CN219902187U

CN219902187U - Assembly manipulator

Info

Publication number: CN219902187U
Application number: CN202321431816.0U
Authority: CN
Inventors: 高学锁; 王秋娟; 孔樊勇; 李强; 唐超
Original assignee: Qinhuangdao Junhua Heavy Industry Technology Co ltd
Current assignee: Qinhuangdao Junhua Heavy Industry Technology Co ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2023-10-27
Anticipated expiration: 2033-06-07

Abstract

The utility model relates to the technical field of manipulators, in particular to an assembly manipulator which comprises a box body, a mounting disc, first rotating arms, connecting arms, second rotating arms, first hydraulic cylinders and second hydraulic cylinders, wherein the first hydraulic cylinders distributed in an annular array are arranged on the outer wall of the box body, mounting grooves are formed in the inner portion of the box body, a turntable is arranged at the upper end of the box body, the second hydraulic cylinders are arranged at the upper end of the turntable, the mounting disc is arranged at the upper end of the second hydraulic cylinders, supports are arranged at the upper ends of the mounting disc, the first rotating arms are rotatably mounted between the supports, the connecting arms are arranged on one sides of the first rotating arms, and the second rotating arms are arranged on one sides of the connecting arms. The utility model has the functions of height adjustment and automatic gravity center stabilization, solves the problem that the existing manipulator lacks the function of automatic gravity center balance after lifting the height, and causes side turning easily after lifting the object, thereby influencing the smooth operation of the work.

Description

Assembly manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to an assembly manipulator.

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.

Through retrieving, patent publication number is CN212497756U, discloses a rotatable manipulator of double-chuck and use manipulator equipment of rotatable manipulator of double-chuck, by lower box, control slide mechanism, upper and lower slide mechanism, front and back slide mechanism and manipulator are constituteed, wherein the manipulator is right angle double-end structure, establish in front and back slide mechanism one end, the rotatable simultaneously of accessible harmonic reducer of double-end centre gripping and accessible changes the angle, a simple structure, the simple operation, a rotatable manipulator of double-chuck and the manipulator equipment of using rotatable manipulator of double-chuck that production efficiency and quality stability are high. A double-chuck rotatable manipulator and a manipulator device using the same, the composition of which includes: lower box, control slide mechanism, upper and lower slide mechanism, front and back slide mechanism and manipulator, its characterized in that, the manipulator includes the fixed block, the fixed block top is connected and is equipped with servo motor, the fixed block below is connected and is equipped with the harmonic reducer, among the prior art CN212497756U, the defect that exists is: the existing manipulator lacks the gravity center automatic balancing function after lifting the object, which causes rollover after lifting the object and affects smooth operation.

Disclosure of Invention

The utility model aims at solving the problems in the background art and provides an assembling manipulator.

The technical scheme of the utility model is as follows: the utility model provides an assembly manipulator, includes box, mounting disc, first rotating arm, linking arm, second rotating arm, first pneumatic cylinder and second pneumatic cylinder, the box outer wall is provided with the first pneumatic cylinder that is annular array distribution, the inside mounting groove that is provided with of box, the box upper end is provided with the carousel, the carousel upper end is provided with the second pneumatic cylinder, second pneumatic cylinder upper end is provided with the mounting disc, the mounting disc upper end is provided with the support, rotate between the support and install first rotating arm, first rotating arm one side is provided with the linking arm, linking arm one side is provided with the second rotating arm.

When the mechanical arm is assembled, the motor can drive the turntable to rotate, so that the angle of the clamping arm is adjusted, the second hydraulic cylinder can adjust the height of the clamping arm, the first rotating arm and the second rotating arm are matched to clamp an object, when the mounting plate ascends, the gravity center of the whole device ascends, rollover occurs easily when the clamping arm moves to one side to clamp the object, at the moment, the roller can make corresponding movement to the outer side by utilizing the matching work of the infrared transmitter and the infrared receiver, the probability of rollover of the device is reduced, and the stability of the device is effectively increased.

Preferably, a first hydraulic rod is arranged on one side of the first hydraulic cylinder, and a mounting column is arranged on one side of the first hydraulic rod. The first hydraulic cylinder can drive the mounting column to perform telescopic movement to the outside.

