CN217513870U - Material taking gripper structure of manipulator - Google Patents
Material taking gripper structure of manipulator Download PDFInfo
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- CN217513870U CN217513870U CN202221025424.XU CN202221025424U CN217513870U CN 217513870 U CN217513870 U CN 217513870U CN 202221025424 U CN202221025424 U CN 202221025424U CN 217513870 U CN217513870 U CN 217513870U
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Abstract
The utility model discloses a manipulator get material tongs structure relates to the technical field of tongs structure, include: a fixing plate is arranged on one side of the fixing device, a synchronizing device is arranged on the fixing plate, a sliding device is arranged on the lower side of the synchronizing device, a mechanical arm rotating gripper is slidably arranged on the sliding device, a connecting plate is arranged on one side of the mechanical arm rotating gripper, and a plurality of suckers are arranged on the connecting plate; rotatory tongs of arm includes revolving cylinder, runing rest, first mounting panel and flexible chain subassembly, is equipped with revolving cylinder on the slider slidable, and one side that sliding device was kept away from to revolving cylinder is equipped with runing rest and first mounting panel in proper order, has seted up the mounting groove on the first mounting panel, and the notch department slidable of mounting groove is equipped with the connecting plate, is equipped with flexible chain subassembly in the mounting groove. Through setting up the rotatory tongs of arm, be equipped with the sucking disc on the rotatory tongs of arm to realize that the manipulator is rotatory to get and put the material, it is very convenient to use.
Description
Technical Field
The utility model relates to the technical field of tongs structure especially relates to a manipulator get material tongs structure.
Background
The material taking gripper structure of the existing manipulator grabs and puts products by moving the mechanical arm up and down and left and right, but the material taking and putting technology cannot realize rotation, and much inconvenience is brought.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a manipulator get material tongs structure for solve above-mentioned technical problem.
The utility model adopts the technical scheme as follows:
the material taking gripper structure of the manipulator comprises a fixing device, wherein a fixing plate is arranged on one side of the fixing device, a synchronizing device is arranged on the fixing plate, a sliding device is arranged on the lower side of the synchronizing device, a mechanical arm rotating gripper is slidably arranged on the sliding device, a connecting plate is arranged on one side of the mechanical arm rotating gripper, and a plurality of suckers are arranged on the connecting plate;
rotatory tongs of arm includes revolving cylinder, runing rest, first mounting panel and flexible chain subassembly, slider is last to be equipped with slidable revolving cylinder, revolving cylinder keeps away from one side of slider is equipped with in proper order the runing rest reaches first mounting panel, the mounting groove has been seted up on the first mounting panel, the notch department slidable of mounting groove is equipped with the connecting plate, be equipped with in the mounting groove flexible chain subassembly, the runing rest part is located in the mounting groove just the runing rest with revolving cylinder connects.
As preferred, flexible chain subassembly includes telescopic cylinder, second mounting panel, sliding block and transmission module, two the second mounting panel is located on the both sides inner wall of mounting groove, be equipped with two in the mounting groove the transmission module, two be equipped with between the transmission module telescopic cylinder, each the transmission module all includes:
the two first connecting shafts are arranged oppositely, and two ends of the telescopic cylinder are connected with the two first connecting shafts;
the two second connecting shafts are arranged on one side, close to the telescopic cylinder, of the first connecting shaft side by side, one second connecting shaft is arranged between the inner walls on the two sides of the mounting groove, the other second connecting shaft is arranged between the two second mounting plates, two sliding blocks are arranged at the two ends of each second connecting shaft respectively, the two sliding blocks on one second connecting shaft are connected with the inner walls on the two sides of the mounting groove in a sliding mode, and the two sliding blocks on the other second connecting shaft are connected with the second mounting plates in a sliding mode;
the first connecting shaft is provided with two first connecting shafts in parallel at one side far away from the telescopic cylinder; the third connecting shaft is arranged between the inner walls of the two sides of the mounting groove, and the other third connecting shaft is arranged between the two second mounting plates;
and the fourth connecting group comprises two fourth connecting shafts and two fourth connecting shafts, each fourth connecting group comprises two fourth connecting shafts and two fourth connecting shafts which are arranged in a crossed manner, and the two ends of each first connecting shaft are connected with the fourth connecting shafts which are close to the two first connecting shafts.
