CN210551233U

CN210551233U - Dismounting manipulator for industrial robot

Info

Publication number: CN210551233U
Application number: CN201921140663.8U
Authority: CN
Inventors: 张兵
Original assignee: Lianyungang Technical College
Current assignee: Lianyungang Technical College
Priority date: 2019-07-19
Filing date: 2019-07-19
Publication date: 2020-05-19
Anticipated expiration: 2029-07-19

Abstract

The utility model relates to the field of mechanical equipment, in particular to a dismounting manipulator for an industrial robot, which comprises a fixed seat, a first telescopic mechanism and a fixed frame, wherein the lower surface of the fixed seat is fixedly connected with the first telescopic mechanism, the lower end of the first telescopic mechanism is fixedly connected with the fixed frame, a bidirectional screw rod is arranged below the fixed frame, a left slide block and a right slide block are sleeved on the bidirectional screw rod, the lower surfaces of the left slide block and the right slide block are respectively and fixedly connected with a clamping mechanism, the clamping angle can be adjusted by adjusting the inclination angle of a second telescopic mechanism, further, the inclination angle of a clamping jaw can be adjusted, so that the clamping angle can be adjusted, parts can be conveniently clamped, the space between the two clamping jaws can be adjusted by using an adjusting motor according to the size of the parts, the parts can be taken and put by using the clamping jaws for dismounting operation, the utility model can conveniently adjust, the relative position of the clamping jaw and the part is inconvenient to adjust.

Description

Dismounting manipulator for industrial robot

Technical Field

The utility model relates to the field of mechanical equipment, the more specifically dismouting manipulator for industrial robot that says so.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to the input program and controls the driving system and the executing mechanism.

The manipulator for the existing industrial robot is inconvenient to adjust the relative position of a clamping jaw and a part in the working process and difficult to meet the requirement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a dismouting manipulator for industrial robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a dismouting manipulator for industrial robot, includes fixing base, first telescopic machanism and mount, the first telescopic machanism of lower fixed surface fixedly connected with of fixing base, the lower extreme fixedly connected with mount of first telescopic machanism, two-way lead screw is installed to the below of mount, and the cover is equipped with left slider, right slider on the two-way lead screw, the equal fixedly connected with fixture of lower surface of left slider, right slider.

Further: the first telescopic mechanism is an electric hydraulic telescopic cylinder.

Further: the left end and the right end of the bidirectional screw rod are respectively connected with the side wall of the fixing frame in a rotating mode, the outer side wall of the fixing frame is fixedly connected with an adjusting motor, and the shaft extension end of the adjusting motor is fixedly connected with the end portion of the bidirectional screw rod.

Further: the adjusting motor is a positive and negative rotation motor.

Further: the left sliding block and the right sliding block are arranged in a bilateral symmetry mode.

Further: the fixture includes the bracing piece, the second telescopic machanism, the third telescopic machanism, the mount pad, the centre gripping motor, the lead screw, the installation piece, clamping jaw and connecting rod, left side slider, the equal fixedly connected with bracing piece of lower surface of right side slider, the lower extreme of bracing piece articulates there is the second telescopic machanism, the lower extreme fixedly connected with mount pad of second telescopic machanism, the inside cavity of mount pad, the inside fixedly connected with centre gripping motor of mount pad, the axle extension fixedly connected with lead screw of centre gripping motor, the bottom that the lead screw passed the mount pad extends to the below of mount pad, the centre gripping motor is the motor that just reverses, the cover is equipped with the installation piece on the lead screw, lead screw and installation piece threaded connection, the distribution all around of installation piece has the clamping jaw, the upper end of clamping jaw is articulated with the lateral wall of installation piece, the clamping jaw is the L.

Adopt the technical scheme provided by the utility model, compare with prior art, have following beneficial effect: the embodiment of the utility model provides an in, through the angle of inclination of adjusting the second telescopic machanism, and then adjust the angle of inclination of clamping jaw to the angle is snatched in the regulation, is convenient for snatch spare part, utilizes the accommodate motor, can adjust the interval between two clamping jaws according to the size of spare part, utilizes the clamping jaw to get and puts spare part, carries out the dismouting operation, the utility model discloses can adjust the relative position of clamping jaw and spare part conveniently, solve current manipulator in the course of the work, the inconvenient problem of relative position regulation of clamping jaw and spare part.

