CN218802360U

CN218802360U - Variable-pitch manipulator for clamping building materials

Info

Publication number: CN218802360U
Application number: CN202320315349.9U
Authority: CN
Inventors: 陈曦
Original assignee: Beijing Zhonghai Xingda Construction Co ltd
Current assignee: Beijing Zhonghai Xingda Construction Co ltd
Priority date: 2023-02-27
Filing date: 2023-02-27
Publication date: 2023-04-07
Anticipated expiration: 2033-02-27

Abstract

The utility model provides a displacement manipulator for centre gripping building material relates to the manipulator field. The utility model comprises a driving part, wherein the driving part comprises a first driving device and a first transmission plate; the variable-pitch device comprises a first mounting substrate, a second driving device, a third driving device, a first variable-pitch unit and a second variable-pitch unit, one end of the first mounting substrate is fixedly connected to the first transmission plate, the other end of the first mounting substrate is provided with a working face, the second driving device and the third driving device are respectively and fixedly connected to two sides of the working face, the output end of the second driving device is in transmission connection with the first variable-pitch unit, the output end of the third driving device is in transmission connection with the second variable-pitch unit, clamping parts are arranged on the first variable-pitch unit and the second variable-pitch unit, and the clamping parts are used for clamping building materials. The utility model discloses an aspect has guaranteed the nimble displacement of manipulator, and on the other hand has guaranteed the stable centre gripping of building materials.

Description

Variable-pitch manipulator for clamping building materials

Technical Field

The utility model relates to a manipulator field particularly, relates to a displacement manipulator for centre gripping building material.

Background

A robot is an automatic handling device for grasping, carrying objects or handling tools according to a fixed procedure. In the building construction, can snatch and transport various building materials, but when general manipulator was used, its moment can't be changed in a flexible way, leads to the range of application little. In addition, because the size of building materials differs, the existing solution is carried many times through a single high-speed manipulator or carried through a plurality of manipulators in a matching mode, but the schemes have the problems of poor integrity, high cost, difficult maintenance and the like. Therefore, there is a need for a pitch-variable manipulator for clamping building materials, which is required to ensure flexible pitch-variable of the manipulator on one hand and stable clamping of the building materials on the other hand.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a displacement manipulator for centre gripping building material to improve above-mentioned problem. In order to realize the purpose, the utility model discloses a following technical scheme realizes: a variable-pitch manipulator for clamping building materials comprises a driving part, wherein the driving part comprises a first driving device and a first transmission plate, the output end of the first driving device is in transmission connection with the first transmission plate, the first driving device is provided with a connecting end, and the connecting end is used for being fixedly connected with a base;

the variable-pitch device comprises a first mounting substrate, a second driving device, a third driving device, a first variable-pitch unit and a second variable-pitch unit, wherein one end of the first mounting substrate is fixedly connected to a first transmission plate, the other end of the first mounting substrate is provided with a working face, the second driving device and the third driving device are respectively and fixedly connected to two sides of the working face, the output end of the second driving device is in transmission connection with the first variable-pitch unit, the output end of the third driving device is in transmission connection with the second variable-pitch unit, clamping parts are arranged on the first variable-pitch unit and the second variable-pitch unit, and the clamping parts are used for clamping building materials.

Further, the clamping part comprises an installation table and a plurality of clamping units, wherein each clamping unit comprises a fourth driving device, a mechanical claw and a sliding rail, the fourth driving device and the sliding rail are fixedly connected to the bottom of the installation table, the output end of the fourth driving device is in transmission connection with the mechanical claw, and the top of the mechanical claw is in sliding connection with the bottom of the sliding rail.

Furthermore, the clamping part comprises three clamping units which are uniformly distributed according to the rotating shaft of the mounting table.

Furthermore, the end part of the mechanical claw is provided with a limiting hook table, and the inner wall surface of the limiting hook table is provided with a wear-resistant layer.

