CN219504770U

CN219504770U - Multifunctional manipulator for assembling heavy truck

Info

Publication number: CN219504770U
Application number: CN202320357827.2U
Authority: CN
Inventors: 姜建业
Original assignee: Jingyang Yutuxiong Industry And Trade Co ltd
Current assignee: Jingyang Yutuxiong Industry And Trade Co ltd
Priority date: 2023-03-01
Filing date: 2023-03-01
Publication date: 2023-08-11
Anticipated expiration: 2033-03-01

Abstract

The utility model relates to the technical field of manipulators, in particular to a multifunctional manipulator for assembling heavy trucks, which comprises a bottom plate, a controller, a sliding mechanism, a rotating mechanism and a clamping mechanism.

Description

Multifunctional manipulator for assembling heavy truck

Technical Field

The utility model relates to the technical field of manipulators, in particular to a multifunctional manipulator for assembling a heavy truck.

Background

The general track motion mode of the mechanical arm can be classified into linear motion (L), joint motion (J) and circular arc motion (C), wherein the linear motion principle is to coordinate the mechanical arm to enable the mechanical arm to linearly move from any one point to another point in space, the joint motion principle is to coordinate the mechanical arm to enable the mechanical arm to move from a set point to another point of a different joint (linear conflict), the circular arc motion principle is to coordinate the mechanical arm to move from the set point to any arc point of the circle in a circular arc mode, the conventional circular arc motion is basically circular arc, the mechanical arm is extremely widely applied, and the mechanical arm is also favored in the field of heavy truck assembly.

The Chinese patent of utility model with publication number of CN212170486U discloses a manipulator with adjustable distance, which comprises a manipulator base, a lower arm bearing, a manipulator control motor and the like, and is also a commonly used manipulator at present, and the manipulator structure of the manipulator for assembling the existing heavy truck has the following defects:

1. most of the chassis is of a fixed design, inconvenient to adjust, and limited in exceeding the maximum horizontal rotation travel of the two clamping jaws when an object needs to be grabbed from one working plane to the other, and operability is reduced.

2. Most utilize the cylinder as the actuating source, carry out the centre gripping of article, similar electric gas claw structure, the tong is flat structure, inconvenient tubular or columnar article snatchs, and tubular or columnar spare part is more in the heavy truck equipment operation, consequently leads to practicality and flexibility to wait to promote.

Disclosure of Invention

The utility model aims to provide a multifunctional manipulator for assembling a heavy truck.

To achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a multi-functional manipulator is used in heavy truck equipment, comprising a base plate, still include the controller, slide mechanism, rotary mechanism and fixture, slide mechanism establishes the top at the bottom plate, slide mechanism includes slide and actuating assembly, the top of bottom plate is the symmetry and is provided with two guide rails, the slide slides and establishes the top at two guide rails, actuating assembly establishes the top at the bottom plate, rotary mechanism establishes the top at slide mechanism, rotary mechanism includes rotary assembly and swing subassembly, rotary assembly establishes the top at the slide, swing subassembly establishes the top at rotary assembly, fixture establishes on rotary mechanism, fixture includes flexible subassembly and two clamping jaws, flexible subassembly is established on swing subassembly, two clamping jaws are established on flexible subassembly, actuating assembly, rotary assembly, swing subassembly and flexible subassembly are electric connection with the controller.

Preferably, the driving assembly comprises a stepping motor and a screw rod, the screw rod is rotationally arranged at the top of the bottom plate, the stepping motor is fixedly arranged at the top of the bottom plate, the output end of the stepping motor is fixedly connected with one end of the screw rod, a sliding block is fixedly arranged at the bottom of the sliding plate and is in threaded connection with the screw rod, and the stepping motor is electrically connected with the controller.

