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

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

A manipulator used for clamping, pushing and feeding in mechanical production

technical field

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

Background technique

A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The feature is that various expected operations can be completed through programming, and the structure and performance have both the advantages of man and robot. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy.

The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The lifting, telescoping, rotating and other independent motion modes of the motion mechanism are called the degrees of freedom of the manipulator. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. Degree of freedom is a key parameter in manipulator design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. Generally, special-purpose manipulators have 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator. At the same time, it receives the information fed back by the sensor to form a stable closed-loop control. The core of the control system is usually composed of micro-control chips such as single-chip microcomputer or dsp, and the desired functions are realized by programming it.

At present, the existing mechanical production clamping and pushing feeding manipulator needs to clamp and push the mechanical parts during the mechanical production process. It is inconvenient to adjust the angle during the feeding process and the distance cannot be adjusted during the clamping process. Accurate positioning of the clamped items is not easy to adjust, so a manipulator for mechanical production, clamping, pushing and feeding is needed.

Utility model content

The technical problem to be solved by the utility model is to overcome the existing defects and provide a clamping and pushing feeding manipulator for mechanical production to solve the current existing mechanical production clamping and pushing feeding manipulator proposed in the above background technology. In the process of mechanical production, it is necessary to clamp and push the mechanical parts. It is not convenient to adjust the angle during the feeding process and the distance cannot be adjusted during the clamping process. It is impossible to accurately position the clamped items and it is not easy to adjust question.

In order to achieve the above purpose, the utility model provides the following technical solutions: a manipulator for clamping, pushing, and feeding in mechanical production, including a base, the top of the base is fixedly connected with a support plate, and the top of the support plate is symmetrically fixedly connected with support ribs , the inner side of the support rib is fixedly connected with a support rod, the top of the support rod is provided with an angle adjustment mechanism, one side of the angle adjustment mechanism is fixedly connected with a support arm, and the two sides of the support arm are symmetrically provided with a moving mechanism, the One end of the moving mechanism is fixedly connected with a clamping manipulator mechanism.

Preferably, a support shaft is fixedly connected to the inside of the base, a mounting plate is fixedly connected symmetrically to the inside of the base, and a universal wheel is fixedly connected to the bottom of the mounting plate.

Preferably, the angle adjustment mechanism includes a first fixed block, and rotating shafts are symmetrically arranged on both sides inside the first fixed block, and there are several rotating shafts, and a support arm is connected to the outer side of the rotating shaft, and the supporting arm The bottom is fixedly connected with a push rod, and the bottom of the push rod is slidably connected with a hydraulic cylinder, and the bottom of the hydraulic cylinder is fixedly connected with a fixing piece, and one side of the fixing piece is fixedly connected with the support rod.

Preferably, the moving mechanism includes a second fixed block, the two sides of the support arm are symmetrically fixedly connected with the second fixed block, the other side of the second fixed block is fixedly connected with the second fixed plate, and the second fixed One side of the 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 threaded with a slider, one side of the fixed block is provided with a slide rail, and the inside of the slide rail slides A slide block is connected, and a moving arm is fixedly connected to the outer side of the slide block.

Preferably, the end of the support arm away from the first fixed block is fixedly connected with a connecting piece, and both sides of the connecting piece are symmetrically fixedly connected with a third fixed block, and one side of the third fixed block is fixedly connected with a limit rod sleeve, so that A moving arm is slidably connected to the inside of the limit rod sleeve, and a connecting plate is fixedly connected between adjacent moving arms.

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

Preferably, the slider is I-shaped.

