CN216004396U

CN216004396U - Manipulator device for mechanical transmission feeding

Info

Publication number: CN216004396U
Application number: CN202122619006.5U
Authority: CN
Inventors: 冯永军; 吴丽源; 韦奥; 李伟汉; 徐俊飞
Original assignee: University of Science and Technology Liaoning USTL
Current assignee: University of Science and Technology Liaoning USTL
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-03-11
Anticipated expiration: 2031-10-28

Abstract

The utility model discloses a manipulator device for mechanical transmission feeding, which comprises an equipment box, wherein universal wheel sets are arranged at the bottom side of the equipment box, a seat stand is arranged on the equipment box, a first motor is fixedly arranged in the seat stand, a cantilever is rotatably connected at the top end of the seat stand, the output end of the first motor is fixedly connected with the cantilever, a first accommodating groove is arranged at the lower side of the cantilever, two groups of driving components are arranged in the first accommodating groove, clamping arms are all arranged on the driving components, and the first accommodating groove extends out of the clamping arms, the utility model provides a manipulator device for mechanical transmission feeding, which can clamp parts at any position of a production line through swinging the cantilever, the driving components and a lifting component and convey the parts to a tray for placement, two pneumatic clamping jaws can operate independently, thereby greatly improving the grabbing efficiency, and two sets of arm lock can move in opposite directions to the tray that spare part was filled in to the centre gripping, and can the translation tray position.

Description

Manipulator device for mechanical transmission feeding

Technical Field

The utility model relates to a manipulator technical field especially relates to a be used for mechanical transmission manipulator device for pay-off.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying an object or operating a tool according to a fixed program, is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like;

in spare part course of working, the manipulator is laid in assembly line one side for pick up in the spare part puts into the tray, fill the back with the tray, owing to pick up the manipulator and can't have the transport flow concurrently, this needs artifically or purchases in addition the transport manipulator and carries, and this has greatly restricted production efficiency, has also increased manufacturing cost, for this novel manipulator device for mechanical transmission pay-off that provides is used for solving above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

The utility model provides a be used for mechanical transmission manipulator device for pay-off has solved in the spare part course of working, and the manipulator is laid in assembly line one side for pick up in the spare part puts into the tray, fill the back with at the tray, owing to pick up the manipulator and can't have the transport flow concurrently, this needs the manual work or purchases in addition the transport manipulator and carries, and this has greatly restricted production efficiency, has also increased manufacturing cost's technical problem.

In order to solve the technical problem, the utility model provides a manipulator device for mechanical transmission feeding, which comprises an equipment box, the bottom side of the equipment box is provided with a universal wheel set, the equipment box is provided with a seat stand, a first motor is fixedly arranged in the seat stand, the top end of the seat stand is rotatably connected with a cantilever, the output end of the first motor is fixedly connected with the cantilever, a first accommodating groove is formed in the lower side of the cantilever, two groups of driving assemblies are arranged in the first accommodating groove, clamping arms are arranged on the driving assemblies and extend out of the first accommodating groove, and one side of the pneumatic clamping device is provided with a second holding tank, the second holding tank is internally provided with a lifting component, the bottom end of the lifting component is provided with a pneumatic clamping jaw, and a lifting groove is formed in one side of the second accommodating groove, and a supporting plate is arranged on the lifting assembly corresponding to the lifting groove.

Preferably, the two clamping arms are arranged in parallel, and the top end of one of the clamping arms is designed to be in an L-shaped structure, so that the two clamping arms are located in the same plane.

Preferably, the drive assembly includes first lead screw, first lead screw is rotated and is inlayed and establish between the both sides wall of first holding tank, the equal thread bush in the outside of first lead screw is equipped with first slider, first slider is sharp slip along first holding tank inner wall, just the top fixed connection of first slider and arm lock, the output fixed connection of first holding tank and second motor is all worn out at the both ends of first lead screw, the second motor is fixed on the terminal surface of cantilever by the screw.

