CN218614128U - Manipulator and manipulator clamp - Google Patents
Manipulator and manipulator clamp Download PDFInfo
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- CN218614128U CN218614128U CN202222752224.0U CN202222752224U CN218614128U CN 218614128 U CN218614128 U CN 218614128U CN 202222752224 U CN202222752224 U CN 202222752224U CN 218614128 U CN218614128 U CN 218614128U
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Abstract
The utility model belongs to the technical field of the manipulator technique and specifically relates to a manipulator and manipulator anchor clamps. Install on the rotation mount pad of mounting bracket through rotating the roating seat with the manipulator, when the rotating electrical machines operation of mounting bracket roof bottom, the motor shaft of rotating electrical machines drives the pivot of roating seat and rotates, can drive the manipulator and rotate, a swing for adjusting the manipulator, it is rotatory through first cylinder and second cylinder drive between first support arm and the second support arm, and then realize the flexible and height control to the manipulator, realize the manipulator multi-angle, the position control of multiple position, through setting up the anchor clamps mounting bracket, this anchor clamps mounting bracket four corners has all set up pneumatic chuck, this pneumatic chuck passes through the slide bar slip setting in the movable sleeve, when pneumatic chuck laminating panel, continue to push down and can extrude the inside air of pneumatic chuck, make the pneumatic chuck edge closely laminate panel, realize the absorption to panel, through setting up the electromagnetism strip, can realize fixed to metal material's absorption.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is a manipulator and manipulator anchor clamps.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
In carrying out the transportation process to smooth panel of surface, anchor clamps need to be used, when anchor clamps and manipulator collocation use, can carry out high-efficient fixing machine to smooth panel and transport, current anchor clamps, it is fixed to use pneumatic fixture usually, wherein, current pneumatic fixture is fixed the setting on the anchor clamps mount pad usually, when a plurality of pneumatic fixture adsorb a panel simultaneously, if panel surface unevenness, or anchor clamps height is out of level, can lead to the adsorption affinity to reduce, there is the risk that panel breaks away from, consequently, propose a manipulator and manipulator anchor clamps to above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a manipulator and manipulator anchor clamps, rotate through the roating seat with the manipulator and install on the rotation mount pad of mounting bracket, when the rotating electrical machines operation of mounting bracket roof bottom, the motor shaft of rotating electrical machines drives the pivot of roating seat and rotates, can drive the manipulator and rotate, a swing for adjusting the manipulator, through using first support arm and second support arm as the structure of manipulator, wherein, it is rotatory through first cylinder and second cylinder drive between first support arm and the second support arm, and then realize flexible and height adjustment to the manipulator, realize the manipulator, the position adjustment of multiple position, through setting up the anchor clamps mounting bracket, this anchor clamps mounting bracket four corners has all set up pneumatic chuck, this pneumatic chuck passes through the slide bar and slides and sets up in the movable sleeve, when pneumatic chuck laminating panel, continue to push down and can extrude the inside air of pneumatic chuck, make the pneumatic chuck edge closely laminate panel, realize the absorption to panel, through setting up the electric magnet strip in the four sides of anchor clamps mounting bracket bottom panel, can realize fixing the absorption of metal material, increase the suitability of anchor clamps, in order to solve the above-mentioned problem in the background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a manipulator and a manipulator clamp include:
the mechanical arm comprises a first support arm and a second support arm which is rotationally connected with the first support arm, a triangular air cylinder mounting seat is rotationally arranged at the rotational connection position of the first support arm and the second support arm, the bottom of the first support arm is rotationally mounted on the rotary seat through a first rotational connection frame, a first air cylinder mounting seat is fixedly arranged on the rotary seat, a first air cylinder is arranged between the first air cylinder mounting seat and the triangular air cylinder mounting seat on the triangular air cylinder mounting seat, a motor mounting box is rotationally arranged at the bottom of the outer end of the second support arm, a second air cylinder mounting seat is fixedly arranged on the motor mounting box, and a second air cylinder is arranged between the second air cylinder mounting seat and the triangular air cylinder mounting seat;
the fixture mechanism comprises a fixture mounting frame which is rotatably mounted below a motor mounting box, movable sleeves which vertically run through the fixture mounting frame are fixedly arranged on four corners of the fixture mounting frame, sliding rods which vertically run through the movable sleeves are arranged on the movable sleeves, pneumatic suckers are fixedly arranged at the bottoms of the sliding rods, mounting grooves are formed in the inner sides of four edges of the fixture mounting frame on a bottom panel of the fixture mounting frame, electromagnet strips are arranged in the mounting grooves, sliding rods which upwards run through the fixture mounting frame are arranged at the tops of two ends of each electromagnet strip, and limiting nuts are arranged on the tops of the sliding rods.