Preferably, the mounting column lower extreme rotates and is provided with the mounting bracket, the mounting bracket lower extreme is provided with the gyro wheel, the box lower extreme is provided with the base, the gyro wheel with the lower surface parallel and level of base. Through the parallel and level between gyro wheel and the base, can make the holistic equilibrium of box increase.

Preferably, a second hydraulic rod is arranged at the upper end of the second hydraulic cylinder, and the upper end of the second hydraulic rod is fixedly connected with the lower end of the mounting plate. The mounting plate can be driven to move up and down through the second hydraulic cylinder, so that the up-and-down height adjustment of the clamping arm is realized.

Preferably, a motor is arranged in the mounting groove, a mounting seat is arranged at the lower end of the motor, and the mounting seat is fixedly connected with the inner wall of the mounting groove. Can drive the carousel through the motor and rotate, realize the regulation of centre gripping arm angle, the mount pad can increase the stability of motor installation.

Preferably, the lower surface of the mounting plate is provided with an infrared receiver, and the upper surface of the turntable is provided with an infrared generator. Through the cooperation of infrared emitter and infrared receiver, can detect the rising height of mounting disc, along with the rising of height, the length that the gyro wheel outwards extends also increases to some extent, has reached the function of adjusting the stability of box.

Compared with the prior art, the utility model has the following beneficial technical effects:

1. the device can use the second hydraulic cylinder to lift the clamping arm, and can use the first hydraulic cylinder to drive the roller to extend outwards when lifting, so that the integral gravity center of the device is effectively stabilized;

2. the device can utilize the first rotating arm, the connecting arm, the second rotating arm and the clamping arm to carry the material.

Drawings

FIG. 1 is a three-dimensional schematic of the present utility model;

fig. 2 is a schematic front view of the present utility model.

Reference numerals:

1. a case; 2. a base; 3. a roller; 4. a first hydraulic lever; 5. a mounting column; 6. an infrared emitter; 7. a mounting plate; 8. a bracket; 9. a first rotating arm; 10. a connecting arm; 11. a second rotating arm; 12. a clamping arm; 13. a first hydraulic cylinder; 14. a mounting frame; 15. an infrared receiver; 16. a turntable; 17. a mounting base; 18. a mounting groove; 19. a motor; 20. a second hydraulic cylinder; 21. and a second hydraulic rod.

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.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

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

Embodiment one:

as shown in fig. 1 to 2, the assembly manipulator provided by the utility model comprises a box body 1, a mounting disc 7, a first rotating arm 9, a connecting arm 10, a second rotating arm 11, a first hydraulic cylinder 13 and a second hydraulic cylinder 20, wherein the first hydraulic cylinder 13 distributed in an annular array is arranged on the outer wall of the box body 1, a first hydraulic rod 4 is arranged on one side of the first hydraulic cylinder 13, a mounting column 5 is arranged on one side of the first hydraulic rod 4, the mounting column 5 can be driven to stretch out and draw back through the first hydraulic cylinder 13, a mounting frame 14 is rotatably arranged at the lower end of the mounting column 5, a roller 3 is arranged at the lower end of the mounting frame 14, a base 2 is arranged at the lower end of the box body 1, the roller 3 is flush with the lower surface of the base 2, a mounting groove 18 is arranged inside the box body 1, a motor 19 is arranged inside the mounting groove 18, a mounting seat 17 is arranged at the lower end of the motor 19, the mounting seat 17 is fixedly connected with the inner wall of the mounting groove 18, the motor 19 can drive the rotating disc 16 to rotate through the motor 19, the upper end of the upper rotating disc 21 can be driven by the second hydraulic rod 20, the upper end of the upper rotating disc 21 can be driven by the upper end of the second rotating disc 20 can be fixedly arranged, and the upper end of the upper rotating disc 21 can be driven by the upper end of the second rotating disc is fixedly arranged, and the upper end of the upper rotating disc is stable body 2 can be fixed.

In this embodiment: the second hydraulic cylinder 20 has lifting effect on the clamping arm 12, and the first hydraulic cylinder 13 can be matched with the induction of the infrared emitter 6 and the infrared receiver 15 to drive the roller 3 to extend outwards during lifting, so that the overall gravity center of the device is effectively stabilized.

