CN218657672U

CN218657672U - Manipulator and robot

Info

Publication number: CN218657672U
Application number: CN202222451871.8U
Authority: CN
Inventors: 刘凯; 张准; 王丹; 饶烺; 周华; 何奕; 蔡英杰
Original assignee: China Railway Engineering Machinery Research and Design Institute Co Ltd
Current assignee: China Railway Engineering Machinery Research and Design Institute Co Ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2023-03-21
Anticipated expiration: 2032-09-15

Abstract

The utility model provides a manipulator and robot relates to the robotechnology field, the manipulator is including pressing from both sides tight lifting unit and compressing tightly the subassembly, presss from both sides tight lifting unit and including pressing from both sides tight lifting combination jar and pressing from both sides tight frame, compresses tightly the subassembly including compressing tightly the jar, presss from both sides tight lifting combination jar and compresses tightly the jar and be used for respectively being connected with the arm, presss from both sides tight lifting combination jar and is connected with two tight frame drives of clamp respectively, presss from both sides tight lifting combination jar and is suitable for two tight frame drives of drive to open and shut, compresses tightly the jar and is located and presss from both sides tight frame top, and the piston rod that compresses tightly the jar is suitable for and moves between two tight frames of clamp. The technical scheme of the utility model, drive through the arm and press from both sides tight hoisting component and compress tightly the subassembly motion and accomplish snatching, installation and fixed to the built-in fitting, it is more high-efficient, the quality is guaranteed to install.

Description

Manipulator and robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a manipulator and robot.

Background

With the development of railway technology, in order to meet the requirement of rapid laying of high-speed rails and subways, the track slabs are generally produced by prefabricating in a factory and then are transported to a site for construction, embedded parts are required to be arranged in a track slab mold (a rail bearing groove) in the prefabricating production process of the track slabs, and the installation quality and efficiency of the embedded parts in the track slab mold directly influence the production quality and efficiency of the track slabs.

The existing embedded part is generally installed manually, the embedded part is placed on a positioning column of a track plate die manually, and then a rubber hammer is used for knocking the top of the embedded part, so that the embedded part can be stably fixed on the positioning column, the operation efficiency is low, and the cost is high; and adopt artifical the beating, the dynamics is difficult to be guaranteed, and too big can damage the built-in fitting, and the dynamics undersize can lead to taking place not hard up when follow-up vibrating, influences track board production quality.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator to solve the technical problem that the installation effectiveness of built-in fitting is low in the current track board mould, the installation quality can't be guaranteed.

In order to achieve the above purpose, the technical solution of the present invention is as follows:

the utility model provides a manipulator, includes and presss from both sides tight lifting unit and compresses tightly the subassembly, it includes presss from both sides tight lifting unit and presss from both sides tight frame to press from both sides tight lifting unit, it includes and compresses tightly the jar to press from both sides tight lifting unit and be used for being connected with the arm respectively, press from both sides tight lifting unit and respectively with two press from both sides tight frame drive connection, it is suitable for the drive two to press from both sides tight lifting unit and be suitable for two press from both sides the frame and open and shut, it is located to press from both sides tight frame top, the piston rod that compresses tightly the jar is suitable for two move between the tight frame.

In the manipulator of the utility model, the mechanical arm drives the clamping and lifting assembly and the pressing assembly to move so as to realize the grabbing, placing and fixing of the embedded part; specifically, the clamping and lifting combined cylinder drives the two clamping frames to open and close so as to realize grabbing of the embedded part, then the mechanical arm drives the clamping and lifting assembly to move integrally until the embedded part is attached to the installation position close to the inside of the track plate mold, the piston rod of the pressing cylinder extends towards the direction of the embedded part clamped by the clamping frames and acts on the top end of the embedded part to press the embedded part into the track plate mold, the embedded part is pressed down for multiple times and pressure is maintained, so that the embedded part can be stably fixed at the installation position of the track plate mold, then the clamping and lifting combined cylinder drives the clamping frames to loosen the embedded part, the pressing cylinder releases pressure, the piston rod in the clamping cylinder retracts, the mechanical arm drives the whole body to rise, and therefore the installation work of one embedded part is completed, the processes are repeated, the embedded part installation of the next wheel can be carried out, the installation efficiency of the embedded part is greatly improved compared with manual construction, the installation stability of the embedded part can be guaranteed through pressure maintaining beating of the pressing cylinder, and the installation quality is guaranteed.