As a preferred scheme, a spring is arranged between the electromagnet strip and the inner wall of the top of the mounting groove on the sliding rod.
As a preferred scheme, the top plate and the bottom plate of the movable sleeve are both provided with inward-contracting annular openings, the outer wall of the lower half area of the sliding rod is provided with a limiting ring attached to the annular opening of the bottom plate of the movable sleeve, and a supporting spring is arranged between the limiting ring and the annular opening of the top plate of the movable sleeve.
As a preferred scheme, still including the installation mechanism that is used for installing the arm, installation mechanism includes the mounting bracket, fixedly on the roof of mounting bracket being provided with rotates the mount pad, the roating seat bottom is provided with the pivot that stretches into in rotating the mount pad, and is provided with in the pivot and rotates the bearing that the mount pad inner wall is rotated and be connected, and the bottom of mounting bracket roof is fixed and is provided with the rotating electrical machines, and the motor shaft of rotating electrical machines passes through the shaft coupling and is connected with the pivot of roating seat.
As a preferable scheme, a fixing plate is fixedly arranged outside the bottom of the mounting rack, and a screw hole is arranged on the fixing plate.
As a preferred scheme, the bottom panel of motor install bin dodges fixedly and is provided with the motor, and outside the motor shaft of motor stretched out the motor install bin downwards, the fixed link that rotates that is provided with in motor shaft bottom of motor, anchor clamps mounting bracket fixed mounting is on rotating the link.
By the foregoing the utility model provides a technical scheme can find out, the utility model provides a pair of manipulator and manipulator anchor clamps, beneficial effect is:
1. the rotary seat of the manipulator is rotatably mounted on the rotary mounting seat of the mounting frame, when the rotary motor at the bottom of the top plate of the mounting frame runs, a motor shaft of the rotary motor drives a rotating shaft of the rotary seat to rotate, so that the manipulator can be driven to rotate for adjusting the swinging of the manipulator, and a first support arm and a second support arm are used as a structure of the manipulator, wherein the first support arm and the second support arm are driven to rotate through a first cylinder and a second cylinder, so that the stretching and height adjustment of the manipulator are realized, and the multi-angle and multi-point position adjustment of the manipulator is realized;
2. by arranging the clamp mounting frame, the four corners of the clamp mounting frame are provided with the pneumatic suckers, the pneumatic suckers are arranged in the movable sleeve in a sliding manner through the sliding rods, when the pneumatic suckers are attached to the plate, air in the pneumatic suckers can be extruded out by continuously pressing down, so that the edges of the pneumatic suckers are closely attached to the plate, and the plate is adsorbed;
3. the electromagnetic strips are arranged on the inner sides of the four sides of the panel at the bottom of the fixture mounting frame, so that the metal material can be adsorbed and fixed, and the applicability of the fixture is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of a manipulator and a manipulator clamp of the present invention;
fig. 2 is a schematic view of the bottom structure of the middle manipulator clamp of the present invention;
fig. 3 is the schematic view of the cross-sectional structure of the fixture mounting rack of the present invention.
In the figure: 1. a mounting frame; 11. a fixing plate; 12. rotating the mounting seat; 13. a rotating electric machine; 2. a rotating base; 21. a first rotating link; 22. a first cylinder mount; 3. a first support arm; 31. a second support arm; 32. a triangular cylinder mounting seat; 33. a first cylinder; 34. a second cylinder; 35. a second cylinder mount; 36. a motor installation box; 37. a rotating connecting frame; 4. a clamp mounting bracket; 41. a movable sleeve; 42. a slide bar; 43. a limiting ring; 44. a support spring; 45. a pneumatic suction cup; 46. mounting grooves; 47. an electromagnet bar; 471. a slide bar; 472. a limit nut; 48. a spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In order to better understand the technical scheme, the technical scheme is described in detail in the following with reference to the attached drawings of the specification and the specific embodiments.
