CN220660859U - Snatch manipulator suitable for many diameters axle - Google Patents

Abstract

The utility model discloses a grabbing manipulator suitable for multiple diameter shafts, which comprises a base, wherein a first rotating shaft is movably connected in an inner cavity of the base, the top of the first rotating shaft penetrates through the inner cavity of the base and extends to the top of the base, a first gear is sleeved on an outer ring at the top of the first rotating shaft, a scissor fork group structure is arranged at the top of the first gear, and a movable box is arranged at the top of the scissor fork group structure. This snatch manipulator suitable for many diameters axle, when needs carry out the adjustment of front and back position to the centre gripping object, can start electric putter this moment, drives the movable plate and removes. In the moving process of the moving plate, the supporting frame and the supporting frame are driven to move, and the clamping object is transported. When the direction of the clamping object needs to be changed, the servo motor can be started at the moment to drive the second gear to rotate, and the first gear also rotates along with the rotation of the second gear, so that the angle of the clamping object is changed, and the position and the angle of the clamping object are changed.

Description

Snatch manipulator suitable for many diameters axle

Technical Field

The utility model relates to the technical field of machinery, in particular to a grabbing manipulator suitable for multiple diameter shafts.

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 patent with the publication number of CN211197826U discloses a synchronous grabbing manipulator, which comprises a first grabbing arm and a second grabbing arm; the first grabbing arm connecting end and the second grabbing arm connecting end are connected with the driving unit; the bracket is rotatably connected with the first grabbing arm and the second grabbing arm; the synchronous shaft is arranged in the bracket in a vertically sliding way; the connecting component is fixedly arranged on the synchronous shaft, two ends of the connecting component are respectively connected with the first grabbing arm and the second grabbing arm, and synchronous movement of the two arms is realized under the cooperation of the synchronous shaft and the connecting component, so that workpieces cannot shake in the clamping process, the placing position is accurate, the structure is ingenious, and the use precision is high.

In the process of realizing the utility model, the inventor finds that at least the following problems exist in the technology, in the process of grabbing, the device cannot change the position of the grabbing object and cannot transfer the grabbing object in the next step, so that the device can only realize the purpose of grabbing, has limited functions, cannot meet more functions, and has poor cooperation with surrounding mechanisms.

Disclosure of Invention

The utility model aims to provide a grabbing manipulator suitable for multiple diameter shafts, so as to solve the problems in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a snatch manipulator suitable for many diameters axle, includes the base, swing joint has first pivot in the inner chamber of base, the top of first pivot runs through the inner chamber of base and extends to the top of base, the outer lane cover at first pivot top is equipped with first gear, the top of first gear is provided with scissors fork group structure, the top of scissors fork group structure is provided with the removal case, the front of removing the incasement wall is provided with electric putter, electric putter's front is provided with the movable plate.

Preferably, a servo motor is arranged in the inner cavity of the base, a second rotating shaft is arranged at the top of the servo motor, a second gear is sleeved on the outer ring of the second rotating shaft, and the second gear is meshed with the first gear.

Preferably, the inner wall of the movable box is provided with a sliding groove, the right side of the movable plate is fixedly connected with a sliding block, the sliding block is arranged in an inner cavity of the sliding groove, and one side of the inner wall of the movable box is fixedly connected with a heat dissipation fan.

Preferably, the sliding groove is in a shape of a Chinese character 'yang', and the sliding block can slide back and forth in the inner cavity of the sliding groove.

Preferably, one side fixedly connected with support frame of movable plate, the left side fixedly connected with braced frame of support frame, the top fixedly connected with pneumatic cylinder of support frame, fixedly connected with hydraulic stem in the inner chamber of braced frame, be provided with the connecting pipe between pneumatic cylinder and the hydraulic stem and be connected.

Preferably, the bottom of the hydraulic rod is fixedly connected with a moving block, and the bottom of the moving block is hinged with a clamping plate.

Preferably, a groove is formed in the bottom of the supporting frame, and a pin shaft is arranged between the clamping plate and the inner wall of the groove.

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

1. this snatch manipulator suitable for many diameters axle, through the cooperation of electric putter, support frame and braced frame, when the adjustment of position around need carrying out to the centre gripping object, can start electric putter this moment, electric putter starts, drives the movable plate and removes. In the moving process of the moving plate, the supporting frame and the supporting frame are driven to move, and the clamping object is transported. When the direction of the clamping object needs to be changed, the servo motor can be started at the moment to drive the second gear to rotate, the first gear also rotates along with the rotation of the second gear, and then the structure at the top of the first gear is driven to rotate, so that the change of the angle of the clamping object is realized, the change of the position and the angle of the clamping object is realized, the later step of transportation is also conveniently realized, and the matching effect of the device and surrounding mechanisms is improved.