Drawings

FIG. 1 is a schematic structural view of a manipulator dismounting and mounting embodiment 1 for an industrial robot;

FIG. 2 is a schematic structural view of a mounting seat in embodiment 1 of a manipulator for industrial robot;

fig. 3 is a perspective view of a gripper in the robot hand for industrial robot in embodiment 1.

The reference numerals in the schematic drawings illustrate: 1-a fixed seat; 2-a first telescoping mechanism; 3-a fixing frame; 4-a bidirectional screw rod; 5-adjusting the motor; 6-left slide block; 7-right slide block; 8-a support bar; 9-a second telescoping mechanism; 10-a third telescoping mechanism; 11-a mounting seat; 12-a clamping motor; 13-a screw rod; 14-a mounting block; 15-a clamping jaw; 16-connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention, and the following embodiments are combined to further describe the present invention.

Example 1

Referring to fig. 1-3, in an embodiment of the present invention, a manipulator for industrial robot includes a fixing base 1, a first telescopic mechanism 2 and a fixing frame 3, the lower surface of the fixing base 1 is fixedly connected with the first telescopic mechanism 2, the first telescopic mechanism 2 is an electro-hydraulic telescopic cylinder, the lower end of the first telescopic mechanism 2 is fixedly connected with the fixing frame 3, a bidirectional screw rod 4 is installed below the fixing frame 3, the left and right ends of the bidirectional screw rod 4 are respectively rotatably connected with the side wall of the fixing frame 3, the outer side wall of the fixing frame 3 is fixedly connected with an adjusting motor 5, the shaft extension end of the adjusting motor 5 is fixedly connected with the end of the bidirectional screw rod 4, the adjusting motor 5 is a forward and reverse rotation motor, the forward and reverse rotation of the adjusting motor 5 is controlled to drive the forward and reverse rotation of the bidirectional screw rod 4, the bidirectional screw rod 4 is sleeved with a left slider 6 and a right slider, the lower surfaces of the left slider 6 and the right slider 7 are fixedly connected with a clamping mechanism, the clamping mechanism comprises a support rod 8, a second telescopic mechanism 9, a third telescopic mechanism 10, a mounting seat 11, a clamping motor 12, a screw rod 13, a mounting block 14, a clamping jaw 15 and a connecting rod 16, the lower surfaces of the left slider 6 and the right slider 7 are fixedly connected with the support rod 8, the lower end of the support rod 8 is hinged with the second telescopic mechanism 9, the second telescopic mechanism 9 is an electric hydraulic telescopic cylinder, the lower end of the second telescopic mechanism 9 is fixedly connected with the mounting seat 11, the mounting seat 11 is hollow, the mounting seat 11 is internally and fixedly connected with the clamping motor 12, the shaft extension end of the clamping motor 12 is fixedly connected with the screw rod 13, the screw rod 13 penetrates through the bottom of the mounting seat 11 and extends to the lower part of the mounting seat 11, the clamping motor 12 is a forward and backward rotating motor, the mounting block 14 is sleeved on the, clamping jaws 15 are distributed on the periphery of the mounting block 14, the upper ends of the clamping jaws 15 are hinged to the side wall of the mounting block 14, the clamping jaws 15 are L-shaped, connecting rods 16 are hinged to the middle portions of the clamping jaws 15, the upper ends of the connecting rods 16 are hinged to the bottom of the mounting seat 11, the clamping motors 12 are controlled to rotate in the forward and reverse directions, the screw rods 13 are driven to rotate in the forward and reverse directions, the mounting blocks 14 are driven to move up and down along the screw rods 13, the clamping jaws 15 are driven to open or close, and parts are taken.

Example 2

On the basis of embodiment 1, the lateral wall of bracing piece 8 articulates there is third telescopic machanism 10, and third telescopic machanism 10 is the electronic hydraulic pressure telescoping cylinder, and the lower extreme of third telescopic machanism 10 is articulated with the middle part of second telescopic machanism 9, and control third telescopic machanism 10 is flexible, can drive second telescopic machanism 9 and rotate to adjust the angle of inclination of second telescopic machanism 9, and then adjust the angle of inclination of clamping jaw 15, thereby adjust and snatch the angle, be convenient for snatch spare part.