Optionally, the two mutually facing end surfaces of the two clamping frames are respectively provided with an upper clamping block and a lower clamping block, and the upper clamping block and the lower clamping block of the two clamping frames are respectively and correspondingly arranged.

Optionally, the end surfaces of the two correspondingly arranged upper clamping blocks facing each other and the end surfaces of the two correspondingly arranged lower clamping blocks facing each other are provided with clamping grooves.

Optionally, the clamping and lifting assembly further comprises a first fixing plate, and the clamping and lifting combined cylinder is used for being connected with the mechanical arm through the first fixing plate.

Optionally, the pressing assembly further comprises a second fixing plate, and the pressing cylinder is used for being connected with the mechanical arm through the second fixing plate.

Optionally, the manipulator further comprises a housing for coupling with the robotic arm; one end of the clamping and lifting combined cylinder extends into the shell and is connected with the clamping frame, the pressing cylinder is arranged in the shell, and the pressing cylinder is connected with the shell through the second fixing plate.

Optionally, the clamping and lifting assembly further comprises a four-bar linkage mechanism, and the clamping and lifting combined cylinder is in driving connection with the clamping frame through the four-bar linkage mechanism.

Optionally, the four-bar linkage includes a first bar, a second bar, a third bar and a fourth bar, the first bar and one end of the second bar are hinged to the clamping and lifting combination cylinder, the other end of the first bar is hinged to the third bar, the other end of the second bar is hinged to the fourth bar, the third bar and the fourth bar are arranged in a crossed manner, and the third bar and the fourth bar are hinged to a fixed hinge point on the housing.

Another object of the utility model is to provide a robot, including arm and two the manipulator, two the manipulator respectively with the arm is connected. Compared with the prior art, the robot has the advantages that the robot has all the advantages of the manipulator, in addition, the two manipulators are connected with the same mechanical arm, the two manipulators can be driven to install embedded parts on two sides of the track slab die respectively, and the installation efficiency is higher.

Optionally, the robot further comprises a vision sensor, the vision sensor is arranged between the two mechanical arms, and the mechanical arms are suitable for acting according to the detection information of the vision sensor.

Drawings

Fig. 1 is a schematic structural diagram of a first view angle of a robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second view angle of the robot according to the embodiment of the present invention;

fig. 3 is a schematic view of an installation structure between the four-bar linkage and the clamping frame according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of an upper clamping block according to an embodiment of the present invention.

Description of reference numerals:

1. clamping the lifting assembly; 11. clamping and lifting the combined cylinder; 12. a clamping frame; 121. an upper clamping block; 122. a lower clamping block; 13. a four-bar linkage; 131. a first link; 132. a second link; 133. a third link; 134. a fourth link; 14. a first fixing plate; 2. a compression assembly; 21. a compaction cylinder; 22. a second fixing plate; 3. a housing; 31. a third fixing plate; 4. a vision sensor; 5. a mechanical arm; 6. a track plate mold; 7. and (6) embedding parts.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 by those skilled in the art according to specific situations.

In addition, it should be noted that, in the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate terms of orientation, and are only used for simplifying the positional relationship based on the drawings of the specification, and do not represent that the elements, devices, and the like indicated in the description must operate according to specific orientation and defined operation, method, and configuration, and such terms of orientation do not constitute limitations of the present invention.

A coordinate system XYZ is provided herein, wherein a forward direction of the X-axis represents the left, a reverse direction of the X-axis represents the right, a forward direction of the Y-axis represents the front, a reverse direction of the Y-axis represents the rear, a forward direction of the Z-axis represents the upper, and a reverse direction of the Z-axis represents the lower.

As shown in fig. 1-2, the utility model discloses a manipulator of embodiment, including pressing from both sides tight lifting unit 1 and compressing tightly subassembly 2, press from both sides tight lifting unit 1 including pressing from both sides tight lifting combination jar 11 and clamping frame 12, compressing tightly subassembly 2 is including compressing tightly jar 21, press from both sides tight lifting combination jar 11 with compressing tightly jar 21 is used for being connected with arm 5 respectively, press from both sides tight lifting combination jar 11 respectively with two clamping frame 12 drive connection, press from both sides tight lifting combination jar 11 and be suitable for the drive two clamping frame 12 opens and shuts, compressing tightly jar 21 is located clamping frame 12 top, compressing tightly the piston rod of jar 21 is suitable for two move between the clamping frame 12.

