CN111604931B - Four-claw center positioning heavy manipulator - Google Patents
Four-claw center positioning heavy manipulator Download PDFInfo
- Publication number
- CN111604931B CN111604931B CN202010606177.1A CN202010606177A CN111604931B CN 111604931 B CN111604931 B CN 111604931B CN 202010606177 A CN202010606177 A CN 202010606177A CN 111604931 B CN111604931 B CN 111604931B
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- plate
- arc
- cylinder
- fixedly connected
- optical axis
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- 210000000078 claw Anatomy 0.000 claims description 23
- 230000003287 optical effect Effects 0.000 claims description 22
- 239000000463 material Substances 0.000 abstract description 19
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a four-jaw center positioning heavy manipulator, which relates to a heavy manipulator and aims at solving the problems that the existing heavy manipulator is generally three-jaw, the center is easy to deviate in grabbing and is difficult to find, and meanwhile, the protection of the surface of a cylindrical material is insufficient. The device has the characteristics that the device can conveniently clamp, effectively avoids the deviation of three-jaw clamping, and simultaneously the arc-shaped buffer plate flexibly installed can effectively protect the surface of the cylindrical material.
Description
Technical Field
The invention relates to a heavy manipulator, in particular to a four-claw center positioning heavy manipulator.
Background
At present, three claws are adopted for centering cylindrical materials, so that heavy cylindrical materials are easy to clamp and laterally deviate, and the positioning device can only be used for light cylindrical materials; the three-jaw can only adopt a rotating device such as a motor as a power source to fasten the center, and has high cost and low efficiency.
In the large environment of intelligent manufacturing 2025, mechanized and intelligent production are common targets for various manufacturing enterprises. In the production process, the material placement positions are difficult to prepare to accurately unify the placement positions, so that a heavy cylindrical material rapid and accurate positioning device capable of rapidly carrying out placement position larger in offset amplitude is needed, and the requirements of mechanized and intelligent production in the production and manufacturing process are met.
Meanwhile, as the cylinders of the objects to be grabbed by the manipulator are different in specific use, the required requirements are also different, and because some cylinder materials have higher requirements on the smoothness of the surfaces, in the specific clamping process, the claw pincers of the manipulator possibly clamp the surfaces of the cylinder materials, so that the quality and the attractiveness of the cylinders are influenced, and the effect of normal finished products in production and use is seriously influenced. Therefore, the four-claw centering heavy manipulator is provided.
Disclosure of Invention
The four-jaw center positioning heavy manipulator solves the problems that the existing heavy machinery is generally three-jaw, the center is easy to deviate and is difficult to find in grabbing, and meanwhile, the protection on the surface of a cylindrical material is insufficient.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The utility model provides a heavy manipulator of four claw central authorities location, includes the flange dish, the equal fixedly connected with optical axis in lower terminal surface four corners of flange dish, every equal fixed cover in lower terminal surface of optical axis is equipped with same bottom plate, every the equal fixed cover in surface of optical axis is equipped with the cylinder board, every the equal sliding sleeve in surface of optical axis is equipped with the sliding plate, the four corners department of sliding plate all is provided with linear bearing from top to bottom, the up end of bottom plate is provided with a plurality of linear guide, every all be provided with translation linear bearing on the linear guide, adjacent two fixedly connected with claw presss from both sides between the translation linear bearing, adjacent two fixedly connected with down the supporting shoe between the linear guide, every all rotate in the supporting shoe down and be connected with the connecting rod, the equal fixedly connected with upper supporting shoe in each side edge of sliding plate, be connected with adjusts the pole between upper supporting shoe and the connecting rod, the center fixedly connected with cylinder of bottom surface under the flange dish, the upper end fixedly connected with cylinder board fixed block of cylinder board, the up end of claw presss from both sides has offered the claw clamp, it has the baffle-and is connected with the baffle-and is close to the baffle.
Preferably, the lower end of the cylinder is fixedly connected to the upper end face of the cylinder plate through a cylinder plate fixing block, the output end of the lower side of the cylinder penetrates through the cylinder plate to extend below the cylinder plate, and the extending end is fixedly connected to the upper end face of the sliding plate.
Preferably, each of the upper and lower linear bearings at four corners is slidably fitted over the optical axis surface of the respective one side.
Preferably, the sliding plate is sleeved on the surface of the optical axis through upper and lower linear bearings.
Preferably, the middle section of the connecting rod is rotatably connected to the lower supporting block, and the lower end of the connecting rod is rotatably connected to the claw clip.
Preferably, the upper end of the connecting rod is rotatably connected to the lower end of the adjusting rod, and the upper end of the adjusting rod is rotatably connected to the upper supporting block.
