CN217891001U

CN217891001U - Hydraulic flexible manipulator

Info

Publication number: CN217891001U
Application number: CN202222351426.4U
Authority: CN
Inventors: 李红星
Original assignee: Guangdong Xiangwei Automation Technology Co ltd
Current assignee: Guangdong Xiangwei Automation Technology Co ltd
Priority date: 2022-09-05
Filing date: 2022-09-05
Publication date: 2022-11-25
Anticipated expiration: 2032-09-05

Abstract

The utility model discloses a hydraulic flexible manipulator, including the support column, the side of support column is equipped with first rotary mechanism, rotates on the support column and is connected with first bar case, and first bar incasement is equipped with moving mechanism, is equipped with the cylinder on the moving mechanism, and the tailpiece of the piston rod of cylinder is equipped with second rotary mechanism, and second rotary mechanism's bottom is equipped with second bar case, and second bar incasement is equipped with adjustment mechanism, and adjustment mechanism's bottom is equipped with fixture. The utility model discloses a be provided with first rotary mechanism, play the purpose of adjusting fixture centre gripping angle, do benefit to the centre gripping of work piece, through being provided with moving mechanism, play the purpose of conveniently adjusting the fixture position, do benefit to fixture centre gripping work piece, the utility model discloses cross to be provided with rotary mechanism, play the purpose of rotating fixture, do benefit to adjustment fixture's clamping position.

Description

Hydraulic flexible manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a hydraulic pressure flexible manipulator.

Background

Manipulators are automated devices that mimic certain motion functions of human hands and arms and are used to grasp, carry objects or manipulate tools according to a fixed program.

An authorization publication number is CN212706816U and discloses a hydraulic flexible manipulator, including support column and operation panel, the lateral wall fixedly connected with supporting beam of support column, the removal slide has been seted up to supporting beam's surface, the inner wall that removes the slide is provided with transverse driving mechanism, transverse driving mechanism includes the lateral drive case of roll connection at removal slide inner wall, the last fixed surface of lateral drive case is connected with servo motor. This flexible manipulator of hydraulic pressure, through setting up multistage hydraulic telescoping rod, can realize pressing from both sides the reciprocating of getting the case, through setting up first hydraulic telescoping rod, head rod, external gear dish, second connecting rod, can realize the horizontal motion of grip block, thereby reach the purpose of pressing from both sides article, through setting up third hydraulic telescoping rod, rubber block and pressure sensor, can realize pressing from both sides the purpose of getting the flexible clamp of article, and can exert the same effort in the different positions of article.

However, the scheme still has the defects that the distance adjusting structure of the clamping mechanism is complex, so that the manufacturing cost of an enterprise is increased, the position and the angle of the clamping mechanism are not convenient enough, and the hydraulic flexible manipulator is not beneficial to working and using.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a hydraulic pressure flexible manipulator to solve the problem that above-mentioned background art provided.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a hydraulic flexible manipulator, includes the support column, the side of support column is equipped with first rotary mechanism, through being provided with first rotary mechanism, plays the purpose of adjusting fixture centre gripping angle, does benefit to the centre gripping of work piece, it is connected with first bar case to rotate on the support column, and the bottom of first bar case sets up for the opening, be equipped with moving mechanism in the first bar incasement, through being provided with moving mechanism, play the purpose of conveniently adjusting the fixture position, do benefit to fixture centre gripping work piece, the last cylinder that is equipped with of moving mechanism, the tailpiece of the piston rod of cylinder is equipped with second rotary mechanism, through being provided with rotary mechanism, plays the purpose of rotating fixture, does benefit to the clamping position of adjustment fixture, the bottom of second rotary mechanism is equipped with second bar case, be equipped with adjustment mechanism in the second bar incasement, through being provided with adjustment mechanism, play the purpose of conveniently adjusting the interval between the fixture, do benefit to the centre gripping work piece, and simple structure, adjustment mechanism's bottom is equipped with fixture.

Preferably, the first rotating mechanism comprises a first shaft rod and a first motor, the first shaft rod is fixedly installed on the side surface of the first strip-shaped box, the first motor is fixedly installed on the side surface of the supporting column, and the first motor has a positive and negative rotation function.