In the present embodiment, the lifting direction of the clamping and lifting assembly 1 is set along the direction of the Z-axis, and the pressing direction of the pressing assembly 2 is set along the direction of the Z-axis. Each clamping and lifting assembly 1 comprises a front clamping and lifting combined cylinder 11 and a rear clamping and lifting combined cylinder 11, each clamping and lifting combined cylinder 11 is in driving connection with a corresponding pair of clamping frames 12, and the two pairs of clamping frames 12 are arranged in the front and the rear and clamp an embedded part 7 together.

The pressing cylinder 21 is arranged between the two clamping and lifting combined cylinders 11, the pressing cylinder 21 is located above the clamping frames 12, and when a piston rod of the pressing cylinder 21 extends out, the embedded part 7 clamped between the two clamping frames 12 can be pressed downwards, so that the embedded part 7 is fixed in the installation position of the track plate mold 6.

The mechanical arm 5 drives the clamping and lifting assembly 1 and the pressing assembly 2 to move so as to sequentially realize the grabbing, placing and fastening of the embedded part, and the automation of the installation of the embedded part 7 is realized, so that compared with the existing installation mode that the embedded part is manually placed at an installation position firstly and then pressed by hammering, the installation efficiency of the embedded part 7 is greatly improved, and the continuous production of a production line is met; and the hammering force of the fixed embedded part 7 can be more reasonably controlled, and the installation quality is more guaranteed.

Optionally, as shown in fig. 3, an upper clamping block 121 and a lower clamping block 122 are respectively disposed on the mutually facing end surfaces of the two clamping frames 12, and the upper clamping block 121 and the lower clamping block 122 of the two clamping frames 12 are respectively disposed correspondingly.

In this embodiment, a pair of upper clamping blocks 121 and a pair of lower clamping blocks 122 are arranged between two pairs of the clamping frames 12, and the two pairs of clamping blocks are arranged up and down, so that the clamping force of the clamping frames 12 on the embedded part 7 is more stable, and the stress of the embedded part is more uniform.

The upper and

lower clamping blocks

121 and 122 may be configured identically. Referring to fig. 3, the end surfaces of the two correspondingly arranged upper clamping blocks 121 facing each other are clamping surfaces, the clamping surfaces of the upper clamping blocks 121 are made of rubber, and the elastic extrusion deformation of the rubber is used to ensure the stability of clamping.

The structure of the lower clamping block 122 may be configured the same as that of the upper clamping block 121.

Alternatively, as shown in fig. 4, the mutually facing end surfaces of the two correspondingly arranged upper clamping blocks 121 and the mutually facing end surfaces of the two correspondingly arranged lower clamping blocks 122 are provided with clamping grooves.

In this embodiment, the upper clamping block 121 is provided with an arc groove on a surface for clamping the embedded part, mainly for matching with the shape of the outer side wall of the embedded part 7, so that the clamping is more stable.

Optionally, as shown in fig. 2, the clamping and lifting assembly 1 further comprises a first fixing plate 14, and the clamping and lifting combination cylinder 11 is used for connecting with the mechanical arm 5 through the first fixing plate 14.

In this embodiment, the first fixing plate 14 is located above the clamping and lifting combination cylinder 11, the shape of the first fixing plate 14 is not limited, the fixed end of the clamping and lifting combination cylinder 11 is connected to the first fixing plate 14, and the first fixing plate 14 is fixed to the robot arm 5; the telescopic end of the clamping and lifting combined cylinder 11 is connected with the clamping frame 12.

Optionally, as shown in fig. 2, the pressing assembly 2 further includes a second fixing plate 22, and the pressing cylinder 21 is configured to be connected to the robot arm 5 through the second fixing plate 22.

In this embodiment, the shape of the second fixing plate 22 is not limited, the fixed end of the pressing cylinder 21 is fixed on the second fixing plate 22, the second fixing plate 22 plays a role of fixing the pressing cylinder 21, and the telescopic end of the pressing cylinder 21 is suitable for being telescopic along the Z-axis direction.