Preferably, the folded plate is slidably connected in the arc-shaped slide way, and the arc-shaped baffle is arranged on the inner side of the arc-shaped slide way.
Preferably, the vertical plate is fixedly connected to the lower side face of the folded plate at the inner side of the arc-shaped baffle plate, and the vertical plate and the arc-shaped baffle plate are mutually rotated and limited.
Compared with the prior art, the invention has the beneficial effects that:
Through connecting flange, optical axis, bottom plate, cylinder board, sliding plate, upper and lower linear bearing, linear guide rail, translation linear bearing, claw clip, lower supporting shoe, connecting rod, regulation pole, upper supporting shoe, cylinder board fixed block, arc slide, arc baffle, arc buffer board, folded plate, riser, spring, make this device can drive the sliding plate through the flexible of cylinder and reciprocate, and then can drive the rotation between regulation pole and the connecting rod, and then the removal that pulls claw clip to be close to each other or keep away from is convenient to carry out the centre gripping to the cylinder material;
The utility model discloses a rotatory slide of connecting the folded plate in the arc slide on the arc buffer board, can install the arc buffer board in the arc slide earlier to carry out first step fixedly through spacing between arc baffle and the riser, the material will be further contradict the arc buffer board when pressing from both sides and getting, and then the riser will turn into vertical state under arc baffle's spacing, and then the folded plate rotates and the closely spacing fixedly of arc slide, the effectual surface that protects the cylinder material of arc buffer board simultaneously.
Make this device have and press from both sides and get that can be convenient, the skew that three-jaw clamp got has effectually been avoided, the arc buffer board of nimble installation simultaneously can the effectual characteristics on protection cylinder material surface.
Drawings
Fig. 1 is a structural view of a four-jaw centering heavy manipulator of the present invention.
Fig. 2 is a structural view between a connecting rod and an adjusting rod of a four-jaw centering heavy manipulator of the present invention.
Fig. 3 is a structural view of a link of a four-jaw centering heavy manipulator of the present invention.
Fig. 4 is a structural view of an adjusting lever of a four-jaw centering heavy manipulator of the present invention.
Fig. 5 is a cross-sectional side view of a portion of the structure at the base plate of a four-jaw center-positioning heavy manipulator of the present invention.
FIG. 6 is a cross-sectional view of a side view of a jaw clamp of a four-jaw center-positioned heavy manipulator according to the present invention
Fig. 7 is a top view of a jaw clamp of a four-jaw centering heavy manipulator of the present invention.
FIG. 8 is a top view of an arcuate buffer plate of a four jaw centering heavy manipulator of the present invention.
Reference numerals in the drawings: the device comprises a connecting flange plate 1, a2 optical axis, a3 bottom plate, a 4 cylinder plate, a5 sliding plate, a 6 upper and lower linear bearing, a 7 linear guide rail, an 8 translational linear bearing, a 9 claw clip, a10 lower supporting block, a 11 connecting rod, a 12 adjusting rod, a 13 upper supporting block, a 14 cylinder, a 15 cylinder plate fixing block, a 16 arc slideway, a 17 arc baffle, a 18 arc buffer plate, a 19 folded plate, a20 vertical plate and a 21 spring.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments.
Referring to fig. 1-8, a four-claw center positioning heavy manipulator, including connecting flange dish 1, the equal fixedly connected with optical axis 2 in lower terminal surface four corners of connecting flange dish 1, the equal fixed cover in lower terminal surface of every optical axis 2 is equipped with same bottom plate 3, the equal fixed cover in surface of every optical axis 2 is equipped with cylinder plate 4, the equal sliding sleeve in surface of every optical axis 2 is equipped with sliding plate 5, the four corners department of sliding plate 5 all is provided with upper and lower linear bearing 6, the up end of bottom plate 3 is provided with a plurality of linear guide 7, all be provided with translation linear bearing 8 on every linear guide 7, fixedly connected with claw 9 between two adjacent translation linear bearing 8, fixedly connected with lower supporting shoe 10 between two adjacent linear guide 7, all rotate in every lower supporting shoe 10 and be connected with connecting rod 11, the equal fixedly connected with upper supporting shoe 13 along the equal fixedly connected with in lower terminal surface of sliding plate 5, be connected with adjusts pole 12 between upper supporting shoe 13 and the connecting rod 11, the center fixedly connected with cylinder 14 of bottom surface under connecting flange dish 1, the upper end fixedly connected with cylinder plate 15 of cylinder plate 4, the up end of claw 9 is provided with translation linear bearing 8, the upper end 16 is close to the arc-shaped buffer plate 9, be close to arc-shaped damper 18 and be connected with arc-shaped damper 18, arc-shaped damper 18 is close to arc-shaped damper 18, arc-shaped damper 18 is connected with arc-shaped damper 18, and is connected with arc-shaped damper 18.