Preferably, the rotating assembly comprises a support column, a driving motor, a first gear and a second gear, the top of the sliding plate is provided with a base, the support column is arranged at the top of the base through rotation of a rotating shaft, the second gear is sleeved on the outer wall of the support column, the driving motor is fixedly arranged on the outer wall of the base, the first gear is sleeved on the output end of the driving motor, the first gear is smaller than the second gear, the first gear is meshed with the second gear and connected with the controller, and the driving motor is electrically connected with the controller.

Preferably, the swing assembly comprises a stand column, a cantilever and a first electric push rod, wherein the stand column is fixedly arranged at the top of the support column, the cantilever is hinged to the top of the stand column, the first electric push rod is hinged between the stand column and the outer wall of the cantilever, and the first electric push rod is electrically connected with the controller.

Preferably, one end of the cantilever far away from the upright post is fixedly provided with two connecting rods, and one end of the two connecting rods far away from the cantilever is fixedly provided with a mounting plate.

Preferably, the telescopic assembly comprises a second electric push rod, a hinge block and two first connecting rods, a linear bearing is arranged on the inner wall of one end of the mounting plate, which is close to the cantilever, the second electric push rod is inserted on the inner wall of the cantilever, the output end of the second electric push rod penetrates through the cantilever and is inserted with the inner ring of the linear bearing, the hinge block is fixedly arranged on the output end of the second electric push rod, the two first connecting rods are hinged on the hinge block, one end of each clamping jaw, which is close to the first connecting rod, is integrally formed and is provided with the second connecting rod, one end outer wall of the mounting plate and one end of each first connecting rod, which is far away from the hinge block, are hinged with two ends of each second connecting rod respectively, and the second electric push rod is electrically connected with the controller.

Preferably, the output end of the second electric push rod is sleeved with a buffer spring, and the outer wall of the mounting plate and the outer wall of the hinge block are respectively abutted against the two ends of the buffer spring.

The utility model has the beneficial effects that:

1. according to the utility model, the sliding mechanism is designed, namely the sliding plate and the driving assembly are included, when an object is required to be grabbed from one working plane to the other working plane, and the maximum horizontal rotation stroke of the two clamping jaws is exceeded, the two clamping jaws can be driven by the controller to clamp the object from the one working plane, then the stepping motor is started by the controller, the output end of the stepping motor is fixedly connected with one end of the screw rod, so that the screw rod is driven to rotate through the output end of the stepping motor, and the bottom plate is fixedly connected with the sliding block, the sliding plate is in threaded connection with the screw rod, the sliding plate is in sliding connection with the two guide rails, the two clamping jaws are driven to drive the clamped object to slide for a certain distance towards one end close to the other working plane, and finally the support column and the two clamping jaws at the top of the support column are driven by the controller to horizontally rotate until the grabbed object is placed on the other working plane, so that the problem that the grabbing stroke of the existing structure is insufficient is effectively solved, and the practicability of the manipulator is improved.

2. According to the utility model, the telescopic assembly is designed, namely the telescopic assembly comprises the second electric push rod, the hinge blocks and the two first connecting rods, when an object is required to be clamped, the second electric push rod is started through the controller, so that the output end of the telescopic assembly drives the hinge blocks to retract towards one end close to the cantilever, as the hinge blocks and one end of each second connecting rod are respectively hinged with two ends of each first connecting rod, the other end of each second connecting rod is hinged with the mounting plate, and as each clamping jaw is fixedly connected with one second connecting rod, the two first connecting rods are driven to rotate towards one end close to each other to be converted from inclination to parallel, and further the two clamping jaws are driven to rotate towards one end close to each other, namely the two clamping jaws are mutually close to clamp the object.

3. According to the utility model, the buffer spring is designed to play a role in buffering, so that the two clamping jaws are guaranteed to approach at a constant speed to grab an object, the object is prevented from being clamped and damaged due to too high clamping speed, the two clamping jaws are guaranteed to accurately clamp the outer wall of the object, and the clamping precision is improved.

