CN218778323U - Material clamping device and T-shaped manipulator - Google Patents

Abstract

The utility model provides a material clamping device and T-shaped manipulator, the material clamping device, including the support column, the bottom of support column articulates there is the upset arm, one side of support column articulates there is the upset cylinder, the upset cylinder with the upset arm is articulated mutually, the bottom of upset arm rotates and is provided with the frame plate, the frame plate is provided with the bracing piece symmetrically, be provided with on the bracing piece and be used for driving the frame plate relative to the rotatory rotary drive part of upset arm; two ends of the supporting rod are respectively provided with a clamping jaw mechanism; the utility model discloses in, gripper mechanism is used for the clamping to fix the material, and the upset cylinder orders about the upset arm and rotates for the support column, can drive gripper mechanism and overturn the material, can order about gripper mechanism through the rotation driving part simultaneously and drive the material and rotate, carries out the nimble regulation of multi-angle to the material, satisfies different work production demands.

Description

Material clamping device and T-shaped manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to device and T type manipulator are got to material clamp.

Background

At present, T type manipulator is often used for replacing the manual work and carries out the transport of material, and the device is got to the material clamp through T type manipulator can be with the material pick-up, puts down after moving to another position from a position transport.

However, in the actual use process, the materials are required to be turned over at different angles in the carrying process, so that different work and production requirements are met, the existing material clamping device can only turn over the materials at 90 degrees in one direction, and the current use requirements are difficult to meet.

Therefore, a material clamping device capable of overturning materials at multiple angles and a T-shaped manipulator are needed to be designed to solve the technical problem facing the prior art.

Disclosure of Invention

To the not enough that exists among the prior art, the utility model provides a device and T type manipulator are got to material clamp that can the multi-angle overturn the material.

The technical scheme of the utility model is that: the material clamping device comprises a support column, wherein the bottom of the support column is hinged with an overturning arm, one side of the support column is hinged with an overturning cylinder, the overturning cylinder is hinged with the overturning arm, the bottom of the overturning arm is rotatably provided with a frame plate, the frame plate is symmetrically provided with support rods, and the support rods are provided with rotary driving parts for driving the frame plate to rotate relative to the overturning arm; and clamping jaw mechanisms are respectively arranged at two ends of the supporting rod.

The clamping jaw mechanism is provided with a clamping jaw shell, two clamping arms are symmetrically arranged in the clamping jaw shell, the middle parts of the clamping arms are rotatably connected with the clamping jaw shell, a clamping plate is fixedly arranged on the inner side of the lower end of each clamping arm, and a clamping driving part for driving the clamping arms to clamp or release is arranged at the top of the clamping jaw shell.

The clamping driving part is provided with a clamping cylinder, a connecting block is fixedly arranged at the end part of a piston rod of the clamping cylinder, connecting rods are hinged to the two ends of the connecting block, and one end, deviating from the connecting block, of the connecting rod is hinged to the upper end of the clamping arm.

Arc-shaped grooves are formed in one side, deviating from the clamping arms, of the clamping plate.

The rotary driving part is provided with a rotary cylinder, the rotary cylinder is fixedly arranged at the bottom of the supporting rod through a support, and the rotary cylinder is in transmission connection with the turnover arm.

The top of frame plate is fixed and is provided with the rotary drum, the bottom of upset arm is fixed and is provided with the mounting panel, the bottom of mounting panel is fixed and is provided with the pivot, the pivot with revolving cylinder transmission is connected.

And a hinged support is fixedly arranged on one side of the top end of the supporting column, and the upper end of the turnover cylinder is hinged with the hinged support.

T type manipulator is had as above any one material is got device.

The utility model has the advantages that: the utility model discloses in, gripper mechanism is used for the cramping to fix the material, and the upset cylinder orders about the upset arm and rotates for the support column, can drive gripper mechanism and overturn to the material, can order about gripper mechanism through the rotation driving part simultaneously and drive the material and rotate, carries out the nimble regulation of multi-angle to the material, satisfies different work production demands.

Drawings

Fig. 1 is the structure schematic diagram of the device for clamping the middle material.

Fig. 2 is one of the schematic structural diagrams of the middle clamping jaw mechanism of the present invention.

Fig. 3 is a second schematic structural view of the middle clamping jaw mechanism of the present invention.

Fig. 4 isbase:Sub>A cross-sectional view taken atbase:Sub>A-base:Sub>A in fig. 3.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the invention, its application, or uses. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and similar terms in the description herein do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1, the material clamping device comprises a support column 1, wherein the bottom of the support column 1 is hinged with a turnover arm 3, one side of the support column 1 is hinged with a turnover cylinder 2, the turnover cylinder 2 is hinged with the turnover arm 3, the bottom of the turnover arm 3 is rotatably provided with a frame plate 7, the frame plate 7 is symmetrically provided with support rods 8, and the support rods 8 are provided with rotary driving parts for driving the frame plate 7 to rotate relative to the turnover arm 3; two ends of the supporting rod 8 are respectively provided with a clamping jaw mechanism 9; in this embodiment, gripper mechanism 9 is used for the clamping to fix the material, and upset cylinder 2 orders about upset arm 3 and rotates for support column 1, can drive gripper mechanism 9 and overturn the material, can order about gripper mechanism 9 through the rotation driving part simultaneously and drive the material and rotate, carries out the nimble regulation of multi-angle to the material, satisfies different work production demands.

