CN219213132U

CN219213132U - Be used for mechanical production centre gripping propelling movement material loading manipulator

Info

Publication number: CN219213132U
Application number: CN202320287776.0U
Authority: CN
Inventors: 李超群; 岳凯; 来永斌
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-06-20
Anticipated expiration: 2033-02-23

Abstract

The utility model discloses a clamping, pushing and feeding manipulator for mechanical production, which comprises a base, wherein the top of the base is fixedly connected with a supporting plate, the top of the supporting plate is symmetrically and fixedly connected with supporting ribs, the inner sides of the supporting ribs are fixedly connected with supporting rods, the top of the supporting rods is provided with an angle adjusting mechanism, one side of the angle adjusting mechanism is fixedly connected with a supporting arm, and two sides of the supporting arm are symmetrically provided with moving mechanisms; through base top fixedly connected with bracing piece, through bracing piece one side fixedly connected with mounting, and mounting top fixedly connected with hydraulic cylinder, the push rod and the support arm fixed connection at hydraulic cylinder top drive the angle of push rod adjustment support arm through hydraulic cylinder, and the cooperation bracing piece top is provided with fixed block and pivot, and the pivot outside rotates and is connected with the support arm, is convenient for adjust the angle of support arm, is favorable to manipulator lateral shifting position, is convenient for adjust the application range of manipulator.

Description

Be used for mechanical production centre gripping propelling movement material loading manipulator

Technical Field

The utility model belongs to the technical field of manipulators, and particularly relates to a clamping, pushing and feeding manipulator for mechanical production.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

The manipulator mainly comprises an executing mechanism, a driving mechanism and a control system. The hand is a part for gripping a workpiece (or tool), and has various structural forms such as a gripping type, a holding type, an adsorption type, and the like according to the shape, size, weight, material, and operation requirements of the gripped object. And the motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize a specified motion and change the position and the posture of the gripped object. The independent movement modes such as lifting, stretching and rotating of the movement mechanism are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more the degree of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. The general special manipulator has 2-3 degrees of freedom. The control system controls the motors of each degree of freedom of the manipulator to perform specific actions. And meanwhile, information fed back by the sensor is received, so that stable closed-loop control is formed. The core of the control system is usually composed of a micro-control chip such as a singlechip or a dsp, and the required functions are realized by programming the micro-control chip.

At present, the existing mechanical production clamping pushing feeding manipulator needs to clamp and push mechanical parts in the mechanical production process, is inconvenient to adjust angles in the feeding process and cannot adjust distances in the clamping process, cannot accurately position clamped objects, and is inconvenient to adjust, so that the mechanical production clamping pushing feeding manipulator is needed.

Disclosure of Invention

The utility model aims to overcome the existing defects, and provides the clamping, pushing and feeding manipulator for mechanical production, so as to solve the problems that in the prior art, the clamping, pushing and feeding manipulator for mechanical production is required to be used for clamping and pushing mechanical parts in the mechanical production process, the angle cannot be conveniently adjusted in the feeding process, the distance cannot be conveniently adjusted in the clamping process, the clamped objects cannot be accurately positioned, and the adjustment is inconvenient.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a be used for mechanical production centre gripping propelling movement material loading manipulator, includes the base, base top fixedly connected with backup pad, backup pad top symmetry fixedly connected with brace rod, the inboard fixedly connected with bracing piece of brace rod, the bracing piece top is provided with angle adjustment mechanism, angle adjustment mechanism one side fixedly connected with support arm, support arm bilateral symmetry is provided with moving mechanism, moving mechanism one end fixedly connected with centre gripping manipulator mechanism.

Preferably, the support shaft is fixedly connected inside the base, the mounting plates are symmetrically and fixedly connected inside the base, and universal wheels are fixedly connected at the bottoms of the mounting plates.

Preferably, the angle adjustment mechanism comprises a first fixed block, a rotating shaft is symmetrically arranged on two sides inside the first fixed block, a plurality of rotating shafts are arranged, a supporting arm is connected to the outer side of each rotating shaft in a rotating mode, a push rod is fixedly connected to the bottom of each supporting arm, a hydraulic cylinder is connected to the bottom of each push rod in a sliding mode, a fixing piece is fixedly connected to the bottom of each hydraulic cylinder, and one side of each fixing piece is fixedly connected with each supporting rod.