Optionally, as shown in fig. 1-2, the manipulator further comprises a housing 3, the housing 3 being adapted to be connected to the robot arm 5; one end of the clamping and lifting combined cylinder 11 extends into the shell 3 and is connected with the clamping frame 12, the pressing cylinder 21 is arranged inside the shell 3, and the pressing cylinder 21 is connected with the shell 3 through the second fixing plate 22.

In this embodiment, the lower extreme of shell 3 is uncovered setting, the flexible end that presss from both sides tight lift combination jar 11 passes downwards the upper wall of shell 3 and stretches into the inside of shell 3, the flexible end that presss from both sides tight lift combination jar 11 is in the shell 3 inside with press from both sides tight frame 12 drive connection, 3 inner walls of shell are arranged in to pressure cylinder 21, the one end of pressure cylinder 21 with the top fixed connection of shell 3, the other end that presses cylinder 21 stretches out downwards shell 3 and directional two that set up in pairs press from both sides between the tight frame 12.

The clamping and lifting combination cylinder 11, the pressing cylinder 21 and other important parts can be protected by the housing 3.

Optionally, as shown in fig. 1, a third fixing plate 31 is disposed on the housing 3, and the housing 3 is configured to be connected to the robot arm 5 through the third fixing plate 31.

In this embodiment, the housing 3 is fixed on the robot arm 5 by a third fixing plate 31, and the third fixing plate 31 may be detachably mounted on the housing 3, or may be formed integrally.

Optionally, as shown in fig. 2, the clamping and lifting assembly 1 further comprises a four-bar linkage 13, and the clamping and lifting combination cylinder 11 is in driving connection with the clamping frame 12 through the four-bar linkage 13.

In this embodiment, the telescopic end of the clamping and lifting combination cylinder 11 is hinged to the four-bar linkage 13, and the four-bar linkage 13 is driven to move by the up-and-down telescopic driving of the clamping and lifting combination cylinder 11, so as to open or close the two paired clamping frames 12, thereby clamping the embedded part 7.

Optionally, as shown in fig. 3, the four-bar linkage 13 includes a first bar 131, a second bar 132, a third bar 133 and a fourth bar 134, the first bar 131 and one end of the second bar 132 are hinged to the clamping and lifting combination cylinder 11 together, the other end of the first bar 131 is hinged to the third bar 133, the other end of the second bar 132 is hinged to the fourth bar 134, the third bar 133 and the fourth bar 134 are arranged in a crossed manner, and the third bar 133 and the fourth bar 134 are hinged to a fixed hinge point on the housing 3 together.

In this embodiment, the first link 131 is hinged to the upper end of the second link 132 at a point located at the telescopic end of the clamping and lifting cylinder 11. The third connecting rod 133 includes a plurality of rods connected in sequence to form a folding rod, so as to change the acting direction of the force at the end of the third connecting rod, and thus the clamping frame 12 can be vertically disposed. Because the clamping frame 12 is vertically arranged to facilitate clamping. The fourth link 134 has the same structural shape as the third link 133 and is symmetrically disposed.

The middle parts of the third connecting rod 133 and the fourth connecting rod 134 are fixedly hinged on the shell 3, the four-bar linkage is of a scissors-like structure, the angle formed between the first connecting rod 131 and the second connecting rod 132 is increased or decreased by the vertical extension and contraction of the clamping and lifting combined cylinder 11, and the third connecting rod 133 and the fourth connecting rod 134 drive the two clamping frames 12 to move in the opposite direction or in the opposite direction, so that the opening and closing are realized.

As shown in fig. 1-2, another embodiment of the present invention provides a robot, comprising a mechanical arm 5 and two of the mechanical arms, wherein the two of the mechanical arms are respectively connected with the mechanical arm 5.

In this embodiment, the two manipulators are located on the same side of the robot arm 5, the two manipulators have the same structure, and the vertical distances between the two manipulators and the robot arm 5 are equal; two the manipulator press from both sides tight hoist assembly 1 first fixed plate 14 integrated into one piece, first fixed plate 14 sets up along the XY plane for two the manipulator can span in the top of track board mould 6, drives two then through arm 5 the manipulator snatchs built-in fitting 7 and installs, compresses tightly. The installation of the embedded parts 7 on the two sides can be realized simultaneously, and the construction efficiency is higher.