Preferably, the lifting assembly comprises a third motor, the third motor is fixedly installed at the top wall position of the second accommodating groove, a second lead screw is fixedly connected to the output end of the third motor, a second sliding block is sleeved on the outer side of the second lead screw in a threaded manner, the second sliding block is of a rectangular structural design, a threaded hole is formed in the top end face of the second sliding block corresponding to the second lead screw, and the second sliding block slides along the second accommodating groove.

Preferably, the bottom one side fixedly connected with mounting panel of second slider, the upside screw fixation of mounting panel has the fourth motor, the output of fourth motor passes mounting panel and pneumatic clamping jaw fixed connection, one side fixedly connected with layer board of second slider.

Preferably, a limiting plate is arranged over the supporting plate in a facing manner, the limiting plate is fixedly welded on the side wall of the clamping arm, and a supporting plate group is clamped between the supporting plate and the limiting plate.

Compared with the prior art, the utility model provides a pair of be used for mechanical transmission manipulator device for pay-off has following beneficial effect: the utility model provides a be used for mechanical transmission manipulator device for pay-off, through the swing cantilever, drive assembly, lifting unit's setting, make pneumatic clamping jaw can press from both sides at assembly line optional position and get spare part, and place in transporting to the tray, two pneumatic clamping jaws can the free operation, the efficiency of snatching has greatly been improved, and two sets of arm lock can move in opposite directions, with the tray of spare part is put to the centre gripping, and can the translation tray position, through the layer board, the setting of limiting plate, can adjust the height of tray, with the convenient tray that will contain spare part pile up neatly, can accomplish a tractor serves two-purposely, the production efficiency has greatly been improved, and the cost of purchasing the manipulator in the effective control mill, and the suitability is strong.

Drawings

Fig. 1 is a front view of a manipulator device for mechanical transmission feeding of the present invention;

fig. 2 is a structural exploded view of a cantilever in a manipulator device for mechanical transmission feeding of the present invention;

fig. 3 is an enlarged view of a structure at a position a in fig. 2 of the manipulator device for mechanical transmission feeding of the present invention;

fig. 4 is a back view of the present invention showing a state of the robot apparatus carrying tray for mechanical transmission feeding.

Reference numbers in the figures: 1. an equipment box; 2. a seat stand; 201. a first motor; 3. a cantilever; 301. a first accommodating groove; 4. A drive assembly; 401. a first lead screw; 402. a first slider; 403. a second motor; 5. clamping arms; 501. a second accommodating groove; 502. a lifting groove; 6. a lifting assembly; 601. a third motor; 602. a second lead screw; 603. a second slider; 604. mounting a plate; 605. a fourth motor; 7. a pneumatic clamping jaw; 8. a support plate; 9. and a limiting plate.

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 some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example (b): as shown in figures 1-4, the utility model relates to a manipulator device for mechanical transmission feeding, which comprises an equipment box 1, wherein universal wheel sets are arranged at the bottom side of the equipment box 1, a seat 2 is arranged on the equipment box 1, a first motor 201 is fixedly arranged in the seat 2, a cantilever 3 is rotatably connected at the top end of the seat 2, the output end of the first motor 201 is fixedly connected with the cantilever 3, a first accommodating groove 301 is arranged at the lower side of the cantilever 3, two groups of driving components 4 are arranged in the first accommodating groove 301, clamping arms 5 are arranged on the driving components 4, the clamping arms 5 extend out of the first accommodating groove 301, a second accommodating groove 501 is arranged at one side of the first accommodating groove, a lifting component 6 is arranged in the second accommodating groove 501, a pneumatic clamping jaw 7 is arranged at the bottom end of the lifting component 6, wherein a lifting groove 502 is arranged at one side of the second accommodating groove 501, the position of the lifting component 6 corresponding to the lifting groove 502 is provided with the supporting plate 8, the first motor 201, the driving component 4, the lifting component 6 and the pneumatic clamping jaw 7 are matched with each other, complex picking and carrying actions can be completed, and high-precision and high-efficiency picking can be achieved through comprehensive feedback control of the control system and the induction system.