2. This snatch manipulator suitable for many diameters axle, through the cooperation of hydraulic stem and movable block, the extension of pneumatic cylinder control hydraulic stem drives the movable block and moves downwards. In the process of downward movement of the moving block, the hinged clamping plates are unfolded, and the clamping object is positioned between the clamping plates. And then the hydraulic rod is shortened, and the moving block is driven to move upwards, so that the clamping plates are close to each other and clamp the clamping object. According to the different diameters of the clamping objects, the shortening degree of the hydraulic rod and the moving distance of the moving block can be controlled, and the clamping angle of the clamping plate is changed, so that the clamping plate is tightly attached to the clamping objects with different diameters to complete fixation.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is an enlarged view at a of fig. 1.

Fig. 3 is a right side view of the present utility model.

Fig. 4 is a cross-sectional view of fig. 3.

In the figure: 1. a base; 2. a first rotating shaft; 3. a first gear; 4. a scissors fork set structure; 5. a moving case; 6. an electric push rod; 7. a moving plate; 8. a servo motor; 9. a second rotating shaft; 10. a second gear; 11. a chute; 12. a slide block; 13. a heat dissipation fan; 14. a support frame; 15. a support frame; 16. a hydraulic cylinder; 17. a hydraulic rod; 18. a connecting pipe; 19. a moving block; 20. a clamping plate; 21. a groove.

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 snatch manipulator suitable for many diameters axle, including base 1, swing joint has first pivot 2 in the inner chamber of base 1, the top of first pivot 2 runs through the inner chamber of base 1 and extends to the top of base 1, the outer lane cover at first pivot 2 top is equipped with first gear 3, the top of first gear 3 is provided with scissors fork group structure 4, the top of scissors fork group structure 4 is provided with removes case 5, the front of removing case 5 inner wall is provided with electric putter 6, electric putter 6's front is provided with movable plate 7, movable plate 7 can remove along with electric putter 6's removal.

Wherein, be provided with servo motor 8 in the inner chamber of base 1, servo motor 8's top is provided with second pivot 9, and the outer lane cover of second pivot 9 is equipped with second gear 10, and second gear 10 and first gear 3 intermeshing, the rotation of second gear 10 can drive the rotation of first gear 3.

In this embodiment, when the direction of the clamping object needs to be changed, the servo motor 8 can be started at this time to drive the second rotating shaft 9 to rotate, and then drive the second gear 10 to rotate. Because the second gear 10 is meshed with the first gear 3, the first gear 3 rotates along with the rotation of the second gear 10, and then drives the structure at the top of the first gear 3 to rotate, so that the change of the angle of the clamping object is realized.

The inner wall of the moving box 5 is provided with a sliding groove 11, the right side of the moving plate 7 is fixedly connected with a sliding block 12, the sliding block 12 is arranged in the inner cavity of the sliding groove 11, one side of the inner wall of the moving box 5 is fixedly connected with a heat dissipation fan 13, and the heat dissipation fans 13 are in a plurality of groups of linear arrays.

In this embodiment, a slider 12 is fixedly connected to one side of the moving plate 7, and the slider 12 can slide in the inner cavity of the chute 11, so as to limit the moving direction of the moving plate 7. The heat dissipation fan 13 can dissipate heat and prevent heat concentration.

Wherein, the chute 11 is in a shape of a Chinese character 'yang', and the sliding block 12 can slide back and forth in the inner cavity of the chute 11.

In this embodiment, the chute 11 has a "convex" structure, so that the moving plate 7 can move more stably.

One side of the moving plate 7 is fixedly connected with a supporting frame 14, the left side of the supporting frame 14 is fixedly connected with a supporting frame 15, the top of the supporting frame 14 is fixedly connected with a hydraulic cylinder 16, a hydraulic rod 17 is fixedly connected in an inner cavity of the supporting frame 15, and a connecting pipe 18 is arranged between the hydraulic cylinder 16 and the hydraulic rod 17 for connection.

In this embodiment, the hydraulic cylinder 16 controls the expansion and contraction of the hydraulic rod 17 through the connection pipe 18.

Wherein, the bottom fixedly connected with movable block 19 of hydraulic pressure pole 17, the bottom of movable block 19 articulates there is grip block 20.

In this embodiment, when the object needs to be clamped, the scissors fork set structure 4 is unfolded, so as to drive the moving box 5 to move downwards, and the clamping plate 20 contacts the clamped object. The hydraulic cylinder 16 controls the hydraulic rod 17 to extend to drive the moving block 19 to move downwards. The moving block 19 moves downward to spread the hinged clamping plates 20 and to position the clamping object between the clamping plates 20, and then clamping is completed.