4. According to the utility model, through designing the sliding plate, the driving assembly, the rotating assembly and the swinging assembly, the rotation automatic adjustment of any angle in the horizontal direction and a certain angle in the vertical direction of the manipulator can be realized, objects at different positions can be grabbed, and one object can be grabbed from one working plane to the other plane, so that the manipulator is good in flexibility and strong in practicability.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present utility model, the following description briefly describes the drawings in the embodiments of the present utility model.

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic diagram of a second perspective structure of the present utility model;

FIG. 3 is an enlarged view at A in FIG. 2;

FIG. 4 is a front view of the present utility model;

FIG. 5 is an enlarged view at B in FIG. 4;

in the figure: the device comprises a controller 1, a sliding mechanism 2, a rotating mechanism 3, a clamping mechanism 4, a sliding plate 5, a driving assembly 6, a rotating assembly 7, a swinging assembly 8, a telescopic assembly 9, a clamping jaw 10, a stepping motor 11, a screw rod 12, a sliding block 13, a support column 14, a driving motor 15, a first gear 16, a second gear 17, a base 18, a stand column 19, a cantilever 20, a first electric push rod 21, a connecting rod 22, a mounting plate 23, a second electric push rod 24, a hinge block 25, a first connecting rod 26, a second connecting rod 27 and a buffer spring 28.

Detailed Description

The technical scheme of the utility model is further described below by the specific embodiments with reference to the accompanying drawings.

Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced in size and do not represent the actual product dimensions.

Referring to fig. 1 to 5, a multifunctional manipulator for assembling heavy trucks, which comprises a base plate, still include controller 1, slide mechanism 2, rotary mechanism 3 and fixture 4, slide mechanism 2 establishes the top at the bottom plate, slide mechanism 2 includes slide 5 and actuating assembly 6, the top of bottom plate is the symmetry and is provided with two guide rails, slide 5 slides and establishes the top at two guide rails, actuating assembly 6 establishes the top at the bottom plate, rotary mechanism 3 establishes the top at slide mechanism 2, rotary mechanism 3 includes rotary assembly 7 and swing subassembly 8, rotary assembly 7 establishes the top at slide 5, swing subassembly 8 establishes the top at rotary assembly 7, fixture 4 establishes on rotary mechanism 3, fixture 4 includes telescopic assembly 9 and two clamping jaw 10, telescopic assembly 9 establishes on swing subassembly 8, two clamping jaw 10 establish on telescopic assembly 9, actuating assembly 6, rotary assembly 7, swing assembly 8 and telescopic assembly 9 are electric connection with controller 1.

The driving assembly 6 comprises a stepping motor 11 and a screw rod 12, the screw rod 12 is rotatably arranged at the top of the bottom plate, the stepping motor 11 is fixedly arranged at the top of the bottom plate, the output end of the stepping motor 11 is fixedly connected with one end of the screw rod 12, a sliding block 13 is fixedly arranged at the bottom of the sliding plate 5, the sliding block 13 is in threaded connection with the screw rod 12, the stepping motor 11 is electrically connected with the controller 1, when an object is required to be grabbed from one working plane to the other working plane and exceeds the maximum horizontal rotation stroke of the two clamping jaws 10, the controller 1 can drive the two clamping jaws 10 to clamp the object from the one working plane, then the controller 1 starts the stepping motor 11, and the output end of the stepping motor 11 is fixedly connected with one end of the screw rod 12, so that the screw rod 12 is driven to rotate through the output end of the stepping motor 11, and the bottom plate is fixedly connected with the sliding block 13, the sliding block 13 is in threaded connection with the screw rod 12, the sliding plate 5 is further driven to slide the two guide rails, and the two clamping jaws 10 are driven to slide towards one end close to the other working plane, and finally the two clamping jaws 10 are driven to horizontally rotate through the controller 1 until the two clamping jaws 10 and the object at the top of the two clamping jaws are driven to horizontally rotate.

