CN211197826U

CN211197826U - Synchronous grabbing manipulator

Info

Publication number: CN211197826U
Application number: CN201922025080.7U
Authority: CN
Inventors: 李超锋
Original assignee: Suzhou Anluda Intelligent Technology Co ltd
Current assignee: Suzhou Anluda Intelligent Technology Co ltd
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-08-07
Anticipated expiration: 2029-11-21

Abstract

The utility model relates to 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 can be arranged in the bracket in a vertically sliding manner; the connecting component is fixedly arranged on the synchronizing shaft, the 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 matching use of the synchronizing shaft and the connecting component, so that a workpiece cannot shake in the clamping process, the placing position is accurate, the structure is ingenious, and the use precision is high.

Description

Synchronous grabbing manipulator

Technical Field

The utility model relates to a mechanical handling device especially relates to manipulator handling device.

Background

In some trades, ambient temperature is high, needs to remove, and the work piece temperature that snatchs is high, and weight is big, and the appearance is irregular, and the manual work is difficult to operate, if adopt the robot, then the cost is higher, and maintenance and purchase degree of difficulty are big, and is higher to the machine maintenance personnel, designer, operating personnel requirement. In addition, if the left and right manipulators cannot be synchronized in the grabbing process, the problems that workpieces shake, sundries fall off, the placing positions are inaccurate, targets cannot be grabbed and the like are caused, and therefore improvement is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a synchronous manipulator that snatchs has solved current manipulator and has snatched asynchronous problem

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides a snatch manipulator in step, include:

a grabber arm comprising a first grabber arm and a second grabber arm;

the first grabbing arm connecting end and the second grabbing arm connecting end are connected with the driving unit;

the first grabbing arm and the second grabbing arm are respectively connected with the bracket in a rotating manner;

the synchronous shaft is arranged in the bracket in a vertically sliding manner;

the connecting assembly comprises a connecting block I and a connecting block II, the connecting block I and the connecting block II are both rotatably connected with the synchronous shaft, the connecting block I is also rotatably connected with the first grabbing arm, and the connecting block II is also rotatably connected with the second grabbing arm;

and a certain grabbing space is formed between the clamping ends of the first grabbing arm and the second grabbing arm.

Optionally, the driving unit is an opening and closing oil cylinder.

Optionally, a rotating shaft I and a rotating shaft II are fixed on the support, the rotating shaft I is rotatably connected with the first grabbing arm, and the rotating shaft II is rotatably connected with the second grabbing arm.

Optionally, coupling assembling still includes the synchronizing frame, the synchronizing frame is fixed on the synchronizing shaft, the one end of connecting block I with the rotatable connection of synchronizing frame, the other end with the rotatable connection of first arm of snatching, II one end of connecting block with the rotatable connection of synchronizing frame, the other end with the second snatchs the arm and connects.

Optionally, a lifting unit is further disposed on the support.

Optionally, the clamping end of the first grabbing arm and the clamping end of the second grabbing arm are both provided with a tool.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

the utility model discloses a manipulator is snatched in step, first snatch arm and second snatch the arm and all be connected with the hydro-cylinder that opens and shuts, realize two drives of snatching the arm on the hydro-cylinder that opens and shuts, two snatch the arm and all with leg joint, two snatch the arm and still can be connected through coupling assembling with the gliding synchronizing shaft about setting up in the support, synchronizing shaft and coupling assembling's cooperation is used, the simultaneous movement of two arms has been realized, make the centre gripping in-process, the work piece can not rock, it is accurate to place the position, therefore the structure is comparatively ingenious, the use precision is also high.

Drawings

Some specific embodiments of the present invention will be described in detail hereinafter, by way of illustration and not by way of limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;

FIG. 2 is a front view of the preferred embodiment of the invention with two grabber arms clamped;

figure 3 is a front view of the preferred embodiment of the invention with the two grabber arms open.