Optionally, as shown in fig. 1-2, the robot further includes a vision sensor 4, the vision sensor 4 is disposed between two of the manipulators, and the manipulators are adapted to act according to the detection information of the vision sensor 4.

In this embodiment, the vision sensor 4 may be mounted on a mechanical arm 5, the operation ranges of the two mechanical arms are within the detection range of the vision sensor 4, when the mechanical arm 5 drives the mechanical arm to move to the position above the track plate mold 6, the visual sensor 4 may perform fine positioning to identify the mounting position on the track plate mold 6, so as to accurately place the embedded part in the mounting position, and after the embedded part is placed and compressed, the mounting effect of the embedded part 7 is checked and compared through the vision sensor 4, so that the mounting quality of the embedded part 7 is ensured.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications are intended to fall within the scope of the disclosure.

Claims

1. The manipulator is characterized by comprising a clamping and lifting assembly (1) and a pressing assembly (2), wherein the clamping and lifting assembly (1) comprises a clamping and lifting combined cylinder (11) and a clamping frame (12), the pressing assembly (2) comprises a pressing cylinder (21), the clamping and lifting combined cylinder (11) and the pressing cylinder (21) are respectively used for being connected with a mechanical arm (5), the clamping and lifting combined cylinder (11) is respectively in driving connection with the two clamping frames (12), the clamping and lifting combined cylinder (11) is suitable for driving the two clamping frames (12) to open and close, the pressing cylinder (21) is located above the clamping frames (12), and a piston rod of the pressing cylinder (21) is suitable for moving between the two clamping frames (12).

2. The manipulator according to claim 1, characterized in that the mutually facing end surfaces of the two clamping frames (12) are provided with an upper clamping block (121) and a lower clamping block (122), and the upper clamping block (121) and the lower clamping block (122) of the two clamping frames (12) are respectively arranged correspondingly.

3. The manipulator according to claim 2, characterized in that the mutually facing end surfaces of the two correspondingly arranged upper clamping blocks (121) and the mutually facing end surfaces of the two correspondingly arranged lower clamping blocks (122) are provided with clamping grooves.

4. The manipulator according to claim 1, characterized in that the clamping and lifting assembly (1) further comprises a first fixed plate (14), the clamping and lifting combined cylinder (11) being adapted to be connected to the robot arm (5) via the first fixed plate (14).

5. The manipulator according to claim 1, characterized in that the pressing assembly (2) further comprises a second dead plate (22), the pressing cylinder (21) being adapted to be connected to the robot arm (5) through the second dead plate (22).

6. A manipulator according to claim 5, further comprising a housing (3), said housing (3) being adapted to be connected to said robot arm (5); one end of the clamping and lifting combined cylinder (11) extends into the shell (3) and is connected with the clamping frame (12), the pressing cylinder (21) is arranged in the shell (3), and the pressing cylinder (21) is connected with the shell (3) through the second fixing plate (22).

7. The manipulator according to claim 6, characterized in that the clamping and lifting assembly (1) further comprises a four-bar linkage (13), and the clamping and lifting combined cylinder (11) is in driving connection with the clamping frame (12) through the four-bar linkage (13).

8. The manipulator according to claim 7, wherein the four-bar linkage (13) comprises a first bar linkage (131), a second bar linkage (132), a third bar linkage (133) and a fourth bar linkage (134), the first bar linkage (131) and one end of the second bar linkage (132) are hinged together on the clamping and lifting combination cylinder (11), the other end of the first bar linkage (131) is hinged with the third bar linkage (133), the other end of the second bar linkage (132) is hinged with the fourth bar linkage (134), the third bar linkage (133) and the fourth bar linkage (134) are crossed, and the third bar linkage (133) and the fourth bar linkage (134) are hinged together on a fixed hinge point on the housing (3).

9. A robot, characterized in that it comprises a robot arm (5) and two manipulators according to any of claims 1-8, which are connected to the robot arm (5) respectively.

10. The robot according to claim 9, characterized in that it further comprises a vision sensor (4), said vision sensor (4) being arranged between two of said manipulators, said manipulators being adapted to act according to the detection information of said vision sensor (4).