The rotating assembly 7 comprises a support 14, a driving motor 15, a first gear 16 and a second gear 17, wherein the top of the sliding plate 5 is provided with a base 18, the support 14 is rotatably arranged at the top of the base 18 through a rotating shaft, the second gear 17 is sleeved on the outer wall of the support 14, the driving motor 15 is fixedly arranged on the outer wall of the base 18, the first gear 16 is sleeved on the output end of the first gear 16, the first gear 16 is smaller than the second gear 17, the first gear 16 and the second gear 17 are in meshed connection, the driving motor 15 is electrically connected with the controller 1, when the angle of the manipulator in the horizontal direction is required to be adjusted, the driving motor 15 is started through the controller 1, so that the first gear 16 on the output end of the manipulator is driven to rotate, the support 14 is fixedly connected with the support 14 through the rotating shaft, and the first gear 16 is smaller than the second gear 17, the first gear 16 is meshed with the second gear 17, and the first gear 16 and the second gear 17 are further driven to rotate the support 14 and the two clamping jaws 10 on the top of the support 14, and the grabbing requirement of any angle in the horizontal direction is met.

The swing assembly 8 comprises a stand column 19, a cantilever 20 and a first electric push rod 21, wherein the stand column 19 is fixedly arranged at the top of the support column 14, the cantilever 20 is hinged to the top of the stand column 19, the first electric push rod 21 is hinged to the outer wall of the stand column 19 and the cantilever 20, the first electric push rod 21 is electrically connected with the controller 1, when the angle of the manipulator in the vertical direction needs to be adjusted, the first electric push rod 21 is started through the controller 1, so that the output end of the manipulator is contracted, and as the outer walls of the stand column 19 and the cantilever 20 are respectively hinged to the two ends of the first electric push rod 21, one end of the cantilever 20 is hinged to the top of the stand column 19, and then the cantilever 20 and two clamping jaws 10 on the cantilever 20 are driven to swing vertically, so that the grabbing requirement of a certain angle in the vertical direction is met.

The cantilever 20 is kept away from the fixed two connecting rods 22 that are equipped with of one end of stand 19, and the fixed mounting panel 23 that is equipped with of one end that is kept away from cantilever 20 of two connecting rods 22, and two connecting rods 22 are used for connecting cantilever 20 and mounting panel 23, play fixed effect.

The telescopic component 9 comprises a second electric push rod 24, a hinging block 25 and two first connecting rods 26, wherein a linear bearing is arranged on the inner wall of one end of the mounting plate 23, which is close to the cantilever 20, the second electric push rod 24 is inserted on the inner wall of the cantilever 20, the output end of the second electric push rod passes through the cantilever 20 and is spliced with the inner ring of the linear bearing, the hinging block 25 is fixedly arranged on the output end of the second electric push rod 24, the two first connecting rods 26 are hinged on the hinging block 25, one end of each clamping jaw 10, which is close to the first connecting rods 26, is integrally formed and provided with a second connecting rod 27, the outer wall of one end of the mounting plate 23 and one end of each first connecting rod 26, which is far away from the hinging block 25, are respectively hinged with the two ends of each second connecting rod 27, the second electric push rod 24 is electrically connected with the controller 1, when an object is required to be clamped, the second electric push rod 24 is started by the controller 1, the output end drives the hinging block 25 to shrink towards one end close to the cantilever 20, and as the hinging block 25 and one end of each second connecting rod 27 are hinged with two ends of each first connecting rod 26 respectively, the other end of each second connecting rod 27 is hinged with the mounting plate 23, and as each clamping jaw 10 is fixedly connected with one second connecting rod 27, one end of each first connecting rod 26 is driven to rotate from inclination to parallel, and then the two clamping jaws 10 are driven to rotate towards one end close to each other, namely, the clamping jaws are mutually close to clamp objects, and as the end parts of the clamping jaws 10 are of a bending structure with a certain angle, not only the massive objects can be clamped, but also tubular or columnar objects can be clamped, and the flexibility of the manipulator is further improved.