Wherein, two arm lock 5 parallel arrangement each other, and one of them the top of arm lock 5 is L type structural design, makes two arm lock 5 is located the coplanar, and two arm lock 5's setting is pressed from both sides for two pneumatic clamping jaw 7 can function alone, have improved efficiency, and two arm lock 5 can realize the centre gripping transport action, but a tractor serves two-purpose.

The driving assembly 4 includes a first lead screw 401, the first lead screw 401 is rotated to be embedded between two side walls of the first accommodating groove 301, the outer side of the first lead screw 401 is provided with a first slider 402 in a threaded sleeve manner, the first slider 402 slides linearly along the inner wall of the first accommodating groove 301, the first slider 402 is fixedly connected with the top end of the clamping arm 5, two ends of the first lead screw 401 penetrate out of the output end fixed connection between the first accommodating groove 301 and the second motor 403, the second motor 403 is fixed on the end surface of the cantilever 3 by screws, the second motor 403 drives the first slider 402 to slide along the first accommodating groove 301, so that the position of the clamping arm 5 is adjustable, and the position of the first motor 201 can be matched to be adjusted, grabbed and placed above the assembly line and the tray.

Wherein, lifting unit 6 includes third motor 601, third motor 601 is by the roof position of fixed mounting at second holding tank 501, the output end fixedly connected with second lead screw 602 of third motor 601, the outside screw thread cover of second lead screw 602 is equipped with second slider 603, second slider 603 is rectangle structural design, corresponds second lead screw 602 on its top face and has seted up threaded hole, second slider 603 slides along second holding tank 501, and third motor 601 drives second lead screw 602 and slides from top to bottom along second holding tank 501, can adjust the height of pneumatic clamping jaw 7 to the realization is close to or keeps away from the action of spare part.

Wherein, bottom one side fixedly connected with mounting panel 604 of second slider 603, the upside screw fixation of mounting panel 604 has fourth motor 605, mounting panel 604 and pneumatic clamping jaw 7 fixed connection are passed to the output of fourth motor 605, one side fixedly connected with layer board 8 of second slider 603, and pneumatic clamping jaw 7's angle can be adjusted to fourth motor 605 for rationally control the gripping angle according to the appearance of spare part, avoid the spare part slippage, and pneumatic clamping jaw 7's pressure is controllable, can avoid the spare part damage.

The upper portion of the supporting plate 8 is just provided with a limiting plate 9, the limiting plate 9 is fixedly welded on the side wall of the clamping arm 5, a tray set is clamped between the supporting plate 8 and the limiting plate 9, the supporting plate 8 moves upwards and clamps the tray set together with the limiting plate 9, and the tray set can be prevented from being inclined and falling.

The working principle is as follows: when the device is used, the first motor 201 can drive the cantilever 3 to swing, the position of the pneumatic clamping jaw 7 can be switched, so that parts can be picked up in a reciprocating manner between a production line and a tray, the second motor 403 drives the first slider 402 to slide along the first accommodating groove 301, so that the position of the clamping jaw 5 can be adjusted, the position of the first motor 201 for grabbing and placing can be adjusted above the production line and the tray in a matching manner, the third motor 601 drives the second screw rod 602 to slide up and down along the second accommodating groove 501, the height of the pneumatic clamping jaw 7 can be adjusted, the action of approaching or leaving the parts is realized, the angle of the pneumatic clamping jaw 7 can be adjusted by the fourth motor 605, the grabbing angle can be reasonably controlled according to the appearance of the parts, the slipping of the parts is avoided, the comprehensive feedback control of a control system and an induction system can achieve high-precision and high-efficiency pickup, after the tray is fully placed, arm lock 5 is kept away from each other by control, cantilever 3 can drive arm lock 5 and remove to the tray both sides, at this moment, arm lock 5 is close to each other, make layer board 8 support in tray both sides below, afterwards, cantilever 3 drives arm lock 5 and removes to the tray area of putting things in good order, layer board 8 descends, make this tray place in the area of putting things in good order, cantilever 3 keeps away from each other once more, remove again to empty tray and place the region, press from both sides and remove to picking up the station after getting empty tray, put down empty tray, can carry out the operation of picking up once more, after the tray area of putting things in good order is full, arm lock 5 can press from both sides and get the tray group, at this moment, layer board 8 goes upward and the common centre gripping tray group of limiting plate 9, transport to transport vehicle again, whole process need not manual operation completely, and a tractor serves several purposes.