With the combination of the embodiment 1 and the embodiment 2, the working principle of the present invention is: the first telescoping mechanism 2 is controlled to telescope, the fixing frame 3 is driven to move up and down, the height of the clamping jaw 15 is adjusted, the third telescoping mechanism 10 is controlled to telescope, the second telescoping mechanism 9 is driven to rotate, the inclination angle of the second telescoping mechanism 9 is adjusted, the inclination angle of the clamping jaw 15 is adjusted, the grabbing angle is adjusted, parts can be grabbed conveniently, the adjusting motor 5 is controlled to rotate forwards and backwards, the bidirectional screw rod 4 can be driven to rotate forwards and backwards, the left sliding block 6 and the right sliding block 7 are driven to move in opposite directions or in opposite directions, the distance between the two clamping jaws 15 is adjusted according to the size of the parts, the clamping motor 12 is controlled to rotate forwards and backwards, the screw rod 13 is driven to rotate forwards and backwards, the mounting block 14 is driven to move up and down along the screw rod 13, the clamping jaw 15 is.

It needs to explain very much, fixing base 1, first telescopic machanism 2 and mount 3 are prior art's application in this application, and two-way lead screw, accommodate motor, centre gripping motor, installation piece, clamping jaw, connecting rod are the innovation point of this application, and it has effectively solved current manipulator in the course of the work, and the clamping jaw is inconvenient with the relative position regulation of spare part problem.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without departing from the inventive spirit of the present invention, the person skilled in the art should also design the similar structural modes and embodiments without creativity to the technical solution, and all shall fall within the protection scope of the present invention.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a dismouting manipulator for industrial robot, includes fixing base (1), first telescopic machanism (2) and mount (3), its characterized in that, the first telescopic machanism (2) of lower fixed surface fixedly connected with of fixing base (1), lower extreme fixedly connected with mount (3) of first telescopic machanism (2), two-way lead screw (4) are installed to the below of mount (3), and the cover is equipped with left slider (6), right slider (7) on two-way lead screw (4), the equal fixedly connected with fixture of lower surface of left slider (6), right slider (7).

2. A manipulator according to claim 1, wherein the first telescopic mechanism (2) is an electro-hydraulic telescopic cylinder.

3. The industrial robot disassembling and assembling manipulator according to claim 1, wherein the left and right ends of the bidirectional screw rod (4) are rotatably connected with the side wall of the fixing frame (3), the outer side wall of the fixing frame (3) is fixedly connected with the adjusting motor (5), and the shaft extension end of the adjusting motor (5) is fixedly connected with the end part of the bidirectional screw rod (4).

4. A manipulator according to claim 3, wherein the adjustment motor (5) is a counter-rotating motor.

5. The industrial robot handling robot according to claim 1, wherein the left slider (6) and the right slider (7) are arranged in bilateral symmetry.

6. A dismounting manipulator for an industrial robot according to any one of claims 1-5, characterized in that the clamping mechanism comprises a support rod (8), a second telescopic mechanism (9), a third telescopic mechanism (10), a mounting seat (11), a clamping motor (12), a screw rod (13), a mounting block (14), a clamping jaw (15) and a connecting rod (16), the lower surfaces of the left slider (6) and the right slider (7) are fixedly connected with the support rod (8), the lower end of the support rod (8) is hinged with the second telescopic mechanism (9), the lower end of the second telescopic mechanism (9) is fixedly connected with the mounting seat (11), the mounting seat (11) is hollow, the clamping motor (12) is fixedly connected with the inside of the mounting seat (11), the shaft extension end of the clamping motor (12) is fixedly connected with the screw rod (13), and the screw rod (13) passes through the bottom of the mounting seat (11) and extends to the lower part of the mounting seat (11), centre gripping motor (12) are just reversing motor, and the cover is equipped with installation piece (14) on lead screw (13), lead screw (13) and installation piece (14) threaded connection, and the distribution all around of installation piece (14) has clamping jaw (15), and the upper end of clamping jaw (15) is articulated with the lateral wall of installation piece (14), and clamping jaw (15) are the L type, and the middle part of clamping jaw (15) articulates there is connecting rod (16), and the upper end and the mount pad (11) bottom of connecting rod (16) are articulated.