Preferably, the moving mechanism comprises a second fixed block, the two sides of the supporting arm are symmetrically and fixedly connected with a second fixed block, the other side of the second fixed block is fixedly connected with a second fixed plate, one side of the second fixed block is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with a screw rod, the outer side of the screw rod is in threaded connection with a sliding block, one side of the fixed block is provided with a sliding rail, the sliding rail is internally and slidably connected with a sliding block, and the outer side of the sliding block is fixedly connected with a moving arm.

Preferably, the support arm is kept away from first fixed block one end fixedly connected with connecting piece, connecting piece bilateral symmetry fixedly connected with third fixed block, third fixed block one side fixedly connected with spacing pole cover, the inside sliding connection of spacing pole cover has the removal arm, adjacent fixedly connected with connecting plate between the removal arm.

Preferably, the clamping manipulator mechanism comprises a driver, and a manipulator is arranged on one side of the driver.

Preferably, the sliding block is I-shaped.

Compared with the prior art, the utility model provides the clamping pushing feeding manipulator for mechanical production, which has the following beneficial effects:

1. the support rod is fixedly connected to the top of the base, the fixing piece is fixedly connected to one side of the support rod, the hydraulic cylinder is fixedly connected to the top of the fixing piece, the push rod at the top of the hydraulic cylinder is fixedly connected with the support arm, the angle of the support arm is adjusted by driving the push rod through the hydraulic cylinder, the fixing block and the rotating shaft are arranged at the top of the support rod in a matched mode, the support arm is rotatably connected to the outer side of the rotating shaft, and the angle of the support arm can be adjusted conveniently;

2. according to the utility model, the two sides of the supporting arm are provided with the moving mechanisms, the moving mechanisms are provided with the servo motors, the servo motors drive the screw rods to rotate, the sliding blocks on the outer sides of the screw rods move along the direction of the fixed blocks, the moving arms are fixedly connected on the outer sides of the sliding blocks, the outer sides of the moving arms penetrate through the limiting rod sleeves to be in sliding connection, the limiting rod sleeves are convenient for limiting the moving arms when moving, the transverse moving positions of the mechanical arms are facilitated, and the application range of the mechanical arms is convenient to adjust;

3. according to the utility model, the clamping manipulator mechanism is fixedly connected to one side of the moving mechanism, the clamping manipulator mechanism is provided with the driver, one side of the driver is provided with the manipulator, and the manipulator is controlled to clamp through the driver, so that the clamping, pushing and feeding of products to be produced can be accurately realized;

4. according to the utility model, the supporting shaft is arranged at the bottom of the base, the plurality of mounting plates are arranged at the bottom of the inner side of the base, and the universal wheels are fixedly arranged at the bottoms of the mounting plates, so that the mechanical production manipulator can conveniently rotate 360 degrees without dead angles, the mechanical parts can be conveniently operated in the production process, and the mechanical production manipulator is suitable for various situations.

The device has the advantages of scientific and reasonable structure, safe and convenient use and great help for people.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate and together with the embodiments of the utility model and do not constitute a limitation to the utility model, and in which:

fig. 1 is a schematic perspective view of a clamping, pushing and feeding manipulator for mechanical production according to the present utility model;

fig. 2 is a schematic diagram of a three-dimensional structure of the other side of the clamping, pushing and feeding manipulator for mechanical production according to the present utility model;

fig. 3 is a schematic diagram of a detailed structure of a base of a clamping, pushing and feeding manipulator for mechanical production according to the present utility model;

fig. 4 is a schematic top view of a clamping, pushing and feeding manipulator for mechanical production according to the present utility model;

in the figure: the device comprises a base 1, a supporting shaft 2, a mounting plate 3, universal wheels 4, a supporting plate 5, supporting ribs 6, supporting rods 7, fixing pieces 8, a hydraulic cylinder 9, a push rod 10, a first fixing block 11, a rotating shaft 12, a supporting arm 13, a second fixing block 14, a servo motor 15, a screw rod 16, a sliding block 17, a moving arm 18, a fixing plate 19, a connecting piece 20, a third fixing block 21, a limiting rod sleeve 22, a connecting plate 23, a driver 24 and a manipulator 25.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, the present utility model provides a technical solution: the utility model provides a be used for mechanical production centre gripping propelling movement material loading manipulator, includes

base

1, 1 top fixedly connected with backup pad 5 of base, backup pad 5 top symmetry fixedly connected with brace rod 6, the inboard fixedly connected with bracing piece 7 of brace rod 6, bracing piece 7 top is provided with angle adjustment mechanism, angle adjustment mechanism one side fixedly connected with support arm 13, support arm 13 bilateral symmetry is provided with moving mechanism, moving mechanism one end fixedly connected with centre gripping manipulator mechanism.