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.

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

Claims

1. A manipulator device for mechanical transmission feeding comprises an equipment box (1), wherein universal wheel sets are installed at the bottom side of the equipment box (1), and the manipulator device is characterized in that a seat stand (2) is installed on the equipment box (1), a first motor (201) is fixedly installed in the seat stand (2), a cantilever (3) is rotatably connected to the top end of the seat stand (2), the output end of the first motor (201) is fixedly connected with the cantilever (3), a first accommodating groove (301) is formed in the lower side of the cantilever (3), two groups of driving assemblies (4) are installed in the first accommodating groove (301), clamping arms (5) are installed on the driving assemblies (4), the first accommodating groove (301) extends out of the clamping arms (5), a second accommodating groove (501) is formed in one side of the clamping arms, and a lifting assembly (6) is installed in the second accommodating groove (501), pneumatic clamping jaw (7) are installed to the bottom of lifting unit (6), wherein, lift groove (502) have been seted up to one side of second holding tank (501), install layer board (8) on lifting unit (6) on the position that corresponds lift groove (502).

2. The manipulator device for mechanical transmission feeding of claim 1, characterized in that two clamping arms (5) are arranged in parallel, and the top end of one clamping arm (5) is designed to be L-shaped, so that the two clamping arms (5) are located in the same plane.

3. The manipulator device for mechanical transmission feeding of claim 1, wherein the driving assembly (4) comprises a first lead screw (401), the first lead screw (401) is rotatably embedded between two side walls of the first accommodating groove (301), a first sliding block (402) is respectively and threadedly sleeved on the outer side of the first lead screw (401), the first sliding block (402) linearly slides along the inner wall of the first accommodating groove (301), the first sliding block (402) is fixedly connected with the top end of the clamping arm (5), two ends of the first lead screw (401) penetrate through the first accommodating groove (301) and are fixedly connected with the output end of a second motor (403), and the second motor (403) is fixed on the end surface of the cantilever (3) by screws.

4. The manipulator device for mechanical transmission feeding of claim 1, wherein the lifting assembly (6) comprises a third motor (601), the third motor (601) is fixedly installed at the top wall of the second accommodating groove (501), the output end of the third motor (601) is fixedly connected with a second lead screw (602), a second sliding block (603) is sleeved on the outer side of the second lead screw (602) in a threaded manner, the second sliding block (603) is in a rectangular structural design, a threaded hole is formed in the top end face of the second sliding block (603) corresponding to the second lead screw (602), and the second sliding block (603) slides along the second accommodating groove (501).

5. The manipulator device for mechanical transmission feeding of claim 4, wherein a mounting plate (604) is fixedly connected to one side of the bottom end of the second sliding block (603), a fourth motor (605) is screwed to the upper side of the mounting plate (604), the output end of the fourth motor (605) penetrates through the mounting plate (604) to be fixedly connected with the pneumatic clamping jaw (7), and a supporting plate (8) is fixedly connected to one side of the second sliding block (603).

6. The manipulator device for mechanical transmission feeding of claim 1, wherein a limiting plate (9) is arranged over the supporting plate (8), the limiting plate (9) is fixedly welded on the side wall of the clamping arm (5), and a tray set is clamped between the supporting plate (8) and the limiting plate (9).