CN216634382U

CN216634382U - Intelligent piece hanging and taking manipulator

Info

Publication number: CN216634382U
Application number: CN202123364773.2U
Authority: CN
Inventors: 宋显刚; 宋显亮
Original assignee: Qingdao Xinbohong Precision Machinery Technology Co ltd
Current assignee: Qingdao Xinbohong Precision Machinery Technology Co ltd
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2022-05-31
Anticipated expiration: 2031-12-29

Abstract

The utility model discloses an intelligent piece hanging and taking manipulator which comprises a base and a rotary table, wherein the rotary table is installed at the top end of the base, a fixed support is fixedly connected to the top end of the rotary table, an electric sliding rail is installed at one end of the fixed support, sliding grooves are formed in two sides of the electric sliding rail, a moving block is connected to the outer portion of the electric sliding rail in a sliding mode through a sliding seat, two sides of the moving block are respectively embedded in the sliding grooves to move, and a first driving motor is installed inside the moving block. This intelligence is hung and is got a manipulator through being provided with cylinder, piston rod, rack, gear, when pressing from both sides the work piece, the cylinder in the third digging arm passes through piston rod pulling rack and removes, and the rotation of opposite direction is done thereupon to two sets of gears of rack top and bottom, drives two sets of synchronous centre gripping of tong, and compact structure has certain self-locking function, and torque transmission is efficient, presss from both sides to get stably, has solved and has got the problem of pressing from both sides poor stability.

Description

Intelligent piece hanging and taking manipulator

Technical Field

The utility model relates to the technical field of machine manufacturing, in particular to an intelligent part hanging and taking manipulator.

Background

Along with the acceleration of the mechanized, intelligent footstep of manufacturing, many mills have all used a large amount of intelligent manipulators or intelligent robot to carry out the transmission of work piece on the production assembly line, reduce the personnel selection cost, improve degree of automation, guarantee production efficiency. However, when a plurality of current hanging and taking mechanical arms are designed with internal transmission structures, the mechanical energy conversion efficiency is low, the clamping stability of the clamping hands is poor, the clamping effect is poor, workpieces are easy to drop, in addition, the freedom degree is limited when the clamping hands are used for clamping, and the hanging and taking mechanical arms cannot be suitable for various production lines.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an intelligent hanging and taking manipulator, which aims to solve the problems that the degree of freedom is limited during clamping and the manipulator cannot be suitable for various production lines in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an intelligence string gets a manipulator, includes base and revolving stage, the revolving stage is installed on the top of base, the top fixedly connected with fixed bolster of revolving stage, electronic slide rail is installed to the one end of fixed bolster, electronic slide rail's both sides all are provided with the spout, there is the movable block electronic slide rail's outside through slide sliding connection, the inside removal at the spout is inlayed respectively to the both sides of movable block, the internally mounted of movable block has a driving motor, the first digging arm of shaft coupling fixedly connected with is passed through to a driving motor's output, the second digging arm is installed to the joint department of first digging arm, be provided with second driving motor between first digging arm and the second digging arm, the third digging arm is installed to the joint department of second digging arm.

Preferably, a third driving motor is installed between the second movable arm and the third movable arm, the output end of the third driving motor drives the third movable arm to rotate through a coupler, and the output end of the second driving motor drives the second movable arm to rotate through the coupler.

Preferably, an air cylinder is installed inside the third movable arm, a piston rod is arranged at the output end of the air cylinder, a rack is fixedly connected to the other side of the piston rod, and the rack is movably connected to the inside of the third movable arm.

Preferably, the top and the bottom of rack are engaged with the gear respectively, the center pin of gear and the inner wall swing joint of third digging arm, the equal fixedly connected with tong of one end of gear.

Preferably, the tong is provided with two sets ofly, the adjustment tank has all been seted up to the inside wall of tong, the sliding block has been inlayed respectively to the inside of adjustment tank, the terminal surface fixedly connected with splint of sliding block, respectively fixedly connected with fixing bolt between sliding block and the tong, splint adopt the stereoplasm rubber material, splint are about the horizontal center line symmetric distribution of rack.

Preferably, a mounting groove is formed in the base, a servo motor is arranged in the mounting groove, and the output end of the servo motor is fixedly connected with the bottom end of the rotary table through a coupler.