As a specific embodiment of the clamping jaw mechanism 9, as shown in fig. 2 to 4, the clamping jaw mechanism 9 has a clamping jaw housing 901, two clamping arms 903 are symmetrically arranged inside the clamping jaw housing 901, the middle parts of the clamping arms 903 are rotatably connected with the clamping jaw housing 901, a clamping plate 904 is fixedly arranged on the inner side of the lower end of the clamping arms 903, and a clamping driving part for driving the clamping arms 903 to clamp or release is arranged on the top of the clamping jaw housing 901; order about arm lock 903 reciprocating swing through pressing from both sides tight driver part, can realize pressing from both sides tight release to the material, wherein splint 904 cooperatees with the material, can stably carry out the centre gripping to the material.

In some embodiments, the clamping driving component has a clamping cylinder 902, a connecting block 905 is fixedly arranged at the end of a piston rod of the clamping cylinder 902, two ends of the connecting block 905 are respectively hinged with a connecting rod 906, one end of the connecting rod 906, which is away from the connecting block 905, is hinged with the upper end of the clamping arm 903, the connecting block 905 is driven to move up and down by the clamping cylinder 902, the connecting block 905 pulls the upper end of the clamping arm 903 through the connecting rod 906, the clamping arm 903 is driven to swing, and clamping or releasing of a material is realized.

In some embodiments, the clamping plate 904 is provided with an arc-shaped groove on the side away from the clamping arm 903, the outer side of the cylindrical material can be matched through the arc-shaped groove, the contact area between the clamping plate 904 and the cylindrical material is increased, and the cylindrical material can be stably clamped and fixed.

In some embodiments, the rotation driving component has a rotation cylinder 11, the rotation cylinder 11 is fixedly disposed at the bottom of the support bars 8 through a bracket 12, the bracket 12 is a bracket shaped like a Chinese character 'ji', two ends of the bracket 12 are respectively fixedly connected with the bottoms of the two support bars 8, the rotation cylinder 11 is fixed at the bottom of the bracket 12, an output shaft of the rotation cylinder 11 is in transmission connection with the flipping arm 3, and the frame plate 7 can be driven to drive the clamping jaw mechanism 9 to rotate relative to the flipping arm 3 through rotation of the controller output shaft of the rotation cylinder 11.

In some embodiments, the top of the frame plate 7 is fixedly provided with a rotating drum 6, the bottom of the turning arm 3 is fixedly provided with a mounting plate 5, the bottom of the mounting plate 5 is fixedly provided with a rotating shaft 6, the rotating shaft 6 is rotatably connected with the inner side of the rotating drum 6 through a bearing, and the rotating shaft 10 is in transmission connection with a rotating cylinder 11.

In some embodiments, a hinged support 4 is fixedly arranged on one side of the top end of the supporting column 1, and the upper end of the overturning cylinder 2 is hinged with the hinged support.

In some embodiments, a T-robot is disclosed having a material gripping apparatus as in any of the above embodiments.

Thus far, various embodiments of the present invention have been described in detail. Some details which are well known in the art have not been described in order to avoid obscuring the concepts of the present invention. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (8)

1. A material clamping device is characterized by comprising a support column, wherein the bottom of the support column is hinged with a turnover arm, one side of the support column is hinged with a turnover cylinder, the turnover cylinder is hinged with the turnover arm, the bottom of the turnover arm is rotatably provided with a frame plate, the frame plate is symmetrically provided with support rods, and the support rods are provided with rotary driving parts for driving the frame plate to rotate relative to the turnover arm; and clamping jaw mechanisms are respectively arranged at two ends of the supporting rod.

2. The material pick device as recited in claim 1, further comprising: the clamping jaw mechanism is provided with a clamping jaw shell, two clamping arms are symmetrically arranged in the clamping jaw shell, the middle parts of the clamping arms are rotatably connected with the clamping jaw shell, a clamping plate is fixedly arranged on the inner side of the lower end of each clamping arm, and a clamping driving part for driving the clamping arms to clamp or release is arranged at the top of the clamping jaw shell.

3. The material pick device as recited in claim 2, further comprising: the clamping driving part is provided with a clamping cylinder, a connecting block is fixedly arranged at the end part of a piston rod of the clamping cylinder, connecting rods are hinged to the two ends of the connecting block, and one end, deviating from the connecting block, of the connecting rod is hinged to the upper end of the clamping arm.

4. The material pick device as recited in claim 2, further comprising: and one side of the clamping plate, which is deviated from the clamping arm, is provided with an arc-shaped groove.

5. The material pick device as recited in claim 1, further comprising: the rotary driving part is provided with a rotary cylinder, the rotary cylinder is fixedly arranged at the bottom of the supporting rod through a support, and the rotary cylinder is in transmission connection with the turnover arm.

6. The material pick device as recited in claim 5, further comprising: the top of frame plate is fixed and is provided with the rotary drum, the bottom of upset arm is fixed and is provided with the mounting panel, the bottom of mounting panel is fixed and is provided with the pivot, the pivot with revolving cylinder transmission is connected.

7. The material pick device as recited in claim 1, further comprising: one side of the top end of the supporting column is fixedly provided with a hinged support, and the upper end of the overturning cylinder is hinged to the hinged support.

8. A T type manipulator which characterized in that: a material gripping apparatus as claimed in any one of claims 1 to 7.

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