As shown in fig. 1-3, the embodiment of the present invention provides a manipulator and a manipulator clamp, including:
the mechanical arm comprises a first support arm 3 and a second support arm 31 rotatably connected with the first support arm 3, a triangular cylinder mounting seat 32 is rotatably arranged at the rotary joint of the first support arm 3 and the second support arm 31, the bottom of the first support arm 3 is rotatably mounted on the rotary seat 2 through a first rotary connecting frame 21, a first cylinder mounting seat 22 is fixedly arranged on the rotary seat 2, a first cylinder 33 is arranged between the first cylinder mounting seat 22 and the triangular cylinder mounting seat 32, a motor mounting box 36 is rotatably arranged at the bottom of the outer end of the second support arm 31, a second cylinder mounting seat 35 is fixedly arranged on the motor mounting box 36, and a second cylinder 34 is arranged between the second cylinder mounting seat 35 and the triangular cylinder mounting seat 32;
the clamp mechanism comprises a clamp mounting frame 4 rotatably mounted below a motor mounting box 36, four corners of the clamp mounting frame 4 are fixedly provided with movable sleeves 41 vertically penetrating through the clamp mounting frame 4, the movable sleeves 41 are provided with sliding rods 42 vertically penetrating through the movable sleeves 41, the bottoms of the sliding rods 42 are fixedly provided with pneumatic suckers 45, mounting grooves 46 are formed in the inner sides of the four sides of the clamp mounting frame 4 on a bottom panel of the clamp mounting frame 4, electromagnet strips 47 are arranged in the mounting grooves 46, the tops of two ends of each electromagnet strip 47 are provided with sliding rods 471 upwards penetrating through the clamp mounting frame 4, the top ends of the sliding rods 471 are provided with limit nuts 472, and springs 38 are arranged between the electromagnet strips 47 and the inner walls of the tops of the mounting grooves 46 on the sliding rods 471;
an installation mechanism for installing arm, installation mechanism includes mounting bracket 1, the fixed rotation mount pad 12 that is provided with on the roof of mounting bracket 1, 2 bottoms of roating seat are provided with the pivot that stretches into in the rotation mount pad 12, and be provided with in the pivot and rotate the bearing that the inner wall of mount pad 12 is rotated and is connected, the fixed rotating electrical machines 13 that is provided with in bottom of mounting bracket 1 roof, the motor shaft of rotating electrical machines 13 passes through the shaft coupling and is connected with the pivot of roating seat 2, the fixed plate 11 that is provided with in 1 bottom outside of mounting bracket, and be provided with the screw hole on the fixed plate 11.
In the above device, the top plate and the bottom plate of the movable sleeve 41 are both provided with inwardly contracted annular openings, the outer wall of the lower half area of the sliding rod 42 is provided with a limit ring 43 attached to the annular opening of the bottom plate of the movable sleeve 41, and a support spring 44 is arranged between the limit ring 43 and the annular opening of the top plate of the movable sleeve 41.
Among the above-mentioned device, the fixed motor that is provided with is dodged to the bottom panel of motor install bin 36, and outside the motor shaft downwardly extending motor install bin 36 of motor, the fixed link 37 that rotates that is provided with in motor shaft bottom of motor, 4 fixed mounting of anchor clamps mounting bracket on rotating link 37.
The embodiments of the present invention will be described in further detail below with reference to the attached drawings:
referring to fig. 1-3, the manipulator comprises a manipulator and a fixture mounting frame 4, the manipulator comprises a first arm 3 and a second arm 31 rotatably connected with the first arm 3, a triangular cylinder mounting seat 32 is rotatably arranged at the rotary joint of the first arm 3 and the second arm 31, the bottom of the first arm 3 is rotatably mounted on a rotary seat 2 through a first rotary connecting frame 21, a first cylinder mounting seat 22 is fixedly arranged on the rotary seat 2, a first cylinder 33 is arranged between the first cylinder mounting seat 22 and the triangular cylinder mounting seat 32, a motor mounting box 36 is rotatably arranged at the bottom of the outer end of the second arm 31, a second cylinder mounting seat 35 is fixedly arranged on the motor mounting box 36, and a second cylinder 34 is arranged between the second cylinder mounting seat 35 and the triangular cylinder mounting seat 32;
the first support arm 3 and the second support arm 31 are used as a structure of the manipulator, wherein the first support arm 3 and the second support arm 31 are driven to rotate through the first cylinder 33 and the second cylinder 34, so that the stretching and height adjustment of the manipulator are realized, and the multi-angle and multi-point position adjustment of the manipulator is realized;
further, the bottom panel of motor installation case 36 dodges fixedly and is provided with the motor, and outside the motor shaft of motor stretched out motor installation case 36 downwards, the fixed link 37 that rotates that is provided with in motor shaft bottom of motor, 4 fixed mounting of anchor clamps mounting bracket on rotating link 37.