Compared with the prior art, the utility model has the beneficial effects that: the intelligent workpiece hanging and taking manipulator not only realizes free height of hanging and taking workpieces, is suitable for assembly lines with various heights, realizes compact structure and stable clamping, but also realizes clamping of workpieces with different sizes and specifications, and is convenient for replacing clamping plates;

(1) the mechanical arm is provided with the first movable arm, the second movable arm, the third movable arm, the electric slide rail, the servo motor and the movable block, the mechanical arm is provided with the first movable arm, the second movable arm and the third movable arm, the movable arms are driven to rotate through the first driving motor, the second driving motor and the third driving motor respectively, three-direction rotation is achieved, the servo motor in the base drives the rotary table to integrally rotate in the horizontal direction by 360 degrees, the movable block moves up and down through the electric slide rail, and therefore the hanging part is free in height, the mechanical arm is suitable for assembly lines of various heights, manual feeding and discharging are replaced, and production line efficiency is improved;

(2) when a workpiece is clamped, the air cylinder in the third movable arm pulls the rack to move through the piston rod, the two groups of gears at the top end and the bottom end of the rack rotate in opposite directions along with the rack, the two groups of clamping hands are driven to synchronously clamp, the workpiece is clamped and then moves to a machining area, clamping is released when the gears rotate reversely, the structure is compact, a linkage structure formed by meshing the gears and the racks has a certain self-locking function, the torque transmission efficiency is high, and clamping is stable;

(3) through being provided with tong, fixing bolt, adjustment tank, the splint of two sets of stereoplasm rubber slab materials are installed to the tong, can avoid because the centre gripping excessively causes workpiece surface damage, through the position of the adjustable splint of fixing bolt, are convenient for carry out the centre gripping to the work piece of different dimensions, are convenient for change the splint that match with the work piece appearance, realize better clamp and get the effect.

Drawings

FIG. 1 is a schematic front view of the present invention;

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

FIG. 3 is a front enlarged view of the splint of the present invention;

fig. 4 is an enlarged partial sectional view of the third movable arm according to the present invention.

In the figure: 1. fixing a bracket; 2. a moving block; 3. a chute; 4. a first movable arm; 5. a second drive motor; 6. a second movable arm; 7. a turntable; 8. a base; 9. mounting grooves; 10. a servo motor; 11. a third movable arm; 12. a third drive motor; 13. a first drive motor; 14. an electric slide rail; 15. clamping a hand; 16. fixing the bolt; 17. a splint; 18. an adjustment groove; 19. a slider; 20. a gear; 21. a piston rod; 22. a cylinder; 23. a rack.

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.

Example 1: referring to fig. 1-4, an intelligent piece hanging and taking manipulator comprises a base 8 and a rotary table 7, wherein the rotary table 7 is installed at the top end of the base 8, a fixed support 1 is fixedly connected to the top end of the rotary table 7, an electric slide rail 14 is installed at one end of the fixed support 1, slide grooves 3 are formed in two sides of the electric slide rail 14, a moving block 2 is slidably connected to the outer portion of the electric slide rail 14 through a slide seat, two sides of the moving block 2 are respectively embedded in the slide grooves 3 to move, a first driving motor 13 is installed inside the moving block 2, an output end of the first driving motor 13 is fixedly connected with a first moving arm 4 through a coupler, a second moving arm 6 is installed at a joint of the first moving arm 4, a second driving motor 5 is arranged between the first moving arm 4 and the second moving arm 6, and a third moving arm 11 is installed at a joint of the second moving arm 6;

a third driving motor 12 is arranged between the second movable arm 6 and the third movable arm 11, the output end of the third driving motor 12 drives the third movable arm 11 to rotate through a coupler, the output end of the second driving motor 5 drives the second movable arm 6 to rotate through the coupler, a mounting groove 9 is formed in the base 8, a servo motor 10 is arranged in the mounting groove 9, and the output end of the servo motor 10 is fixedly connected with the bottom end of the rotary table 7 through the coupler;

specifically, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, this arm is provided with first digging arm 4, second digging arm 6 and third digging arm 11, it is rotatory to drive the digging arm through first driving motor 13, second driving motor 5 and third driving motor 12 respectively, realize three-way rotation, servo motor 10 in the base 8 drives revolving stage 7 and wholly realizes 360 rotations of horizontal direction, movable block 2 realizes reciprocating through electronic slide rail 14, thereby realize that the piece is highly free to be hung, be applicable to the assembly line of each height, replace artifical unloading, improve production line efficiency.

Example 2: an air cylinder 22 is installed inside the third movable arm 11, a piston rod 21 is arranged at the output end of the air cylinder 22, a rack 23 is fixedly connected to the other side of the piston rod 21, the rack 23 is movably connected inside the third movable arm 11, the top end and the bottom end of the rack 23 are respectively engaged and connected with a gear 20, the central shaft of the gear 20 is movably connected with the inner wall of the third movable arm 11, and one end of the gear 20 is fixedly connected with a clamping hand 15;

specifically, as shown in fig. 1, 3 and 4, when a workpiece is gripped, the cylinder 22 in the third movable arm 11 pulls the rack 23 to move through the piston rod 21, the two sets of gears 20 at the top end and the bottom end of the rack 23 rotate in opposite directions to drive the two sets of grippers 15 to grip synchronously, the workpiece is gripped and then moved to a processing area, the gears 20 rotate reversely to release the grip, the structure is compact, the linkage structure of the gears 20 and the racks 23 has a certain self-locking function, the torque transmission efficiency is high, and the gripping is stable.

