lower end face of the upright post (3) is provided with two first fixing plates (12), the two first fixing plates (12) are oppositely arranged at two edges of the lower end face of the upright post (3), a first shaft lever (13) is arranged between the first fixing plates (12), and a first clamping arm (4) is arranged on the first shaft lever (13) in a penetrating mode.

4. The multi-functional gripping robot of claim 1, wherein: first slewing mechanism (5) are including being located hydraulic telescoping cylinder (14) that set up on stand (3) lower surface between two first fixed plates (12), hydraulic telescoping cylinder (14) output level is towards the outside of fixing base (1), spherical circular arc groove (15) are seted up on the upper end right side arm surface of first centre gripping arm (4), hydraulic telescoping cylinder (14) output sets up spherical universal head (16), spherical universal head (16) card is established in spherical circular arc groove (15).

5. The multi-functional gripping robot of claim 1, wherein: the lower terminal surface of first centre gripping arm (4) sets up two second fixed plates (17), and two edges of terminal surface under two second fixed plates (17) set up first centre gripping arm (4) relatively, set up second axostylus axostyle (18) between second fixed plate (17), wear to establish second centre gripping arm (6) on second axostylus axostyle (18).

6. The multi-functional gripping robot of claim 1, wherein: the second rotating mechanism (7) comprises a driving motor (19) horizontally arranged on the upper end face of the second clamping arm (6), the output end of the driving motor (19) faces the surface of any one second fixing plate (17), a first gear (20) is arranged at the output end of the driving motor (19), a second gear (21) is arranged at the joint of the second shaft lever (18) at the side of the first gear (20) and the second fixing plate (17), and the second gear (21) is matched with the first gear (20).

7. The multi-functional gripping robot of claim 1, wherein: the lower end head of the second clamping arm (6) is provided with an arc-shaped plate (22), and the inner surface of the arc-shaped plate (22) is provided with an anti-skid layer.