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

1. The utility model is fixedly connected with a support rod through the top of the base, a fixed part is fixedly connected with one side of the support rod, and a hydraulic cylinder is fixedly connected with the top of the fixed part, and the push rod on the top of the hydraulic cylinder is fixedly connected with the support arm, and the The cylinder drives the push rod to adjust the angle of the support arm, and the top of the support rod is equipped with a fixed block and a rotating shaft, and the outer side of the rotating shaft is connected to the support arm, which is convenient for adjusting the angle of the support arm;

2. The utility model is equipped with a moving mechanism on both sides of the support arm. The moving mechanism is equipped with a servo motor. The servo motor drives the screw to rotate, and the slider on the outside of the screw moves along the direction of the fixed block, and is fixedly connected to the outside of the slider. There is a moving arm, and the outer side of the moving arm is slidingly connected through the limit rod sleeve. The limit rod sleeve is convenient for limiting the movement of the moving arm, which is beneficial to the lateral movement position of the manipulator, and is convenient for adjusting the use range of the manipulator;

3. The utility model is fixedly connected with a clamping manipulator mechanism through one side of the moving mechanism. The clamping manipulator mechanism is provided with a driver, and one side of the driver is provided with a manipulator. The manipulator is controlled by the driver for clamping, which is convenient for accurately clamping the products to be produced. Support push feeding;

4. The utility model is provided with a support shaft through the bottom of the base, and several mounting plates are provided at the bottom of the inner side of the base, and universal wheels are installed and fixed through the bottom of the mounting plate, which is convenient for the mechanical production manipulator to rotate 360° without dead angle, and is convenient for the production process. Manipulating mechanical parts, applicable to many situations.

The parts not involved in the device are the same as the prior art or can be realized by adopting the prior art. The utility model has scientific and reasonable structure, safe and convenient use, and provides great help for people.

Description of drawings

The accompanying drawings are used to provide a further understanding of the utility model, and constitute a part of the description, and are used to explain the utility model together with the embodiments of the utility model, and do not constitute a limitation of the utility model. In the accompanying drawings:

Fig. 1 is a kind of three-dimensional structure schematic diagram that is used for mechanical production clamping and pushing feeding manipulator that the utility model proposes;

Fig. 2 is a schematic diagram of the other side of the three-dimensional structure of a manipulator used for clamping and pushing feeding in mechanical production proposed by the utility model;

Fig. 3 is a schematic diagram of the detailed structure of the base of the manipulator for clamping and pushing the feeding material proposed by the utility model;

Fig. 4 is a structural schematic diagram of a top view structure of a manipulator used for clamping, pushing, and feeding in mechanical production proposed by the utility model;

In the figure: base 1, support shaft 2, mounting plate 3, universal wheel 4, support plate 5, support rib 6, support rod 7, fixing piece 8, hydraulic cylinder 9, push rod 10, first fixing block 11, rotating shaft 12. Support arm 13, second fixed block 14, servo motor 15, screw rod 16, slider 17, moving arm 18, fixed plate 19, connector 20, third fixed block 21, limit rod cover 22, connecting plate 23, driver 24, manipulator 25.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to Figures 1-4, the utility model provides a technical solution: a manipulator for clamping, pushing and feeding in mechanical production, including a base 1, the top of the base 1 is fixedly connected with a support plate 5, and the top of the support plate 5 is fixedly connected symmetrically There are support ribs 6, and the inside of the support ribs 6 is fixedly connected with a support rod 7, and the top of the support rod 7 is provided with an angle adjustment mechanism, and one side of the angle adjustment mechanism is fixedly connected with a support arm 13, and the two sides of the support arm 13 are symmetrically provided with a moving mechanism. One end of the mechanism is fixedly connected with a clamping manipulator mechanism.

In the present utility model, preferably, the inside of the base 1 is fixedly connected with a support shaft 2, the inside of the base 1 is fixedly connected with a mounting plate 3 symmetrically, and the bottom of the mounting plate 3 is fixedly connected with a universal wheel 4; the bottom of the base 1 is provided with a support shaft 2 , and the inner bottom of the base 1 is provided with a number of mounting plates 3, and the universal wheels 4 are installed and fixed through the bottom of the mounting plate 3, which is convenient for the mechanical production manipulator to rotate 360° without dead angle, and is convenient for operating mechanical parts during the production process. It is suitable for Various situations.