Embodiment two:

as shown in fig. 1 to 2, the present utility model provides an assembly manipulator, which further includes: the upper end of the rotary table 16 is provided with a second hydraulic cylinder 20, the upper end of the second hydraulic cylinder 20 is provided with a mounting plate 7, the upper end of the mounting plate 7 is provided with a bracket 8, a first rotary arm 9 is rotatably mounted between the brackets 8, one side of the first rotary arm 9 is provided with a connecting arm 10, one side of the connecting arm 10 is provided with a second rotary arm 11, the lower end of the second rotary arm 11 is provided with a clamping arm 12, a driving mechanism and a driving rotary mechanism between the first rotary arm 9, the second rotary arm 11, the connecting arm 10 and the clamping arm 12 are not mentioned in the figure, an engineer can add corresponding driving pieces at corresponding positions, the lower surface of the mounting plate 7 is provided with an infrared receiver 15, the upper surface of the rotary table 16 is provided with an infrared generator, the ascending height of the mounting plate 7 can be detected through the cooperation of the infrared emitter 6 and the infrared receiver 15, the length of the roller 3 stretching outwards is increased along with the ascending height, and the stability of the box 1 is regulated.

In this embodiment, the first rotating arm 9, the connecting arm 10, the second rotating arm 11 and the clamping arm 12 can carry out the material carrying effect.

When the device is used, the motor 19 can drive the turntable 16 to rotate, so that the angle adjustment of the clamping arm 12 is realized, the second hydraulic cylinder 20 can adjust the height of the clamping arm 12, the clamping effect is carried out on objects by matching with the first rotating arm 9 and the second rotating arm 11, when the mounting plate 7 rises, the gravity center of the whole device rises, rollover can easily occur when the clamping arm 12 moves to one side to clamp the objects, at the moment, the roller 3 can make corresponding movement to the outer side by using the matching work of the infrared emitter 6 and the infrared receiver 15, the probability of rollover of the device is reduced, and the stability of the device is effectively increased. The utility model has the functions of height adjustment and automatic gravity center stabilization, solves the problem that the existing manipulator lacks the function of automatic gravity center balance after lifting the height, and causes side turning easily after lifting the object, thereby influencing the smooth operation of the work.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an assembly manipulator, includes box (1), mounting disc (7), first swing arm (9), linking arm (10), second swing arm (11), first pneumatic cylinder (13) and second pneumatic cylinder (20), its characterized in that: the novel hydraulic control device is characterized in that a first hydraulic cylinder (13) distributed in an annular array is arranged on the outer wall of the box body (1), a mounting groove (18) is formed in the box body (1), a rotary table (16) is arranged at the upper end of the box body (1), a second hydraulic cylinder (20) is arranged at the upper end of the rotary table (16), a mounting disc (7) is arranged at the upper end of the second hydraulic cylinder (20), a support (8) is arranged at the upper end of the mounting disc (7), a first rotating arm (9) is rotatably mounted between the supports (8), a connecting arm (10) is arranged on one side of the first rotating arm (9), and a second rotating arm (11) is arranged on one side of the connecting arm (10).

2. An assembly robot as claimed in claim 1, wherein: a first hydraulic rod (4) is arranged on one side of the first hydraulic cylinder (13), and a mounting column (5) is arranged on one side of the first hydraulic rod (4).

3. An assembly robot as claimed in claim 2, wherein: the mounting column (5) lower extreme rotates and is provided with mounting bracket (14), mounting bracket (14) lower extreme is provided with gyro wheel (3), box (1) lower extreme is provided with base (2), gyro wheel (3) with the lower surface parallel and level of base (2).

4. An assembly robot as claimed in claim 1, wherein: the upper end of the second hydraulic cylinder (20) is provided with a second hydraulic rod (21), the upper end of the second hydraulic rod (21) is fixedly connected with the lower end of the mounting plate (7), and the lower end of the second rotating arm (11) is provided with a clamping arm (12).

5. An assembly robot as claimed in claim 1, wherein: the motor (19) is arranged in the mounting groove (18), the mounting seat (17) is arranged at the lower end of the motor (19), and the mounting seat (17) is fixedly connected with the inner wall of the mounting groove (18).

6. An assembly robot as claimed in claim 1, wherein: the lower surface of the mounting plate (7) is provided with an infrared receiver (15), and the upper surface of the rotary plate (16) is provided with an infrared emitter (6).