Preferably, a first gear ring is arranged on the first shaft rod, a first gear is arranged on the first motor, the first gear ring is meshed with the first gear, and the purpose of driving the first bar box to rotate is achieved when the first motor rotates.

Preferably, moving mechanism includes the second motor, second motor fixed mounting is in first bar incasement, and the second motor has the function of just reversing, the pivot end of second motor is equipped with the lead screw, the one end and the first bar incasement wall of lead screw rotate to be connected, threaded connection has square board on the lead screw, the inner wall sliding connection of square board and first bar case, the bottom and the cylinder fixed connection of square board.

Preferably, the second rotating mechanism comprises an installation plate, the installation plate is fixedly installed at the piston rod end of the air cylinder, the bottom end of the installation plate is rotatably connected with a second shaft rod, one end of the second shaft rod is fixedly connected with the second strip-shaped box, and a second toothed ring is arranged on the second shaft rod.

Preferably, the bottom of mounting panel is equipped with the third motor, and the third motor has just reversing function, the pivot end of third motor is equipped with the second gear, the second gear meshes with the second ring gear mutually, through being provided with second gear and second ring gear, when the third motor during operation, plays and drives second shaft lever pivoted purpose.

Preferably, adjustment mechanism includes bull stick and fourth motor, the bull stick rotates to be connected in second bar incasement, fourth motor fixed mounting is in second bar incasement, and the fourth motor has positive reverse function, the pivot end and the bull stick fixed connection of fourth motor, be equipped with positive and negative screw thread on the bull stick, threaded connection has the slider on the bull stick, spacing spout has been seted up to the bottom of second bar case, and spacing spout leads to the groove for the bar, through being provided with spacing spout, plays the purpose spacing to the both sides slider motion, slider and spacing spout sliding connection, the bottom and the fixture fixed connection of slider.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a be provided with first rotary mechanism, play the purpose of adjusting fixture centre gripping angle, do benefit to the centre gripping of work piece, through being provided with moving mechanism, play the purpose of conveniently adjusting the fixture position, do benefit to fixture centre gripping work piece.

2. The utility model discloses cross and be provided with rotary mechanism, play the purpose of rotating fixture, do benefit to adjustment fixture's clamping position.

3. The utility model discloses a be provided with adjustment mechanism, play the purpose of conveniently adjusting interval between the fixture, do benefit to the centre gripping work piece, and simple structure.

Drawings

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

FIG. 2 is a cross-sectional view of a first strip-shaped box of the present invention;

fig. 3 is a sectional view of a second bar box of the present invention.

In the figure: 1. a support pillar; 21. a first gear; 22. a first ring gear; 23. a first shaft lever; 24. a first motor; 31. a second shaft lever; 32. a second ring gear; 33. a second gear; 34. a third motor; 35. Mounting a plate; 4. a first bar box; 41. a square plate; 42. a screw rod; 43. a second motor; 5. a cylinder; 6. a second bar box; 61. a slider; 62. a limiting chute; 63. a rotating rod; 64. a fourth motor; 7. A clamping mechanism.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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 1

Please refer to fig. 1, fig. 2 and fig. 3, which illustrate a hydraulic flexible manipulator, including a support pillar 1, a first rotating mechanism is disposed on a side surface of the support pillar 1, and the first rotating mechanism is disposed to achieve the purpose of adjusting a clamping angle of a clamping mechanism 7 and facilitate clamping of a workpiece, a first bar box 4 is rotatably connected to the support pillar 1, a bottom end of the first bar box 4 is provided with an opening, a moving mechanism is disposed in the first bar box 4 and is provided with a moving mechanism to achieve the purpose of conveniently adjusting a position of the clamping mechanism 7, so as to facilitate clamping of the workpiece by the clamping mechanism 7, an air cylinder 5 is disposed on the moving mechanism, a piston rod end of the air cylinder 5 is provided with a second rotating mechanism, and is provided with a rotating mechanism to achieve the purpose of rotating the clamping mechanism 7 and is advantageous to adjust a clamping position of the clamping mechanism 7, a second bar box 6 is disposed at a bottom end of the second rotating mechanism, and is provided with an adjusting mechanism in the second bar box 6, so as to achieve the purpose of conveniently adjusting an interval between the clamping mechanisms 7 and is advantageous to clamp the workpiece by the arrangement of the adjusting mechanism, and is simple in structure, and a bottom end of the adjusting mechanism is provided with the clamping mechanism 7.