The bottom of the supporting frame 15 is provided with a groove 21, and a pin shaft is arranged between the clamping plate 20 and the inner wall of the groove 21.

In this embodiment, the grooves 21 can limit the rotation angle of the clamping plate 20, so that the clamping is conveniently completed.

Working principle: when the object is required to be clamped, the scissors fork set structure 4 is unfolded, so that the position of the movable box 5 is driven to move downwards, and the clamping plate 20 is contacted with the clamped object. The hydraulic cylinder 16 controls the hydraulic rod 17 to extend to drive the moving block 19 to move downwards. The moving block 19 moves downward to spread the hinged clamping plates 20 and to position the clamping object between the clamping plates 20. Subsequently, the hydraulic rod 17 shortens, and the moving block 19 is driven to move upward, so that the holding plates 20 approach each other and hold the holding object. According to the different diameters of the clamping objects, the shortening degree of the hydraulic rod 17 and the moving distance of the moving block 19 can be controlled, and the clamping angle of the clamping plate 20 is changed, so that the clamping plate 20 is tightly attached to the clamping objects to complete fixation. The scissors fork set structure 4 is lifted to drive the clamping plate 20 and the clamping object to be lifted. When the front and back positions of the clamping object need to be adjusted, the electric push rod 6 can be started, and the electric push rod 6 is started to drive the moving plate 7 to move. A slide block 12 is fixedly connected to one side of the moving plate 7, and the slide block 12 can slide in the inner cavity of the sliding groove 11, so that the moving direction of the moving plate 7 is limited. The chute 11 has a convex structure, so that the moving plate 7 can move more stably. In the process of moving the moving plate 7, the supporting frame 14 and the supporting frame 15 are driven to move, so that the clamping plate 20 is driven to move, and the object to be clamped is transported. When the direction of the clamping object needs to be changed, the servo motor 8 can be started at the moment to drive the second rotating shaft 9 to rotate, and then the second gear 10 is driven to rotate. Because the second gear 10 is meshed with the first gear 3, the first gear 3 rotates along with the rotation of the second gear 10, and then drives the structure at the top of the first gear 3 to rotate, so that the change of the angle of the clamping object is realized.

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 (7)

1. Grabbing mechanical arm suitable for multi-diameter shaft, including base (1), its characterized in that: the utility model discloses a scissors fork group structure, including base (1), inner chamber, motor, electric putter (6), outer lane cover, scissors fork group structure (4), electric putter (6) are provided with in the inner chamber of base (1), swing joint has first pivot (2) in the inner chamber of base (1), the top of first pivot (2) runs through the inner chamber of base (1) and extends to the top of base (1), the outer lane cover at first pivot (2) top is equipped with first gear (3), the top of first gear (3) is provided with scissors fork group structure (4), the top of scissors fork group structure (4) is provided with movable box (5), the front of movable box (5) inner wall is provided with electric putter (6), the front of electric putter (6) is provided with movable plate (7).

2. A gripping robot adapted for use with multiple diameter shafts as defined in claim 1, wherein: a servo motor (8) is arranged in an inner cavity of the base (1), a second rotating shaft (9) is arranged at the top of the servo motor (8), a second gear (10) is sleeved on the outer ring of the second rotating shaft (9), and the second gear (10) is meshed with the first gear (3).

3. A gripping robot adapted for use with multiple diameter shafts as defined in claim 1, wherein: the inner wall of the movable box (5) is provided with a sliding groove (11), the right side of the movable plate (7) is fixedly connected with a sliding block (12), the sliding block (12) is arranged in the inner cavity of the sliding groove (11), and one side of the inner wall of the movable box (5) is fixedly connected with a heat dissipation fan (13).

4. A gripping robot adapted for use with multiple diameter shafts as claimed in claim 3, wherein: the sliding groove (11) is in a convex shape, and the sliding block (12) can slide back and forth in the inner cavity of the sliding groove (11).

5. A gripping robot adapted for use with multiple diameter shafts as defined in claim 1, wherein: one side fixedly connected with support frame (14) of movable plate (7), the left side fixedly connected with braced frame (15) of support frame (14), the top fixedly connected with pneumatic cylinder (16) of support frame (14), fixedly connected with hydraulic rod (17) in the inner chamber of braced frame (15), be provided with connecting pipe (18) between pneumatic cylinder (16) and hydraulic rod (17) and be connected.

6. The grasping manipulator for a multi-diameter shaft according to claim 5, wherein: the bottom of the hydraulic rod (17) is fixedly connected with a moving block (19), and the bottom of the moving block (19) is hinged with a clamping plate (20).

7. The grasping manipulator for a multi-diameter shaft according to claim 6, wherein: the bottom of the supporting frame (15) is provided with a groove (21), and a pin shaft is arranged between the clamping plate (20) and the inner wall of the groove (21).