Preferably, the sliding device includes a guide rail and a slider, the guide rail is disposed on the fixing plate, the guide rail is located on the lower side of the synchronizing device, the slider is slidably disposed on the guide rail, and the slider is disposed between the guide rail and the rotating cylinder.
As a further preference, the synchronizer includes a synchronous belt, a tension pulley and a belt pulley, two tension fixing blocks are arranged on the fixing plate, each tension fixing block is provided with one tension pulley at its lower end, two motors are arranged between the tension pulleys, two synchronous fixing blocks are arranged at both ends of the fixing plate, and each synchronous fixing block is provided with one belt pulley, two belt pulleys, two tension pulleys and the motor on which the synchronous belt is sleeved.
Preferably, the synchronous belt is connected with the two belt wheels, the two tension wheels and the motor.
Preferably, the slide block is connected with the synchronous belt through a pressing plate, and the synchronous belt drives the slide block to slide along the guide rail through the pressing plate.
Preferably, the fixing device comprises a bottom plate and side plates, one side plate is arranged at each of two ends of one side of the fixing plate, and the bottom plate is arranged at each of the upper ends of the two side plates.
Preferably, the lower end of the bottom plate is provided with a plurality of guide plates, each guide plate is provided with a plurality of fixed guide wheels, and a part of each fixed guide wheel extends out of the bottom plate and is positioned at the upper end of the bottom plate.
Preferably, a guide block is arranged at each included angle position at the upper end of the bottom plate.
The technical scheme has the following advantages or beneficial effects:
the utility model provides a material tongs structure of getting of manipulator is equipped with the sucking disc on the rotatory tongs of arm through setting up the rotatory tongs of arm to realize that the manipulator is rotatory to get and put the material, can realize the transverse motion of the rotatory tongs of arm through setting up slider and synchronizer, the motor reversal can also realize that the rotatory tongs of arm returns on the way, and it is very convenient to use.
Drawings
Fig. 1 is a first structural schematic diagram of a material taking gripper structure of a manipulator of the present invention;
fig. 2 is a second structural schematic diagram of the material taking gripper structure of the manipulator of the present invention;
fig. 3 is a schematic structural view of the retractable chain assembly of the material taking gripper structure of the manipulator of the present invention.
In the figure: 1. a suction cup; 2. a fixing plate; 3. a rotating cylinder; 4. rotating the bracket; 5. a first mounting plate; 6. a telescopic chain assembly; 61. a telescopic cylinder; 62. a second mounting plate; 63. a slider; 64. a first connecting shaft; 65. a second connecting shaft; 66. a third connecting shaft; 67. a fourth connecting shaft; 7. a guide rail; 8. a slider; 9. a synchronous belt; 10. a tension wheel; 11. a pulley; 12. a motor; 13. a base plate; 14. a side plate; 15. a guide plate; 16. fixing a guide wheel; 17. a guide block; 18. a connecting plate; 19. and (7) pressing a plate.
Detailed Description
The technical solutions of the present invention will be described more clearly and completely with reference to the accompanying drawings, and it should be understood 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 efforts all belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the indicated orientation or positional relationship thereof is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is the utility model discloses a manipulator get first structure schematic diagram of material tongs structure, fig. 2 is the utility model discloses a manipulator get second structure schematic diagram of material tongs structure, fig. 3 is the utility model discloses a manipulator get the structure schematic diagram of the flexible chain subassembly of material tongs structure, please see that fig. 1 to fig. 3 are shown, show the embodiment of a preferred, a manipulator get material tongs structure that shows, include: the automatic feeding device comprises a fixing device, a fixing plate 2, a sliding device, a synchronizing device, a connecting plate 18, a mechanical arm rotating gripper and suckers 1, wherein the fixing plate 2 is arranged on one side of the fixing device, the synchronizing device is arranged on the fixing plate 2, the sliding device is arranged on the lower side of the synchronizing device, the mechanical arm rotating gripper is arranged on the sliding device in a sliding mode, the connecting plate 18 is arranged on one side of the mechanical arm rotating gripper, and the suckers 1 are arranged on the connecting plate 18; the mechanical arm rotary gripper is used for rotationally gripping materials, the sucker 1 is used for sucking the gripped materials, and the sliding device is used for sliding the mechanical arm rotary gripper, so that the materials are gripped in all directions; the synchronizer is used for driving the mechanical arm rotating gripper to slide along the sliding device, and the fixing plate 2 is used for fixing all parts.