Wherein, moving mechanism includes second motor 43, and second motor 43 fixed mounting has just reversing function in first bar case 4, and second motor 43 has, and the pivot end of second motor 43 is equipped with lead screw 42, and the one end of lead screw 42 rotates with first bar case 4 inner wall to be connected, and threaded connection has square board 41 on the lead screw 42, square board 41 and the inner wall sliding connection of first bar case 4, the bottom and the cylinder 5 fixed connection of square board 41.

Meanwhile, the second rotating mechanism comprises a mounting plate 35, the mounting plate 35 is fixedly mounted at the piston rod end of the air cylinder 5, the bottom end of the mounting plate 35 is rotatably connected with a second shaft rod 31, one end of the second shaft rod 31 is fixedly connected with the second strip-shaped box 6, a second gear ring 32 is arranged on the second shaft rod 31, a third motor 34 is arranged at the bottom end of the mounting plate 35, the third motor 34 has a forward and reverse rotation function, a second gear 33 is arranged at the rotating shaft end of the third motor 34, the second gear 33 is meshed with the second gear ring 32, and by arranging the second gear 33 and the second gear ring 32, when the third motor 34 works, the purpose of driving the second shaft rod 31 to rotate is achieved, adjustment mechanism includes bull stick 63 and fourth motor 64, bull stick 63 rotates to be connected in second bar case 6, fourth motor 64 fixed mounting is in second bar case 6, fourth motor 62 has the function of just reversing, the pivot end and the bull stick 63 fixed connection of fourth motor 64, be equipped with positive and negative screw thread on the bull stick 63, threaded connection has slider 61 on the bull stick 63, spacing spout 62 has been seted up to the bottom of second bar case 6, spacing spout 62 is the bar logical groove, through being provided with spacing spout 62, play the spacing purpose of slider 61 motion to both sides, slider 61 and spacing spout 62 sliding connection, the bottom and the fixture 7 fixed connection of slider 61.

When this flexible manipulator of hydraulic pressure used: according to the position of the workpiece, the second motor 43 is started, the second motor 43 drives the lead screw 42 to rotate, the lead screw 42 drives the square plate 41 to linearly slide along the inner wall of the first strip-shaped box 4, the square plate 41 drives the clamping mechanism 7 to move through the second rotating mechanism and the adjusting mechanism of the air cylinder 5 in the sliding process until the clamping mechanism 7 moves to the position of the workpiece, then according to the clamping position of the workpiece, the third motor 34 is started, the third motor 34 drives the second shaft rod 31 to rotate through the second gear 33 and the second gear ring 32, the second shaft rod 31 drives the clamping mechanism 7 to rotate through the adjusting mechanism until the clamping mechanism 7 rotates to a proper position, then the fourth motor 64 is started, the fourth motor 64 drives the rotating rod 63 to rotate, the rotating rod 63 is provided with positive and negative threads, the sliding blocks 61 on two sides are driven to slide along the limiting sliding chutes 62 in opposite directions, the sliding blocks 61 drive the clamping mechanisms 7 on two sides to slide in opposite directions in the sliding process, the clamping mechanisms 7 on two sides are driven to clamp and fix the workpiece, and the workpiece is convenient to adjust the distance between the clamping mechanisms 7 through the arrangement, the workpiece is beneficial to clamping, and the workpiece, and the structure is simple.

Example 2

Please refer to fig. 1, which is a further description of embodiment 1, and in the illustration, the hydraulic flexible manipulator includes a support pillar 1, a first rotating mechanism is disposed on a side surface of the support pillar 1, and the first rotating mechanism is disposed to achieve a purpose of adjusting a clamping angle of a clamping mechanism 7, so as to facilitate clamping of a workpiece, a first bar box 4 is rotatably connected to the support pillar 1, a bottom end of the first bar box 4 is disposed as an opening, a moving mechanism is disposed in the first bar box 4, and the moving mechanism is disposed to achieve a purpose of conveniently adjusting a position of the clamping mechanism 7, so as to facilitate clamping of the workpiece by the clamping mechanism 7, an air cylinder 5 is disposed on the moving mechanism, a second rotating mechanism is disposed at a piston rod end of the air cylinder 5, and the rotating mechanism is disposed to achieve a purpose of rotating the clamping mechanism 7, so as to facilitate adjustment of a clamping position of the clamping mechanism 7, a second bar box 6 is disposed at a bottom end of the second rotating mechanism, an adjusting mechanism is disposed in the second bar box 6, so as to achieve a purpose of conveniently adjusting an interval between the clamping mechanisms 7, so as to facilitate clamping of the workpiece, and the workpiece is simple in structure, and a bottom end of the adjusting mechanism is disposed with the clamping mechanism 7.