The output end of the second electric push rod 24 is sleeved with a buffer spring 28, the outer wall of the mounting plate 23 and the outer wall of the hinge block 25 are respectively abutted against two ends of the buffer spring 28, the buffer spring 28 plays a role in buffering, two clamping jaws 10 are guaranteed to approach at a uniform speed, the objects are grabbed, the objects are prevented from being clamped and damaged due to too high clamping speed, the outer walls of the objects can be accurately clamped by the two clamping jaws 10, and clamping accuracy is improved.

The working principle of the utility model is as follows: when an object needs to be clamped, the controller 1 starts the second electric push rod 24, so that the output end of the second electric push rod drives the hinging block 25 to retract towards one end close to the cantilever 20, and as one end of the hinging block 25 and one end of each second connecting rod 27 are hinged with two ends of each first connecting rod 26 respectively, the other end of each second connecting rod 27 is hinged with the mounting plate 23, and as each clamping jaw 10 is fixedly connected with one second connecting rod 27, the two first connecting rods 26 are driven to rotate towards one end close to each other to be converted from inclination to parallel, and the two clamping jaws 10 are driven to rotate towards one end close to each other, namely, the two clamping jaws are mutually close to clamp the object.

The buffer spring 28 plays a role in buffering, and guarantees that the two clamping jaws 10 are close to each other at a constant speed to grab an object, firstly, in order to prevent the object from being clamped and damaged due to too high clamping speed, and secondly, the two clamping jaws 10 can accurately clamp the outer wall of the object, and clamping accuracy is improved.

When the angle of the manipulator in the horizontal direction needs to be adjusted, the driving motor 15 is started through the controller 1, so that the first gear 16 on the output end of the manipulator is driven to rotate, the second gear 17 is fixedly connected with the support column 14, the support column 14 is rotationally connected with the base station 18 through the rotating shaft, and the first gear 16 is smaller than the second gear 17, the first gear 16 and the second gear 17 are in meshed connection, so that the two clamping jaws 10 on the support column 14 and the top of the support column are driven to rotate at a retarded speed, and the grabbing requirement of any angle in the horizontal direction is met.

When the angle on the vertical direction of this manipulator needs to be adjusted, start first electric putter 21 through controller 1 to make its output shrink, because stand 19 and cantilever 20's outer wall respectively with first electric putter 21's both ends hinge, because cantilever 20's one end is articulated with the top of stand 19 again, and then drive cantilever 20 and two clamping jaw 10 vertical swing on it, satisfy the requirement of snatching of certain angle on the vertical direction.

When an object is required to be grabbed from one working plane to the other working plane and the maximum horizontal rotation stroke of the two clamping jaws 10 is exceeded, the two clamping jaws 10 can be driven by the controller 1 to clamp the object from the one working plane, then the stepping motor 11 is started by the controller 1, the output end of the stepping motor 11 is fixedly connected with one end of the screw rod 12, the screw rod 12 is driven to rotate through the output end of the stepping motor 11, the bottom plate is fixedly connected with the sliding block 13, the sliding block 13 is in threaded connection with the screw rod 12, the sliding plate 5 is in sliding connection with the two guide rails, the two clamping jaws 10 are driven to drive the clamped object to slide for a certain distance towards one end close to the other working plane, and finally the supporting column 14 and the two clamping jaws 10 at the top of the supporting column are driven by the controller 1 to horizontally rotate until the grabbed object is placed on the other working plane.