Further, as a preferred embodiment, the mechanical arm rotary gripper comprises a rotary cylinder 3, a rotary support 4, a first mounting plate 5 and a telescopic chain assembly 6, the rotary cylinder 3 is slidably arranged on the sliding device, the rotary support 4 and the first mounting plate 5 are sequentially arranged on one side, away from the sliding device, of the rotary cylinder 3, a mounting groove is formed in the first mounting plate 5, a connecting plate 18 is slidably arranged at the notch of the mounting groove, the telescopic chain assembly 6 is arranged in the mounting groove, the rotary support 4 is partially arranged in the mounting groove, and the rotary support 4 is connected with the rotary cylinder 3. When the material needs to be rotated and grabbed, the rotary cylinder 3 drives the rotary support 4 to rotate, so that the first mounting plate 5 is driven, the telescopic chain assembly 6 arranged between the first mounting plate 5 is driven to rotate, and the sucker 1 is driven to rotate.
Further, as a preferred embodiment, the telescopic chain assembly 6 includes a telescopic cylinder 61, two second mounting plates 62, a sliding block 63 and transmission modules, the two second mounting plates 62 are disposed on inner walls of two sides of the mounting groove, two transmission modules are disposed in the mounting groove, the telescopic cylinder 61 is disposed between the two transmission modules, each transmission module includes a first connecting shaft 64, the two first connecting shafts 64 are disposed opposite to each other, and two ends of the telescopic cylinder 61 are connected to the two first connecting shafts 64. The first connecting shaft 64 is provided with two second connecting shafts 65 side by side close to one side of the telescopic cylinder 61, one of the second connecting shafts 65 is arranged between the inner walls of the two sides of the mounting groove, the other second connecting shaft 65 is arranged between the two second mounting plates 62, two sliding blocks 63 are respectively arranged at two ends of each second connecting shaft 65, the two sliding blocks 63 on one of the second connecting shafts 65 are connected with the inner walls of the mounting groove in a sliding manner, and the two sliding blocks 63 on the other second connecting shaft 65 are connected with the second mounting plates 62 in a sliding manner. The third connecting shafts 66, each first connecting shaft 64, are provided with two third connecting shafts 66 side by side on the side far away from the telescopic cylinder 61, one of the third connecting shafts 66 is arranged between the inner walls of the two sides of the mounting groove, and the other third connecting shaft 66 is arranged between the two second mounting plates 62. And two fourth connecting groups are arranged between the two second connecting shafts 65 and the two third connecting shafts 66, each fourth connecting group comprises two fourth connecting shafts 67, the two fourth connecting shafts 67 are arranged in a crossed manner, and two ends of the first connecting shaft 64 are connected with the two fourth connecting shafts 67 close to the first connecting shaft 64. Each slide block 63 is slidably connected to the first mounting plate 5 and/or the second mounting plate 62.
Further, as a preferred embodiment, when the telescopic rod of the telescopic cylinder 61 is extended, the first connecting shaft 64 is driven to move to a side close to the third connecting shaft 66, and at this time, the height of the intersection point between the two fourth connecting shafts 67 changes, for example, in the direction shown in fig. 3, the height of the intersection point between the two fourth connecting shafts 67 on the upper side moves upward, and the height of the intersection point between the two fourth connecting shafts 67 on the lower side moves downward; the included angle between two fourth connecting axles 67 can grow gradually, wherein, fourth connecting axle 67 can drive corresponding second connecting axle 65, and drive the slider 63 on it and slide to the direction that is close to third connecting axle 66 along the inner wall of second mounting panel 62 and mounting groove, the angle of two fourth connecting axles 67 at this moment changes, and the third connecting axle 66 with mounting groove inner wall connection is motionless, another third connecting axle 66 changes and moves to the direction of keeping away from the mounting groove because the angle of fourth connecting axle 67 changes, under the drive of second connecting axle 65 and the third connecting axle 66 of being connected with second mounting panel 62, make second mounting panel 62 move to the direction of keeping away from the mounting groove, thereby make connecting plate 18 and sucking disc 1 to the direction motion of keeping away from the mounting groove. Due to the change of the height of the intersection point between the two fourth connecting shafts 67, the spatial position of the telescopic cylinder 61 in the mounting groove changes accordingly.