In the present utility model, preferably, the angle adjustment mechanism includes a first fixed block 11, and rotating shafts 12 are arranged symmetrically on both sides inside the first fixed block 11. The bottom of the arm 13 is fixedly connected with the push rod 10, the bottom of the push rod 10 is slidingly connected with the hydraulic cylinder 9, the bottom of the hydraulic cylinder 9 is fixedly connected with the fixing part 8, and one side of the fixing part 8 is fixedly connected with the support rod 7; There is a support rod 7, a fixed part 8 is fixedly connected to one side of the support rod 7, and a hydraulic cylinder 9 is fixedly connected to the top of the fixed part 8, and the push rod 10 on the top of the hydraulic cylinder 9 is fixedly connected to the support arm 13. Drive the push rod 10 to adjust the angle of the support arm 13, and cooperate with the top of the support rod 7 to be provided with a first fixed block 11 and a rotating shaft 12.

In the present utility model, preferably, the moving mechanism includes a second fixed block 14, and the two sides of the support arm 13 are symmetrically fixedly connected with the second fixed block 14, and the other side of the second fixed block 14 is fixedly connected with a fixed plate 19, and the second fixed block 14 is fixedly connected with a fixed plate 19. One side of the block 14 is fixedly connected with a servo motor 15, the output end of the servo motor 15 is fixedly connected with a screw mandrel 16, the outer side of the screw mandrel 16 is threadedly connected with a slide block 17, one side of the second fixed block 14 is provided with a slide rail, and the inside of the slide rail Slidingly connected with a slider 17, the outside of the slider 17 is fixedly connected with a moving arm 18; a moving mechanism is arranged on both sides of the supporting arm 13, and the moving mechanism is provided with a servo motor 15, which drives the screw mandrel 16 to rotate through the servo motor 15, and the screw mandrel 16 The slide block 17 on the outside moves along the direction of the second fixed block 14, and the moving arm 18 is fixedly connected to the outside of the slide block 17, and the outside of the moving arm 18 is slidably connected through the stop rod sleeve 22, and the stop rod cover 22 is convenient for alignment. Limiting the movement of the moving arm 18 is beneficial to the lateral movement of the manipulator and facilitates the adjustment of the range of use of the manipulator.

In the utility model, preferably, the end of the support arm 13 away from the first fixed block 11 is fixedly connected with a connector 20, and the two sides of the connector 20 are symmetrically fixedly connected with a third fixed block 21, and one side of the third fixed block 21 is fixedly connected with limited The position rod cover 22 and the moving arm 18 are slidably connected inside the limit rod cover 22 , and the connecting plates 23 are fixedly connected between the adjacent moving arms 18 .

In the utility model, preferably, the clamping manipulator mechanism includes a driver 24, and one side of the driver 24 is provided with a manipulator 25; one side of the moving mechanism is fixedly connected with a clamping manipulator mechanism, and the clamping manipulator mechanism is provided with a driver 24. There is a manipulator 25 on the side, and the driver 24 controls the manipulator 25 to clamp, which is convenient for accurately clamping and pushing the products to be produced.

In the present utility model, preferably, the slider 17 is I-shaped.