In the utility model, preferably, the support shaft 2 is fixedly connected in the base 1, the mounting plate 3 is symmetrically and fixedly connected in the base 1, and the universal wheel 4 is fixedly connected at the bottom of the mounting plate 3; be provided with back shaft 2 through base 1 bottom, and base 1 inboard bottom is provided with a plurality of mounting panel 3, installs through mounting panel 3 bottom and is fixed with universal wheel 4, and the mechanical production manipulator of being convenient for 360 no dead angles rotate, is convenient for operate mechanical parts in the production process, is applicable to multiple condition.

In the utility model, preferably, the angle adjusting mechanism comprises a first fixed block 11, wherein rotating shafts 12 are symmetrically arranged on two sides of the inside of the first fixed block 11, a plurality of rotating shafts 12 are arranged, a supporting arm 13 is rotatably connected to the outer side of each rotating shaft 12, a push rod 10 is fixedly connected to the bottom of each supporting arm 13, a hydraulic cylinder 9 is slidably connected to the bottom of each push rod 10, a fixing piece 8 is fixedly connected to the bottom of each hydraulic cylinder 9, and one side of each fixing piece 8 is fixedly connected with a supporting rod 7; through base 1 top fixedly connected with bracing piece 7, through bracing piece 7 one side fixedly connected with mounting 8, and mounting 8 top fixedly connected with hydraulic cylinder 9, with the push rod 10 and the support arm 13 fixed connection at hydraulic cylinder 9 top, drive the angle of push rod 10 adjustment support arm 13 through hydraulic cylinder 9, and cooperate bracing piece 7 top to be provided with first fixed block 11 and pivot 12, pivot 12 outside rotation is connected with support arm 13, is convenient for adjust the angle of support arm 13.

In the utility model, preferably, the moving mechanism comprises a second fixed block 14, the two sides of a supporting arm 13 are symmetrically and fixedly connected with the second fixed block 14, the other side of the second fixed block 14 is fixedly connected with a fixed plate 19, one side of the second fixed block 14 is fixedly connected with a servo motor 15, the output end of the servo motor 15 is fixedly connected with a screw rod 16, the outer side of the screw rod 16 is in threaded connection with a sliding block 17, one side of the second fixed block 14 is provided with a sliding rail, the sliding rail is internally and slidably connected with the sliding block 17, and the outer side of the sliding block 17 is fixedly connected with a moving arm 18; the two sides of the supporting arm 13 are provided with the moving mechanisms, the moving mechanisms are provided with the servo motors 15, the screw rods 16 are driven to rotate through the servo motors 15, the sliding blocks 17 on the outer sides of the screw rods 16 move along the direction of the second fixed blocks 14, the moving arms 18 are fixedly connected on the outer sides of the sliding blocks 17, the outer sides of the moving arms 18 penetrate through the limiting rod sleeves 22 to be in sliding connection, the limiting rod sleeves 22 are convenient to limit the moving arms 18 in moving, the transverse moving position of the manipulator is facilitated, and the using range of the manipulator is convenient to adjust.

In the utility model, preferably, one end of the supporting arm 13 far away from the first fixed block 11 is fixedly connected with a connecting piece 20, two sides of the connecting piece 20 are symmetrically and fixedly connected with a third fixed block 21, one side of the third fixed block 21 is fixedly connected with a limiting rod sleeve 22, the inside of the limiting rod sleeve 22 is slidably connected with a movable arm 18, and a connecting plate 23 is fixedly connected between adjacent movable arms 18.

In the present utility model, preferably, the holding manipulator mechanism includes a driver 24, and a manipulator 25 is provided on one side of the driver 24; through moving mechanism one side fixedly connected with centre gripping manipulator mechanism, centre gripping manipulator mechanism is provided with driver 24, and driver 24 one side is provided with manipulator 25, carries out the centre gripping through driver 24 control manipulator 25, is convenient for accurate to the product centre gripping propelling movement material loading that needs production.

In the present utility model, the slider 17 is preferably in an i shape.