Further, the sucking disc unit sets up first displacement unit with between the second displacement unit, the sucking disc unit includes telescopic cylinder, second driving plate, sucking disc connecting rod, sucking disc and sucking disc controlling means, telescopic cylinder fixed connection be in on the working face, telescopic cylinder's output with the transmission of second driving plate is connected, the one end of sucking disc connecting rod with second driving plate fixed connection, the other end of sucking disc connecting rod with the top fixed connection of sucking disc, sucking disc controlling means sets up on the sucking disc connecting rod, work as the sucking disc with sucking disc controlling means pneumatic connection back, the bottom of sucking disc forms the negative pressure zone that is used for centre gripping building material.

Further, the base comprises a first substrate and a second substrate, the first substrate is horizontally arranged, the second substrate is vertically arranged on the first substrate, and the connecting end of the first driving device is fixedly connected to the second substrate through a first connecting table.

Further, the slip table unit includes second mounting substrate and second connection platform, the one end fixed connection of second mounting substrate is in on the second substrate, the other end of second mounting substrate with the one end fixed connection of second connection platform, the other end of second connection platform with the back of first mounting substrate passes through first slider sliding connection.

Furthermore, the first sliding device comprises a vertical sliding rail and a first sliding block, one end of the vertical sliding rail is fixedly connected to the second connecting platform, the other end of the vertical sliding rail is slidably connected with one end of the first sliding block, and the other end of the first sliding block is fixedly connected to the back of the first mounting base plate.

Further, the device comprises a position control device, a first position sensor and a second position sensor, wherein the first position sensor is arranged at the top of the second connecting table, the second position sensor is arranged at the bottom of the second connecting table, the position control device is arranged on the outer wall of the second connecting table, and the position control device, the first position sensor and the second position sensor are electrically connected.

Furthermore, a second sliding device is arranged between the second driving device and the third driving device, the second sliding device comprises a horizontal sliding rail and a second sliding block, one end of the horizontal sliding rail is fixedly connected to a working surface, the other end of the horizontal sliding rail is slidably connected with one end of the second sliding block, and the other end of the second sliding block is fixedly connected to the first variable pitch unit.

The utility model has the advantages that:

the utility model introduces the driving part and the pitch varying device, two different pitch varying units in the pitch varying device respectively carry out pitch varying control through different driving devices, thus realizing flexible change of the moment of the manipulator, and on the basis, the driving part conveniently carries out height control on the clamping part, thereby ensuring the operation range of the manipulator; furthermore, the utility model discloses in the clamping part is used for centre gripping building materials. The utility model discloses the wholeness is strong, and the displacement is nimble, owing to adopt hierarchical control, the later stage is easily conveniently overhauld in grades.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of an axial measurement structure of the present invention;

FIG. 2 is a front view of the present invention;

fig. 3 is a side view schematic structure diagram of the present invention;

FIG. 4 is a schematic structural view of the present invention with three clamping units;

the labels in the figure are:

10. a first connection station; 11. a first driving device; 12. a first transmission plate; 21. a first mounting substrate; 22. a second driving device; 23. a third driving device; 24. a first pitch changing unit; 25. a second pitch changing unit; 26. a clamping part; 261. a mounting table; 2621. a fourth drive device; 2622. a gripper; 2623. a slide rail; 2624. a limiting hook platform; 271. a telescopic cylinder; 272. a second drive plate; 273. a suction cup connecting rod; 274. a suction cup; 275. a suction cup control device; 281. a horizontal slide rail; 282. a second slider; 3. a base; 31. a first substrate; 32. a second substrate; 41. a second mounting substrate; 42. a second connecting station; 43. a vertical slide rail; 44. a first slider; 51. a first position sensor; 52. a second position sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.