The working principle and use process of the utility model: when in use, the bottom of the base 1 is provided with a support shaft 2, and the inner bottom of the base 1 is provided with several mounting plates 3, and the bottom of the mounting plate 3 is fixed with a universal wheel 4, which is convenient The mechanical production manipulator rotates 360° without dead angle, which is convenient to operate the mechanical parts during the production process, and is suitable for many situations; the support rod 7 is fixedly connected to the top of the base 1, and the fixing part 8 is fixedly connected to the side of the support rod 7, And the top of the fixture 8 is fixedly connected with a hydraulic cylinder 9, the push rod 10 on the top of the hydraulic cylinder 9 is fixedly connected with the support arm 13, the hydraulic cylinder 9 drives the push rod 10 to adjust the angle of the support arm 13, and the top of the support rod 7 is set The first fixed block 11 and the rotating shaft 12 are arranged, and the outer side of the rotating shaft 12 is rotatably connected with a support arm 13, which is convenient for adjusting the angle of the support arm 13; a moving mechanism is arranged on both sides of the supporting arm 13, and the moving mechanism is provided with a servo motor 15, and the servo motor 15 drives the screw mandrel 16 to rotate, and the slider 17 on the outside of the screw mandrel 16 moves along the direction of the second fixed block 14, and the outer side of the slider 17 is fixedly connected with the moving arm 18, and the outer side of the moving arm 18 passes through the limit rod sleeve 22 Slidingly connected, the limit rod cover 22 is convenient for limiting the movement of the mobile arm 18, which is beneficial to the lateral movement position of the manipulator, and is convenient for adjusting the range of use of the manipulator; one side of the moving mechanism is fixedly connected with a clamping manipulator mechanism, and the clamping manipulator mechanism A driver 24 is provided, and a manipulator 25 is arranged on one side of the driver 24, and the manipulator 25 is controlled by the driver 24 to clamp, so as to facilitate precise clamping, pushing and loading of products to be produced.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (3)

1. A manipulator for clamping, pushing, and feeding in mechanical production, comprising a base (1), characterized in that: the top of the base (1) is fixedly connected with a support plate (5), and the top of the support plate (5) is symmetrical A support rib (6) is fixedly connected, and a support rod (7) is fixedly connected to the inner side of the support rib (6). An angle adjustment mechanism is arranged on the top of the support rod (7), and one side of the angle adjustment mechanism is fixedly connected with a A support arm (13), the two sides of the support arm (13) are symmetrically provided with a moving mechanism, and one end of the moving mechanism is fixedly connected with a clamping manipulator mechanism; The inside of the base (1) is fixedly connected with a support shaft (2), the inside of the base (1) is fixedly connected with a mounting plate (3) symmetrically, and the bottom of the mounting plate (3) is fixedly connected with a universal wheel (4) ; The angle adjustment mechanism includes a first fixed block (11), and the inner sides of the first fixed block (11) are symmetrically provided with rotating shafts (12), and the rotating shafts (12) are provided with several, and the rotating shafts ( 12) The outer side is rotatably connected with a support arm (13), the bottom of the support arm (13) is fixedly connected with a push rod (10), and the bottom of the push rod (10) is slidingly connected with a hydraulic cylinder (9), and the hydraulic cylinder (9) The bottom is fixedly connected with a fixture (8), and one side of the fixture (8) is fixedly connected with the support rod (7); the moving mechanism includes a second fixed block (14), and the support arm (13 ) both sides are symmetrically fixedly connected with a second fixed block (14), the other side of the second fixed block (14) is fixedly connected with a fixed plate (19), and one side of the second fixed block (14) is fixedly connected with Servomotor (15), the output end of described servomotor (15) is fixedly connected with screw mandrel (16), and described screw mandrel (16) outer thread is connected with slide block (17), and described second fixed block (14 ) is provided with a slide rail, the inside of the slide rail is slidably connected with a slide block (17), the outside of the slide block (17) is fixedly connected with a moving arm (18), and the clamping manipulator mechanism includes a driver (24) , One side of the driver (24) is provided with a manipulator (25). 2. A manipulator for clamping, pushing, and feeding in mechanical production according to claim 1, characterized in that: the end of the support arm (13) away from the first fixed block (11) is fixedly connected with a connecting piece (20) , the two sides of the connector (20) are symmetrically fixedly connected with a third fixed block (21), and one side of the third fixed block (21) is fixedly connected with a limit rod sleeve (22), and the limit rod sleeve ( 22) A moving arm (18) is slidably connected inside, and a connecting plate (23) is fixedly connected between adjacent moving arms (18). 3. A clamping, pushing, and feeding manipulator for mechanical production according to claim 1, characterized in that: the slider (17) is I-shaped.

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