Referring to fig. 1, 2 and 3, a clamp mounting frame 4 is arranged below the motor mounting box 36, four corners of the clamp mounting frame 4 are fixedly provided with movable sleeves 41 vertically penetrating through the clamp mounting frame 4, the movable sleeves 41 are provided with sliding rods 42 vertically penetrating through the movable sleeves 41, the bottoms of the sliding rods 42 are fixedly provided with pneumatic suckers 45, a bottom panel of the clamp mounting frame 4 is provided with mounting grooves 46 at the inner sides of the four sides of the clamp mounting frame 4, an electromagnet strip 47 is arranged in the mounting grooves 46, the tops of two ends of the electromagnet strip 47 are provided with sliding rods 471 upwardly penetrating through the clamp mounting frame 4, the top ends of the sliding rods 471 are provided with limit nuts 472, and springs 38 are arranged on the sliding rods 471 between the electromagnet strip 47 and the inner walls of the tops of the mounting grooves 46;
furthermore, the top plate and the bottom plate of the movable sleeve 41 are both provided with inwardly contracted annular openings, the outer wall of the lower half area of the sliding rod 42 is provided with a limit ring 43 attached to the annular opening of the bottom plate of the movable sleeve 41, and a support spring 44 is arranged between the limit ring 43 and the annular opening of the top plate of the movable sleeve 41;
wherein, through setting up anchor clamps mounting bracket 4, 4 four corners of this anchor clamps mounting bracket have all set up pneumatic chuck 45, this pneumatic chuck 45 slides through slide bar 42 and sets up in movable sleeve 41, when pneumatic chuck 45 laminating panel, continue to push down and can extrude the inside air of pneumatic chuck 45, make pneumatic chuck 45 edge panel of closely laminating, the realization is to the absorption of panel, four sides inboard through panel sets up electromagnetism iron strip 47 in 4 bottoms of anchor clamps mounting bracket, can realize fixed to metal material's absorption, increase the suitability of anchor clamps.
Referring to fig. 1, the mounting rack further comprises a mounting rack 1, a rotating mounting seat 12 is fixedly arranged on a top plate of the mounting rack 1, a rotating shaft extending into the rotating mounting seat 12 is arranged at the bottom of the rotating seat 2, a bearing rotatably connected with the inner wall of the rotating mounting seat 12 is arranged on the rotating shaft, a rotating motor 13 is fixedly arranged at the bottom of the top plate of the mounting rack 1, a motor shaft of the rotating motor 13 is connected with the rotating shaft of the rotating seat 2 through a coupler, a fixing plate 11 is fixedly arranged on the outer edge of the bottom of the mounting rack 1, and a screw hole is formed in the fixing plate 11;
wherein, through rotating the roating seat 2 of manipulator and installing on the rotation mount pad 12 of mounting bracket 1, when the rotating electrical machines 13 operation of mounting bracket 1 roof bottom, the motor shaft of rotating electrical machines 13 drives the pivot of roating seat 2 and rotates, can drive the manipulator and rotate for the swing of regulation manipulator.