As shown in fig. 1, a pitch-variable robot for clamping construction materials comprises:

the driving part comprises a first driving device 11 and a first transmission plate 12, the output end of the first driving device 11 is in transmission connection with the first transmission plate 12, and the first driving device 11 is provided with a connecting end which is used for being fixedly connected with the base 3;

the variable-pitch device comprises a first mounting substrate 21, a second driving device 22, a third driving device 23, a first variable-pitch unit 24 and a second variable-pitch unit 25, wherein one end of the first mounting substrate 21 is fixedly connected to the first transmission plate 12, the other end of the first mounting substrate 21 is provided with a working surface, the second driving device 22 and the third driving device 23 are respectively and fixedly connected to two sides of the working surface, the output end of the second driving device 22 is in transmission connection with the first variable-pitch unit 24, the output end of the third driving device 23 is in transmission connection with the second variable-pitch unit 25, clamping portions 26 are arranged on the first variable-pitch unit 24 and the second variable-pitch unit 25, and the clamping portions 26 are used for clamping building materials.

The utility model discloses a working process does: the output end of the first driving device 11 drives the first driving plate 12 to change the height position, when the first driving plate 12 reaches a predetermined height, the working surface of the first mounting substrate 21 is in a predetermined clamping operation area because one end of the first mounting substrate 21 is fixedly connected with the first driving plate 12, and the second driving device 22 and the third driving device 23 drive the corresponding pitch changing units to start the pitch changing operation until the clamping parts of the corresponding pitch changing units finish clamping the building materials. In the pitch changing process, stable speed regulation can be realized. In the present invention, the first driving device 11, the second driving device 22 and the third driving device 23 may adopt a telescopic cylinder or an electric push rod structure.

As shown in fig. 4, to clarify a specific structure of the gripper unit, the gripper unit 26 includes a mounting table 261 and a plurality of gripper units, wherein each gripper unit includes a fourth driving device 2621, a gripper 2622 and a slide rail 2623, the fourth driving device 2621 and the slide rail 2623 are fixedly connected to the bottom of the mounting table 261, an output end of the fourth driving device 2621 is drivingly connected to the gripper 2622, and a top of the gripper 2622 is slidably connected to the bottom of the slide rail 2623. In this structure, when the second driving device 22 and the third driving device 23 start the pitch changing operation, the output end of the fourth driving device 2621 drives the gripper 2622 to slide along the sliding track 2623 until the gripping cavity formed by the grippers 2622 is stably gripped by the construction material.

The present invention provides that the fourth driving device 2621 may adopt an electric putter structure.

The utility model discloses an in the clamping part, for on the one hand form work interference when avoiding setting up too much centre gripping unit, on the other hand is for forming stable clamping-force including three centre gripping unit in clamping part 26, three centre gripping unit sets up according to the revolving axle equipartition of mount table 261.

In order to prevent the mechanical claw from being worn too fast, the end part of the mechanical claw 2622 is provided with a limiting hook table 2624, and the inner wall surface of the limiting hook table 2624 is provided with a wear-resistant layer. After the wearing layer is worn, the limiting hook platform 2624 can still be used for a short time, and the practicability of the mechanical claw is guaranteed.

When the surface size of building material is too big, this manipulator carries out the displacement centre gripping back, for the convenience carries out more stable centre gripping to building material, as shown in fig. 2, the displacement device includes the sucking disc unit, the sucking disc unit sets up first displacement unit 24 with between the second displacement unit 25, the sucking disc unit includes telescopic cylinder 271, second driving plate 272, sucking disc connecting rod 273, sucking disc 274 and sucking disc controlling means 275, telescopic cylinder 271 fixed connection be in on the working face, telescopic cylinder 271's output with second driving plate 272 transmission is connected, the one end of sucking disc connecting rod 273 with second driving plate 272 fixed connection, the other end of sucking disc connecting rod 273 with the top fixed connection of sucking disc 274, sucking disc controlling means 275 sets up on sucking disc connecting rod 273, works as sucking disc 274 with sucking disc controlling means 275 pneumatic connection back, the bottom of sucking disc 274 forms the negative pressure zone that is used for centre gripping building material. In this structure, the purpose of the negative pressure region is to form a negative pressure on the surface to be clamped with the construction material, so that the suction cup unit forms a stable suction force to the construction material.