When the telescopic rod of telescopic cylinder 61 contracts, the same, the height at the intersection point between two fourth connecting shafts 67 changes, for example, in fig. 3, the height at the intersection point between two fourth connecting shafts 67 of the upper side moves downwards, the height at the intersection point between two fourth connecting shafts 67 of the lower side moves upwards, the included angle between two fourth connecting shafts 67 at this moment can be gradually reduced, the second connecting shaft 65 at this moment can drive the sliding block 63 to slide along the inner wall of the second mounting plate 62 and the mounting groove in the direction far away from the third connecting shaft 66, because the angle of two fourth connecting shafts 67 changes, the second mounting plate 62 can be driven to move towards the inner side of the mounting groove, and then the connecting plate 18 and the sucker 1 thereon are driven to move towards the inner side of the mounting groove.
Further, as a preferred embodiment, the sliding device includes a guide rail 7 and a slider 8, the guide rail 7 is disposed on one side of the fixing plate 2 close to the fixing device, the guide rail 7 is located on the lower side of the synchronizing device, the slider 8 is slidably disposed on the guide rail 7, and the slider 8 is disposed between the guide rail 7 and the rotating cylinder 3.
Further, as a preferred embodiment, the synchronizing device includes a synchronous belt 9, a tension wheel 10 and a pulley 11, two tension fixing blocks are disposed on the fixing plate 2, a tension wheel 10 is disposed at a lower end of each tension fixing block, a motor 12 is disposed between the two tension wheels 10, two synchronous fixing blocks are disposed at two ends of the fixing plate 2, a pulley 11 is disposed at a lower end of each synchronous fixing block, and the synchronous belt 9 is sleeved on each pulley 11, each tension wheel 10 and each motor 12. The synchronous belt 9 is connected with two belt wheels 11, two tension wheels 10 and a motor 12. The slide block 8 is connected with the synchronous belt 9 through a pressing plate 19, and the synchronous belt 9 drives the slide block 8 to slide along the guide rail 7 through the pressing plate 19. The motor 12 starts for hold-in range 9 moves, and hold-in range 9 passes through clamp plate 19 and drives slider 8 and slide to one side that is close to motor 12 along guide rail 7, and after moving to expected position, motor 12 reversal for hold-in range 9 reverse motion, revolving cylinder 3 is rotatory, makes sucking disc 1 rotatory, and hold-in range 9 drives slider 8 and slides along guide rail 7 and resets.
Further, as a preferred embodiment, the fixing device includes a bottom plate 13 and side plates 14, wherein both ends of one side of the fixing plate 2 are provided with one side plate 14, and the upper ends of both side plates 14 are provided with the bottom plate 13. The lower end of the bottom plate 13 is provided with a plurality of guide plates 15, each guide plate 15 is provided with a plurality of fixed guide wheels 16, and a part of each fixed guide wheel 16 extends out of the bottom plate 13 and is positioned at the upper end of the bottom plate 13. Each included angle position of the upper end of the bottom plate 13 is provided with a guide block 17, and the fixed guide wheel 16 is arranged among the four guide blocks 17.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (9)
1. The material taking gripper structure of the manipulator is characterized by comprising a fixing device, a fixing plate, a sliding device, a synchronizing device, a connecting plate, a mechanical arm rotating gripper and suckers, wherein the fixing plate is arranged on one side of the fixing device, the synchronizing device is arranged on the fixing plate, the sliding device is arranged on the lower side of the synchronizing device, the mechanical arm rotating gripper is slidably arranged on the sliding device, the connecting plate is arranged on one side of the mechanical arm rotating gripper, and the suckers are arranged on the connecting plate;
rotatory tongs of arm includes revolving cylinder, runing rest, first mounting panel and flexible chain subassembly, slider is last to be equipped with slidable revolving cylinder, revolving cylinder keeps away from slider's one side is equipped with in proper order the runing rest reaches first mounting panel, the mounting groove has been seted up on the first mounting panel, the notch department slidable of mounting groove is equipped with the connecting plate, be equipped with in the mounting groove flexible chain subassembly, the runing rest part is located in the mounting groove just the runing rest with revolving cylinder connects.