Example 3: the two groups of clamping arms 15 are arranged, adjusting grooves 18 are formed in the inner side walls of the clamping arms 15, sliding blocks 19 are embedded in the adjusting grooves 18 respectively, clamping plates 17 are fixedly connected to the end faces of the sliding blocks 19, fixing bolts 16 are fixedly connected between the sliding blocks 19 and the clamping arms 15 respectively, the clamping plates 17 are made of hard rubber, and the clamping plates 17 are symmetrically distributed about the horizontal center line of the rack 23;

specifically, as shown in fig. 1, 3 and 4, the clamping arms 15 are provided with two sets of clamping plates 17 made of hard rubber plates, so that the workpiece surface damage caused by excessive clamping can be avoided, the positions of the clamping plates 17 can be adjusted through the fixing bolts 16, the clamping of workpieces with different sizes and specifications is facilitated, the clamping plates 17 matched with the workpiece appearance can be replaced conveniently, and a better clamping effect is achieved.

The working principle is as follows: when the utility model is used, the mechanical arm is arranged at a fixed platform of an assembly line through a fixed part mounting frame, the mechanical arm is provided with a first movable arm 4, a second movable arm 6 and a third movable arm 11, the movable arms are driven to rotate through a first driving motor 13, a second driving motor 5 and a third driving motor 12 respectively to realize three-direction rotation, a servo motor 10 in a base 8 drives a rotary table 7 to integrally realize 360-degree rotation in the horizontal direction, a moving block 2 realizes up-and-down movement through an electric sliding rail 14, so that the height freedom of a hanging part is realized, the mechanical arm is suitable for the assembly line of all heights, manual loading and unloading are replaced, a clamping hand 15 is provided with two groups of clamping plates 17 made of hard rubber plates, the surface damage of a workpiece caused by excessive clamping can be avoided, the positions of the clamping plates 17 can be adjusted through a fixed bolt 16, the workpieces with different sizes and specifications can be conveniently clamped, and the clamping plates 17 matched with the appearance of the workpiece can be conveniently replaced, when a workpiece is clamped, the cylinder 22 in the third movable arm 11 pulls the rack 23 to move through the piston rod 21, the two groups of gears 20 at the top end and the bottom end of the rack 23 rotate in opposite directions along with the rack, the two groups of clamping hands 15 are driven to synchronously clamp the workpiece, the workpiece is clamped and then moves to a machining area, and the clamping is released when the gears 20 rotate reversely.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an intelligence is hung and is got a manipulator, includes base (8) and revolving stage (7), its characterized in that: the top end of the base (8) is provided with a rotary table (7), the top end of the rotary table (7) is fixedly connected with a fixed support (1), one end of the fixed support (1) is provided with an electric sliding rail (14), two sides of the electric sliding rail (14) are respectively provided with a sliding groove (3), the outer part of the electric sliding rail (14) is connected with a movable block (2) in a sliding way through a sliding seat, two sides of the movable block (2) are respectively embedded in the sliding grooves (3) to move, a first driving motor (13) is installed in the movable block (2), the output end of the first driving motor (13) is fixedly connected with a first movable arm (4) through a coupler, a second movable arm (6) is installed at the joint of the first movable arm (4), and a second driving motor (5) is arranged between the first movable arm (4) and the second movable arm (6), and a third movable arm (11) is arranged at the joint of the second movable arm (6).

2. The intelligent pendant manipulator of claim 1, wherein: install third driving motor (12) between second digging arm (6) and third digging arm (11), the output of third driving motor (12) passes through the shaft coupling and drives third digging arm (11) and rotate, the output of second driving motor (5) passes through the shaft coupling and drives second digging arm (6) and rotate.

3. The intelligent pendant manipulator of claim 1, wherein: the utility model discloses a hydraulic cylinder, including third movable arm (11), the internally mounted of third movable arm (11) has cylinder (22), the output of cylinder (22) is provided with piston rod (21), the opposite side fixedly connected with rack (23) of piston rod (21), rack (23) swing joint is in the inside of third movable arm (11).

4. The intelligent pendant manipulator of claim 3, wherein: the top and the bottom of rack (23) mesh respectively and are connected with gear (20), the center pin of gear (20) and the inner wall swing joint of third digging arm (11), the equal fixedly connected with tong (15) of one end of gear (20).

5. The intelligent pendant manipulator of claim 4, wherein: the utility model discloses a gear rack, including tong (15), regulating groove (18) have all been seted up to the inside wall of tong (15), sliding block (19) have been inlayed respectively to the inside of regulating groove (18), the terminal surface fixedly connected with splint (17) of sliding block (19), fixedly connected with fixing bolt (16) respectively between sliding block (19) and tong (15), splint (17) adopt the hard rubber material, splint (17) are about the horizontal center line symmetric distribution of rack (23).

6. The intelligent pendant manipulator of claim 1, wherein: mounting groove (9) have been seted up to the inside of base (8), the inside of mounting groove (9) is provided with servo motor (10), the output of servo motor (10) passes through the shaft coupling and is connected with the bottom fixed of revolving stage (7).