As shown in fig. 3, in order to ensure the stability of the present pitch-variable robot during operation, a base 3 is introduced, wherein the base 3 comprises a first substrate 31 and a second substrate 32, the first substrate 31 is horizontally arranged, the second substrate 32 is vertically arranged on the first substrate 31, and the connecting end of the first driving device 11 is fixedly connected to the second substrate 32 through a first connecting table 10.

First drive arrangement 11's output with when first transmission plate 12 transmission is connected, for guaranteeing that the working face is vertical not taking place the skew, introduce the slip table unit, the slip table unit includes second mounting substrate 41 and second connection platform 42, the one end fixed connection of second mounting substrate 41 is in on the second base plate 32, the other end of second mounting substrate 41 with the one end fixed connection of platform 42 is connected to the second, the other end of platform 42 is connected to the second with the back of first mounting substrate 21 is through first slider sliding connection. In the first mounting board 21, a back portion of the first mounting board 21 is an end facing away from the working surface.

In order to specify the specific structure of the first sliding device, the first sliding device includes a vertical sliding rail 43 and a first slider 44, one end of the vertical sliding rail 43 is fixedly connected to the second connecting platform 42, the other end of the vertical sliding rail 43 is slidably connected to one end of the first slider 44, and the other end of the first slider 44 is fixedly connected to the back of the first mounting substrate 21.

In order to perform the stroke limit control on the first sliding device, a position control device, a first position sensor 51 and a second position sensor 52 are introduced, the first position sensor 51 is arranged at the top of the second connecting table 42, the second position sensor 52 is arranged at the bottom of the second connecting table 42, the position control device is arranged on the outer wall of the second connecting table 42, and the position control device, the first position sensor 51 and the second position sensor 52 are electrically connected. In this structure, after the first position sensor 51 sends out a signal, the position control device receives the signal and feeds back a control signal to the first driving device 11, and the output end of the first driving device 11 stops lifting the first driving plate 12;

when the second position sensor 52 sends a signal, the position control device receives the signal and feeds back a control signal to the first driving device 11, and the output end of the first driving device 11 stops moving the first driving plate 12 downward.

In order to ensure the stable pitch of the first pitch changing unit 24, a second sliding device is arranged between the second driving device 22 and the third driving device 23, the second sliding device comprises a horizontal sliding rail 281 and a second sliding block 282, one end of the horizontal sliding rail 281 is fixedly connected to the working surface, the other end of the horizontal sliding rail 281 is slidably connected to one end of the second sliding block 282, and the other end of the second sliding block 282 is fixedly connected to the first pitch changing unit 24. Here, in order to ensure stable pitch variation of the second pitch unit 25, one end of the horizontal slide rail 281 may be fixedly connected to the working surface, the other end of the horizontal slide rail 281 may be slidably connected to one end of the second slider 282, and the other end of the second slider 282 may be fixedly connected to the second pitch unit 25.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A pitch-variable manipulator for clamping building materials, comprising:

the driving part comprises a first driving device (11) and a first transmission plate (12), the output end of the first driving device (11) is in transmission connection with the first transmission plate (12), the first driving device (11) is provided with a connecting end, and the connecting end is used for being fixedly connected with the base (3);

the variable-pitch device comprises a first mounting substrate (21), a second driving device (22), a third driving device (23), a first variable-pitch unit (24) and a second variable-pitch unit (25), wherein one end of the first mounting substrate (21) is fixedly connected to a first transmission plate (12), the other end of the first mounting substrate (21) is provided with a working face, the second driving device (22) and the third driving device (23) are respectively and fixedly connected to two sides of the working face, the output end of the second driving device (22) is in transmission connection with the first variable-pitch unit (24), the output end of the third driving device (23) is in transmission connection with the second variable-pitch unit (25), clamping portions (26) are arranged on the first variable-pitch unit (24) and the second variable-pitch unit (25), and the clamping portions (26) are used for clamping building materials.