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 (6)
1. A manipulator, its characterized in that: the method comprises the following steps:
the mechanical arm comprises a first support arm (3) and a second support arm (31) rotatably connected with the first support arm (3), a triangular cylinder mounting seat (32) is rotatably arranged at the rotating connection position of the first support arm (3) and the second support arm (31), the bottom of the first support arm (3) is rotatably mounted on the rotating seat (2) through a first rotating connecting frame (21), a first cylinder mounting seat (22) is fixedly arranged on the rotating seat (2), a first cylinder (33) is arranged between the first cylinder mounting seat (22) and the triangular cylinder mounting seat (32), a motor mounting box (36) is rotatably arranged at the bottom of the outer end of the second support arm (31), a second cylinder mounting seat (35) is fixedly arranged on the motor mounting box (36), and a second cylinder (34) is arranged between the second cylinder mounting seat (35) and the triangular cylinder mounting seat (32);
the fixture comprises a fixture mounting frame (4) installed below a motor mounting box (36) in a rotating mode, wherein movable sleeves (41) which vertically penetrate through the fixture mounting frame (4) are fixedly arranged at four corners of the fixture mounting frame (4), sliding rods (42) which vertically penetrate through the movable sleeves (41) are arranged on the movable sleeves (41), pneumatic suckers (45) are fixedly arranged at the bottoms of the sliding rods (42), mounting grooves (46) are formed in the four inner sides of the four edges of the fixture mounting frame (4) on a bottom panel of the fixture mounting frame (4), electromagnet strips (47) are arranged in the mounting grooves (46), sliding rods (471) which upwards penetrate through the fixture mounting frame (4) are arranged at the tops of two ends of the electromagnet strips (47), and limit nuts (472) are arranged on the tops of the sliding rods (471).
2. A manipulator according to claim 1, wherein: and a spring (38) is arranged between the electromagnet strip (47) and the inner wall of the top of the mounting groove (46) on the sliding rod (471).
3. A manipulator according to claim 1, wherein: the movable sleeve is characterized in that the top plate and the bottom plate of the movable sleeve (41) are respectively provided with an inward-contracted annular opening, the outer wall of the lower half area of the sliding rod (42) is provided with a limiting ring (43) attached to the annular opening of the bottom plate of the movable sleeve (41), and a supporting spring (44) is arranged between the limiting ring (43) and the annular opening of the top plate of the movable sleeve (41).
4. A manipulator according to claim 1, wherein: still including the installation mechanism that is used for installing the arm, installation mechanism includes mounting bracket (1), fixed being provided with on the roof of mounting bracket (1) rotates mount pad (12), roating seat (2) bottom is provided with the pivot that stretches into in rotation mount pad (12), and is provided with in the pivot and rotates the bearing that mount pad (12) inner wall rotation is connected, the fixed rotating electrical machines (13) that are provided with in bottom of mounting bracket (1) roof, the motor shaft of rotating electrical machines (13) passes through the shaft coupling and is connected with the pivot of roating seat (2).
5. A manipulator according to claim 4, wherein: a fixing plate (11) is fixedly arranged on the outer edge of the bottom of the mounting rack (1), and a screw hole is formed in the fixing plate (11).
6. A manipulator according to claim 1, wherein: the bottom panel of motor install bin (36) dodges fixedly and is provided with the motor, and outside the motor shaft of motor stretches out motor install bin (36) downwards, the fixed link (37) that rotates that is provided with in motor shaft bottom of motor, anchor clamps mounting bracket (4) fixed mounting rotates on link (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222752224.0U CN218614128U (en) | 2022-10-19 | 2022-10-19 | Manipulator and manipulator clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222752224.0U CN218614128U (en) | 2022-10-19 | 2022-10-19 | Manipulator and manipulator clamp |
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| Publication Number | Publication Date |
|---|---|
| CN218614128U true CN218614128U (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222752224.0U Active CN218614128U (en) | 2022-10-19 | 2022-10-19 | Manipulator and manipulator clamp |
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| Country | Link |
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| CN (1) | CN218614128U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116765801A (en) * | 2023-06-26 | 2023-09-19 | 江苏金茂源生物化工有限责任公司 | Acetaldehyde wastewater treatment device and treatment method thereof |
-
2022
- 2022-10-19 CN CN202222752224.0U patent/CN218614128U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116765801A (en) * | 2023-06-26 | 2023-09-19 | 江苏金茂源生物化工有限责任公司 | Acetaldehyde wastewater treatment device and treatment method thereof |
| CN116765801B (en) * | 2023-06-26 | 2023-12-15 | 江苏金茂源生物化工有限责任公司 | Acetaldehyde wastewater treatment device and treatment method thereof |
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