The working principle and the using flow of the utility model are as follows: when the mechanical production manipulator is used, the bottom of the base 1 is provided with the supporting shaft 2, the bottom of the inner side of the base 1 is provided with the plurality of mounting plates 3, the universal wheels 4 are fixedly arranged at the bottoms of the mounting plates 3, the mechanical production manipulator can conveniently rotate 360 degrees without dead angles, the mechanical parts can be conveniently operated in the production process, and the mechanical production manipulator is suitable for various situations; the support rod 7 is fixedly connected to the top of the base 1, the fixing piece 8 is fixedly connected to one side of the support rod 7, the hydraulic cylinder 9 is fixedly connected to the top of the fixing piece 8, the push rod 10 at the top of the hydraulic cylinder 9 is fixedly connected with the support arm 13, the push rod 10 is driven by the hydraulic cylinder 9 to adjust the angle of the support arm 13, the first fixing block 11 and the rotating shaft 12 are arranged at the top of the support rod 7 in a matched manner, the support arm 13 is rotatably connected to the outer side of the rotating shaft 12, and the angle of the support arm 13 is convenient to adjust; the two sides of the supporting arm 13 are provided with the moving mechanisms, the moving mechanisms are provided with the servo motors 15, the servo motors 15 drive the screw rods 16 to rotate, the sliding blocks 17 on the outer sides of the screw rods 16 move along the direction of the second fixed blocks 14, the moving arms 18 are fixedly connected on the outer sides of the sliding blocks 17, the outer sides of the moving arms 18 penetrate through the limiting rod sleeves 22 to be in sliding connection, the limiting rod sleeves 22 are convenient for limiting the moving arms 18 when moving, the transverse moving position of the manipulator is facilitated, and the use range of the manipulator is convenient to adjust; through moving mechanism one side fixedly connected with centre gripping manipulator mechanism, centre gripping manipulator mechanism is provided with driver 24, and driver 24 one side is provided with manipulator 25, carries out the centre gripping through driver 24 control manipulator 25, is convenient for accurate to the product centre gripping propelling movement material loading that needs production.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Be used for machinery production centre gripping propelling movement material loading manipulator, including base (1), its characterized in that: the device comprises a base (1), wherein a supporting plate (5) is fixedly connected to the top of the base, supporting ribs (6) are symmetrically and fixedly connected to the top of the supporting plate (5), supporting rods (7) are fixedly connected to the inner sides of the supporting ribs (6), an angle adjusting mechanism is arranged at the top of each supporting rod (7), a supporting arm (13) is fixedly connected to one side of each angle adjusting mechanism, moving mechanisms are symmetrically arranged on two sides of each supporting arm (13), and one end of each moving mechanism is fixedly connected with a clamping manipulator mechanism;

the support shaft (2) is fixedly connected inside the base (1), the mounting plates (3) are symmetrically and fixedly connected inside the base (1), and universal wheels (4) are fixedly connected to the bottoms of the mounting plates (3); the angle adjusting mechanism comprises a first fixed block (11), rotating shafts (12) are symmetrically arranged on two sides of the inside of the first fixed block (11), a plurality of rotating shafts (12) are arranged, supporting arms (13) are rotatably connected to the outer sides of the rotating shafts (12), push rods (10) are fixedly connected to the bottoms of the supporting arms (13), hydraulic cylinders (9) are slidably connected to the bottoms of the push rods (10), fixing pieces (8) are fixedly connected to the bottoms of the hydraulic cylinders (9), and one sides of the fixing pieces (8) are fixedly connected with supporting rods (7); the mobile mechanism comprises a second fixed block (14), the second fixed block (14) is symmetrically and fixedly connected to two sides of the supporting arm (13), the fixed plate (19) is fixedly connected to the other side of the second fixed block (14), the servo motor (15) is fixedly connected to one side of the second fixed block (14), the lead screw (16) is fixedly connected to the output end of the servo motor (15), the sliding block (17) is connected to the outer side of the lead screw (16) in a threaded manner, the sliding rail is arranged on one side of the second fixed block (14), the sliding block (17) is connected to the sliding inside in a sliding manner, the mobile arm (18) is fixedly connected to the outer side of the sliding block (17), the clamping manipulator mechanism comprises a driver (24), and the manipulator (25) is arranged on one side of the driver (24).

2. The clamping, pushing and feeding manipulator for mechanical production according to claim 1, wherein: one end of the supporting arm (13) far away from the first fixed block (11) is fixedly connected with a connecting piece (20), two sides of the connecting piece (20) are symmetrically and fixedly connected with a third fixed block (21), one side of the third fixed block (21) is fixedly connected with a limiting rod sleeve (22), the inside of the limiting rod sleeve (22) is slidably connected with a movable arm (18), and a connecting plate (23) is fixedly connected between the adjacent movable arms (18).

3. The clamping, pushing and feeding manipulator for mechanical production according to claim 1, wherein: the sliding block (17) is I-shaped.