Claims

1. The utility model provides a multi-functional manipulator is used in heavy truck equipment, includes bottom plate, its characterized in that: still include controller (1), slide mechanism (2), rotary mechanism (3) and fixture (4), slide mechanism (2) establish the top at the bottom plate, slide mechanism (2) are including slide (5) and drive assembly (6), the top of bottom plate is the symmetry and is provided with two guide rails, slide (5) slip is established at the top of two guide rails, drive assembly (6) are established at the top of bottom plate, rotary mechanism (3) are established at the top of slide mechanism (2), rotary mechanism (3) include rotary assembly (7) and swing subassembly (8), rotary assembly (7) are established at the top of slide (5), swing subassembly (8) are established at the top of rotary assembly (7), fixture (4) are established on rotary mechanism (3), fixture (4) are including telescopic assembly (9) and two clamping jaw (10), telescopic assembly (9) are established on swing assembly (8), two clamping jaw (10) are established on telescopic assembly (9), drive assembly (6), rotary assembly (7), swing assembly (8) and controller (1) are equal electric connection.

2. The multi-functional manipulator for assembling a heavy truck according to claim 1, wherein: the driving assembly (6) comprises a stepping motor (11) and a screw rod (12), the screw rod (12) is rotationally arranged at the top of the bottom plate, the stepping motor (11) is fixedly arranged at the top of the bottom plate, the output end of the stepping motor is fixedly connected with one end of the screw rod (12), a sliding block (13) is fixedly arranged at the bottom of the sliding plate (5), the sliding block (13) is in threaded connection with the screw rod (12), and the stepping motor (11) is electrically connected with the controller (1).

3. The multi-functional manipulator for assembling a heavy truck according to claim 2, wherein: the rotating assembly (7) comprises a support column (14), a driving motor (15), a first gear (16) and a second gear (17), a base table (18) is arranged at the top of the sliding plate (5), the support column (14) is arranged at the top of the base table (18) in a rotating mode through a rotating shaft, the second gear (17) is sleeved on the outer wall of the support column (14), the driving motor (15) is fixedly arranged on the outer wall of the base table (18), the first gear (16) is sleeved on the output end of the driving motor, the first gear (16) is smaller than the second gear (17), the first gear (16) is connected with the second gear (17) in a meshed mode, and the driving motor (15) is electrically connected with the controller (1).

4. A multi-functional manipulator for assembling a heavy truck according to claim 3, wherein: swing subassembly (8) include stand (19), cantilever (20) and first electric putter (21), and the top at pillar (14) is established to stand (19) is fixed, and cantilever (20) hinge is established at the top of stand (19), and first electric putter (21) hinge sets up between the outer wall of stand (19) and cantilever (20), and first electric putter (21) are connected with controller (1) electricity.

5. The multi-functional manipulator for assembling a heavy truck according to claim 4, wherein: one end of the cantilever (20) far away from the upright post (19) is fixedly provided with two connecting rods (22), and one end of the two connecting rods (22) far away from the cantilever (20) is fixedly provided with a mounting plate (23).

6. The multi-functional manipulator for assembling a heavy truck according to claim 5, wherein: the telescopic assembly (9) comprises a second electric push rod (24), a hinging block (25) and two first connecting rods (26), a linear bearing is arranged on the inner wall of one end of the mounting plate (23) close to the cantilever (20), the second electric push rod (24) is inserted on the inner wall of the cantilever (20), the output end of the second electric push rod passes through the cantilever (20) and is spliced with the inner ring of the linear bearing, the hinging block (25) is fixedly arranged on the output end of the second electric push rod (24), the two first connecting rods (26) are hinged on the hinging block (25), one end of each clamping jaw (10) close to the first connecting rod (26) is integrally formed and provided with a second connecting rod (27), the outer wall of one end of the mounting plate (23) and one end of each first connecting rod (26) away from the hinging block (25) are hinged with the two ends of each second connecting rod (27), and the second electric push rod (24) is electrically connected with the controller (1).

7. The multi-functional manipulator for assembling a heavy truck according to claim 6, wherein: the output end of the second electric push rod (24) is sleeved with a buffer spring (28), and the outer wall of the mounting plate (23) and the outer wall of the hinge block (25) are respectively abutted against the two ends of the buffer spring (28).