2. A material taking hand grip structure of a manipulator according to claim 1, wherein the telescopic chain assembly includes a telescopic cylinder, second mounting plates, sliding blocks and transmission modules, the two second mounting plates are disposed on inner walls of two sides of the mounting groove, two transmission modules are disposed in the mounting groove, the telescopic cylinder is disposed between the two transmission modules, and each transmission module includes:
the two first connecting shafts are arranged oppositely, and two ends of the telescopic cylinder are connected with the two first connecting shafts;
the first connecting shaft is provided with two second connecting shafts side by side close to one side of the telescopic cylinder, one second connecting shaft is arranged between the inner walls on the two sides of the mounting groove, the other second connecting shaft is arranged between the two second mounting plates, two ends of each second connecting shaft are respectively provided with a sliding block, the two sliding blocks on one second connecting shaft are slidably connected with the inner walls on the two sides of the mounting groove, and the two sliding blocks on the other second connecting shaft are slidably connected with the second mounting plates;
the first connecting shaft is provided with two first connecting shafts in parallel at one side far away from the telescopic cylinder; the third connecting shaft is arranged between the inner walls of the two sides of the mounting groove, and the other third connecting shaft is arranged between the two second mounting plates;
and the fourth connecting group comprises two fourth connecting shafts and two third connecting shafts, each fourth connecting group comprises two fourth connecting shafts and two fourth connecting shafts which are arranged in a crossed manner, and the two ends of the first connecting shaft are connected with the two fourth connecting shafts close to the first connecting shaft.
3. A material taking gripper structure of a manipulator according to claim 2, wherein the sliding means comprises a guide rail and a slider, the guide rail is provided on the fixing plate, the guide rail is located at a lower side of the synchronizing means, the slider is slidably provided on the guide rail, and the slider is provided between the guide rail and the rotating cylinder.
4. A material taking gripper structure of a manipulator as claimed in claim 3, wherein the synchronizing means comprises a synchronizing belt, two tension wheels and a pulley, two tension fixing blocks are provided on the fixing plate, one tension wheel is provided at a lower end of each tension fixing block, a motor is provided between the two tension wheels, one synchronizing fixing block is provided at each end of the fixing plate, one pulley is provided at a lower end of each synchronizing fixing block, and the synchronizing belt is sleeved on each pulley, each tension wheel and the motor.
5. A material taking gripper structure of a manipulator as claimed in claim 4, wherein the synchronous belt connects the two pulleys, the two tension wheels and the motor.
6. A material taking gripper structure of a manipulator according to claim 4, wherein the slide block is connected with the synchronous belt through a pressing plate, and the synchronous belt drives the slide block to slide along the guide rail through the pressing plate.
7. A material taking grip structure of a manipulator as claimed in claim 1, wherein the fixing means includes a bottom plate and side plates, one of the side plates is provided at both ends of one side of the fixing plate, and the bottom plate is provided at the upper ends of both the side plates.
8. A manipulator take-up grip structure as claimed in claim 7, wherein the lower end of the base plate is provided with a plurality of guide plates, each of the guide plates is provided with a plurality of fixed guide wheels, and a portion of each of the fixed guide wheels extends beyond the base plate and is located at the upper end of the base plate.
9. A manipulator take-up grip as claimed in claim 8, wherein a guide block is provided at each angular position at the upper end of the base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221025424.XU CN217513870U (en) | 2022-04-29 | 2022-04-29 | Material taking gripper structure of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221025424.XU CN217513870U (en) | 2022-04-29 | 2022-04-29 | Material taking gripper structure of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217513870U true CN217513870U (en) | 2022-09-30 |
Family
ID=83388202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221025424.XU Active CN217513870U (en) | 2022-04-29 | 2022-04-29 | Material taking gripper structure of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217513870U (en) |
-
2022
- 2022-04-29 CN CN202221025424.XU patent/CN217513870U/en active Active
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