Wherein, first rotary mechanism includes first axostylus axostyle 23 and first motor 24, first axostylus axostyle 23 fixed mounting is in the side of first bar case 4, first motor 24 fixed mounting is in the side of support column 1, first motor 24 has just reversing function, be equipped with first ring gear 22 on the first axostylus axostyle 23, be equipped with first gear 21 on the first motor 24, first ring gear 22 meshes with first gear 21 mutually, through being provided with first ring gear 22 and first gear 21, when first motor 24 rotates, play and drive first bar case 4 pivoted purpose.

In this embodiment, when the position of the clamping mechanism 7 needs to be adjusted, the first motor 24 is started, the first motor 24 drives the first gear 21 to rotate, the first gear 21 is meshed with the first gear ring 22, the first bar-shaped box 4 is driven to rotate, the clamping mechanism 7 is driven to deflect conveniently, the purpose of adjusting the angle of the clamping mechanism 7 is achieved, and clamping of a workpiece is facilitated.

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 various 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 hydraulic flexible manipulator, comprising:

support column (1), the side of support column (1) is equipped with first rotary mechanism, it is connected with first bar case (4) to rotate on support column (1), be equipped with moving mechanism in first bar case (4), the last cylinder (5) that is equipped with of moving mechanism, the tailpiece of the piston rod of cylinder (5) is equipped with second rotary mechanism, second rotary mechanism's bottom is equipped with second bar case (6), be equipped with adjustment mechanism in second bar case (6), adjustment mechanism's bottom is equipped with fixture (7).

2. The hydraulic flexible manipulator of claim 1, wherein: the first rotating mechanism comprises a first shaft rod (23) and a first motor (24), the first shaft rod (23) is fixedly installed on the side face of the first strip-shaped box (4), and the first motor (24) is fixedly installed on the side face of the supporting column (1).

3. The hydraulic flexible manipulator of claim 2, wherein: the first shaft lever (23) is provided with a first gear ring (22), the first motor (24) is provided with a first gear (21), and the first gear ring (22) is meshed with the first gear (21).

4. The hydraulic flexible manipulator of claim 1, wherein: moving mechanism includes second motor (43), second motor (43) fixed mounting is in first bar case (4), the pivot end of second motor (43) is equipped with lead screw (42), the one end and the first bar case (4) inner wall of lead screw (42) rotate to be connected, threaded connection has square board (41) on lead screw (42), the inner wall sliding connection of square board (41) and first bar case (4), the bottom and cylinder (5) fixed connection of square board (41).

5. The hydraulic flexible manipulator of claim 1, wherein: the second rotating mechanism comprises an installation plate (35), the installation plate (35) is fixedly installed at the piston rod end of the air cylinder (5), the bottom end of the installation plate (35) is rotatably connected with a second shaft rod (31), one end of the second shaft rod (31) is fixedly connected with the second strip-shaped box (6), and a second gear ring (32) is arranged on the second shaft rod (31).

6. The hydraulic flexible manipulator of claim 5, wherein: the bottom of mounting panel (35) is equipped with third motor (34), the pivot end of third motor (34) is equipped with second gear (33), second gear (33) and second ring gear (32) mesh mutually.

7. The hydraulic flexible manipulator of claim 1, wherein: adjustment mechanism includes bull stick (63) and fourth motor (64), bull stick (63) are rotated and are connected in second bar case (6), fourth motor (64) fixed mounting is in second bar case (6), the pivot end and bull stick (63) fixed connection of fourth motor (64), be equipped with positive and negative screw thread on bull stick (63), threaded connection has slider (61) on bull stick (63), spacing spout (62) have been seted up to the bottom of second bar case (6), slider (61) and spacing spout (62) sliding connection, the bottom and fixture (7) fixed connection of slider (61).