In the present embodiment, the lower end of the cylinder 14 is fixedly connected to the upper end surface of the cylinder plate 4 by the cylinder plate fixing block 15, and the output end of the lower side of the cylinder 14 extends below the cylinder plate 4 through the cylinder plate 4 and the extending end is fixedly connected to the upper end surface of the slide plate 5.
In the present embodiment, each of the upper and lower linear bearings 6 at four corners is slidably fitted over the surface of the optical axis 2 on one side thereof and is slidably fitted over the surface of the optical axis 2.
In the present embodiment, the slide plate 5 is slidably fitted on the surface of the optical axis 2 via the upper and lower linear bearings 6.
In the present embodiment, the middle section of the link 11 is rotatably connected to the lower support block 10, and the lower end of the link 11 is rotatably connected to the jaw 9.
In this embodiment, the upper end of the connecting rod 11 is rotatably connected to the lower end of the adjusting rod 12, the upper end of the adjusting rod 12 is rotatably connected to the upper supporting block 13, and the sliding of the sliding plate 5 up and down drives the adjusting rod 12 and the connecting rod 11 to rotate in a matched manner, and drives the jaw 9 to gather together or move away from each other.
In this embodiment, the folded plate 19 is slidably connected in the arc-shaped slideway 16, the arc-shaped baffle 17 is disposed on the inner side of the arc-shaped slideway 16, and the folded plate 19 is rotatably connected in the arc-shaped slideway 16.
In this embodiment, the vertical plate 20 is fixedly connected to the lower side surface of the folded plate 19 inside the arc-shaped baffle 17, and the vertical plate 20 and the arc-shaped baffle 17 are mutually rotated and limited.
Working principle: when the movable type cylindrical material clamping device is used, the sliding plate 5 can be driven to move up and down on the surface of the optical axis 2 through the upper linear bearing 6 and the lower linear bearing 6 through the expansion and contraction of the air cylinder 14, so that each side of the sliding plate 5 can be driven to rotate between the adjusting rod 12 and the connecting rod 11 which are connected with each other in a rotating mode along the upper supporting block 13 fixedly arranged on the upper side, namely, when the air cylinder 14 stretches downwards, the adjusting rod 12 can be driven to move downwards, the connecting rod 11 is pushed to rotate upwards to pull the claw clamps 9 to separate away from each other, and when the air cylinder 14 stretches upwards, the adjusting rod 12 can be driven to lift and pull the connecting rod 11 to rotate downwards, so that the claw clamps 9 are pushed to gather together to clamp each other, and further, the movement of pulling the claw clamps 9 to gather together or move away from each other is convenient to clamp the cylindrical material; through the slip of the folded plate 19 of rotating connection on the arc buffer plate 18 in the arc slide 16, can be earlier with the folded plate 19 of rotating connection on the arc buffer plate 18 break off to the arc slide 16 in, rotate to the position of centering in the arc slide 16, riser 20 will be in the inboard of arc baffle 17 at this moment, and carry out the fixed of first step to the arc buffer plate 18 through spacing between arc baffle 17 and the riser 20, the material will further contradict the arc buffer plate 18 when pressing from both sides and get, then the arc buffer plate 18 will be close to claw clamp 9 one side, make riser 20 and arc baffle 17 conflict drive folded plate 19 under spacing and turn into vertical state, and then folded plate 19 rotates and is fixed with the spacing that arc slide 16 is inseparable, make the arc buffer plate 18 also fastened under the centre gripping effect this moment install on claw clamp 9, simultaneously arc buffer plate 18 also carries out the centre gripping to the cylinder material's surface, still effectual protection cylinder material.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. The utility model provides a heavy manipulator of four claw central authorities location, includes flange (1), the equal fixedly connected with optical axis (2) in lower terminal surface four corners of flange (1), every the equal fixed cover in lower terminal surface of optical axis (2) is equipped with same bottom plate (3), every the equal fixed cover in surface of optical axis (2) is equipped with cylinder block (4), its characterized in that, every the equal slip cap in surface of optical axis (2) is equipped with sliding plate (5), the four corners department of sliding plate (5) all is provided with linear bearing (6) from top to bottom, the up end of bottom plate (3) is provided with a plurality of linear guide (7), every all be provided with translation linear bearing (8) on linear guide (7), two adjacent translation are between linear guide (8) fixedly connected with claw clamp (9), two adjacent between linear guide (7) fixedly connected with down supporting shoe (10), every down all rotate in supporting shoe (10) and be connected with connecting rod (11), each side of sliding plate (5) is followed fixed connection with on supporting shoe (13), be connected with cylinder block (13) on the bottom surface (4) on the bottom plate (14), an arc-shaped slideway (16) is formed in the upper end face of the claw clamp (9), an arc-shaped baffle (17) is fixedly connected to the upper end face of the claw clamp (9), an arc-shaped buffer plate (18) is arranged on one side of the claw clamp (9), a folded plate (19) is rotationally connected to one side, close to the claw clamp (9), of the arc-shaped buffer plate (18), a vertical plate (20) is fixedly connected to the lower side face of the folded plate (19), and a spring (21) is fixedly connected between the vertical plate (20) and the arc-shaped buffer plate (18); the middle section of the connecting rod (11) is rotationally connected to the lower supporting block (10), and the lower end of the connecting rod (11) is rotationally connected to the claw clip (9); the upper end of the connecting rod (11) is rotatably connected to the lower end of the adjusting rod (12), and the upper end of the adjusting rod (12) is rotatably connected to the upper supporting block (13); the folded plate (19) is connected in the arc-shaped slideway (16) in a sliding way, and the arc-shaped baffle (17) is arranged on the inner side of the arc-shaped slideway (16); the vertical plate (20) is fixedly connected to the lower side face of the folded plate (19) on the inner side of the arc-shaped baffle plate (17), and the vertical plate (20) and the arc-shaped baffle plate (17) are mutually rotated and limited.