2. The pitch manipulator as claimed in claim 1, wherein the clamping unit (26) comprises a mounting table (261) and a plurality of clamping units, wherein each clamping unit comprises a fourth driving device (2621), a gripper (2622) and a sled (2623), the fourth driving device (2621) and the sled (2623) are fixedly connected to the bottom of the mounting table (261), the output end of the fourth driving device (2621) is in transmission connection with the gripper (2622), and the top of the gripper (2622) is in sliding connection with the bottom of the sled (2623).

3. A pitch robot for clamping construction materials according to claim 2, wherein three clamping units are included in the clamping part (26), and are arranged uniformly according to the rotation axis of the installation table (261).

4. The variable-pitch manipulator for clamping building materials according to claim 2, wherein a limiting hook table (2624) is arranged at the end of the manipulator (2622), and a wear-resistant layer is arranged on the inner wall surface of the limiting hook table (2624).

5. The variable pitch manipulator for clamping building materials according to claim 1, wherein the variable pitch device comprises a suction cup unit, the suction cup unit is arranged between the first variable pitch unit (24) and the second variable pitch unit (25), the suction cup unit comprises a telescopic cylinder (271), a second transmission plate (272), a suction cup connecting rod (273), a suction cup (274) and a suction cup control device (275), the telescopic cylinder (271) is fixedly connected to the working surface, the output end of the telescopic cylinder (271) is in transmission connection with the second transmission plate (272), one end of the suction cup connecting rod (273) is fixedly connected with the second transmission plate (272), the other end of the suction cup connecting rod (273) is fixedly connected with the top of the suction cup (274), the suction cup control device (275) is arranged on the suction cup connecting rod (273), and when the suction cup (274) is pneumatically connected with the suction cup control device (275), the bottom of the suction cup (274) forms a negative pressure zone for clamping building materials.

6. The pitch-variable manipulator for clamping building materials as claimed in claim 1, characterized by comprising a base (3), wherein the base (3) comprises a first base plate (31) and a second base plate (32), the first base plate (31) is horizontally arranged, the second base plate (32) is vertically arranged on the first base plate (31), and the connecting end of the first driving device (11) is fixedly connected to the second base plate (32) through a first connecting table (10).

7. The variable-pitch manipulator for clamping building materials according to claim 6, comprising a sliding table unit, wherein the sliding table unit comprises a second mounting substrate (41) and a second connecting table (42), one end of the second mounting substrate (41) is fixedly connected to the second substrate (32), the other end of the second mounting substrate (41) is fixedly connected to one end of the second connecting table (42), and the other end of the second connecting table (42) is slidably connected to the back of the first mounting substrate (21) through a first sliding device.

8. The variable-pitch manipulator for clamping building materials according to claim 7, wherein the first sliding device comprises a vertical sliding rail (43) and a first sliding block (44), one end of the vertical sliding rail (43) is fixedly connected to the second connecting table (42), the other end of the vertical sliding rail (43) is slidably connected with one end of the first sliding block (44), and the other end of the first sliding block (44) is fixedly connected to the back of the first mounting base plate (21).

9. A pitch robot for clamping construction materials according to claim 7, characterized by comprising a position control device, a first position sensor (51) and a second position sensor (52), wherein the first position sensor (51) is arranged at the top of the second connecting table (42), the second position sensor (52) is arranged at the bottom of the second connecting table (42), the position control device is arranged on the outer wall of the second connecting table (42), and the position control device, the first position sensor (51) and the second position sensor (52) are electrically connected.

10. The variable-pitch manipulator for clamping building materials according to claim 1, wherein a second sliding device is arranged between the second driving device (22) and the third driving device (23), the second sliding device comprises a horizontal sliding rail (281) and a second sliding block (282), one end of the horizontal sliding rail (281) is fixedly connected to a working surface, the other end of the horizontal sliding rail (281) is slidably connected with one end of the second sliding block (282), and the other end of the second sliding block (282) is fixedly connected to the first variable-pitch unit (24).