2. The four-jaw centering heavy manipulator according to claim 1, wherein the lower end of the cylinder (14) is fixedly connected to the upper end surface of the cylinder plate (4) through a cylinder plate fixing block (15), and the output end of the lower side of the cylinder (14) passes through the cylinder plate (4) to extend below the cylinder plate (4) and the extending end is fixedly connected to the upper end surface of the sliding plate (5).
3. A four-jaw centering heavy manipulator as claimed in claim 1, characterized in that each of said upper and lower linear bearings (6) at four corners is slidably fitted over the surface of the optical axis (2) on the respective side.
4. A four-jaw centering heavy manipulator according to claim 1 or 3, characterized in that the sliding plate (5) is slidably sleeved on the surface of the optical axis (2) through upper and lower linear bearings (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010606177.1A CN111604931B (en) | 2020-06-29 | 2020-06-29 | Four-claw center positioning heavy manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010606177.1A CN111604931B (en) | 2020-06-29 | 2020-06-29 | Four-claw center positioning heavy manipulator |
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| Publication Number | Publication Date |
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| CN111604931A CN111604931A (en) | 2020-09-01 |
| CN111604931B true CN111604931B (en) | 2024-06-14 |
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| CN202010606177.1A Active CN111604931B (en) | 2020-06-29 | 2020-06-29 | Four-claw center positioning heavy manipulator |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212312057U (en) * | 2020-06-29 | 2021-01-08 | 四川伏安特智能装备制造有限公司 | Four-claw center positioning heavy manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000042966A (en) * | 1998-07-23 | 2000-02-15 | Tsubakimoto Chain Co | Article holding device |
| CN102608201B (en) * | 2012-04-04 | 2017-06-16 | 射阳县华通探伤设备有限公司 | Clamp system is automatically positioned in the flaw detection of bell housing, cleaning all-in-one loading and unloading |
| CN105108749A (en) * | 2015-08-20 | 2015-12-02 | 江苏华安科研仪器有限公司 | Electric-driven type mechanical hand claw |
| CN106002940B (en) * | 2016-06-23 | 2018-06-08 | 颜远锋 | A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot |
| CN206484577U (en) * | 2016-12-12 | 2017-09-12 | 青岛宝佳自动化设备有限公司 | A kind of manipulator clamping device |
| CN106737650A (en) * | 2017-02-17 | 2017-05-31 | 苏州鑫夷斯精密机械有限公司 | The material fetching mechanism of hay mover bolt protective cover feeder |
| CN208557549U (en) * | 2018-08-10 | 2019-03-01 | 青岛新松机器人自动化有限公司 | Radial type centering clamp device |
| CN109849037B (en) * | 2019-04-11 | 2023-09-19 | 上海焕巍智能科技有限公司 | Robot gripper |
| CN209999192U (en) * | 2019-05-14 | 2020-01-31 | 南京费杰机器人有限公司 | Automatic manipulator of infiltration equipment |
| CN110587645A (en) * | 2019-09-10 | 2019-12-20 | 贵州大学 | Three-degree-of-freedom flexible mechanical device |
| CN111152254B (en) * | 2020-01-09 | 2021-04-20 | 江南大学 | Flexible shaft-driven rigid-flexible coupling finger four-finger under-actuated manipulator |
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2020
- 2020-06-29 CN CN202010606177.1A patent/CN111604931B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212312057U (en) * | 2020-06-29 | 2021-01-08 | 四川伏安特智能装备制造有限公司 | Four-claw center positioning heavy manipulator |
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