Wherein the reference numerals are as follows:

1. a first gripper arm; 2. a second gripper arm; 3. a drive unit; 4. a support; 5. a synchronizing shaft; 6. a rotating shaft I; 7. a rotating shaft II; 8. a synchronous frame; 9. a connecting block I; 10. a connecting block II; 11. assembling; 12. a lifting unit; 13. and (7) a pin shaft.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, the utility model discloses the manipulator includes that first arm 1 and the second snatchs arm 2, first arm 1 and the second snatchs the arm 2 symmetry setting of snatching, first arm 1 and the second of snatching the link of arm 2 all are provided with the through-hole, be provided with round pin axle 13 in the through-hole, two round pin axles 13 all are connected with drive unit 3 after stretching out the through-hole again, drive unit 3 is the hydro-cylinder that opens and shuts, the hydro-cylinder that opens and shuts provides power for the manipulator on the one hand, on the other hand, the rotation of two arms can be realized through the flexible of the piston rod on the hydro.

The shape of support 4 is the cuboid of platykurtic, from upper end to lower extreme middle part fretwork, first arm 1 and the second of snatching snatchs the space that arm 2 is located the fretwork, pivot I6 runs through and fixes on support 4 through round pin axle 13 after first arm 1 of snatching in the fretwork space, pivot II 7 runs through the second in the fretwork space and snatchs arm 2 after-fixing also through round pin axle 13 on support 4, support 4 still is provided with synchronizing shaft 5, this synchronizing shaft 5 realizes being connected with support 4 through the bearing that sets up terminal surface under support 4, synchronizing shaft 5 can slide from top to bottom in the bearing. The simultaneous control of the two arms can be realized by the up-and-down sliding of the synchronizing shaft 5. The utility model discloses a bearing is oil-free lubrication bearing, is in order not to additionally add emollient in the work to certain manpower has been reduced.

The one end that synchronizing shaft 5 stretched out the support is fixed with synchronizing frame 8, and synchronizing frame 8's both ends are connected with connecting block I9 and connecting block II 10 respectively, and connecting block I9's one end links to each other with synchronizing frame 8, and the other end links to each other with first arm 1 that snatchs, and connecting block II 7's one end links to each other with synchronizing frame 8, and the other end and second snatch arm 2 and link to each other, the utility model discloses well synchronizing frame 8 is connected with the connecting block, the connecting block all adopts the bearing to be connected with the cooperation of round pin axle 13 with the arm of snatching, and in addition, the bearing that these two connections used also is oil-free lubrication bearing.

And lifting units 12 are further arranged on two sides of the support, and after the manipulator grabs the workpiece, the manipulator moves up, down, left and right to realize the workpiece moving and transporting work.

The clamping end 14 of the first grabbing arm 1 and the clamping end 14 of the second grabbing arm 2 form a certain grabbing space, in the space, the clamping end 14 of the first grabbing arm 1 and the clamping end 14 of the second grabbing arm 2 are both provided with a tool 11, and the tool 11 is replaced according to different clamped workpieces.

As shown in fig. 2, the opening and closing cylinders do not start to work, the first gripper arm 1 and the second gripper arm 2 hang down naturally, and the manipulator is in an inoperative state at this time.

As shown in fig. 3, the opening and closing oil cylinder starts to act, the telescopic piston on the opening and closing oil cylinder drives the first grabbing arm 1 to rotate around the rotating shaft i 6, the second grabbing arm 2 rotates around the rotating shaft ii 7, and the two clamping ends 14 move back to back. First snatch arm 1 and second and snatch arm 2 and further drive synchronizing shaft 5 through driving the connecting block when rotating, the cooperation of first snatching arm 1 and second and snatching arm 2 has guaranteed angle and the speed that opens and shuts again with coupling assembling during the downstream of synchronizing shaft 5 to make two synchronization actions of snatching the arm. The manipulator is now in an operative state.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, so as not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. The utility model provides a manipulator is snatched in step which characterized in that includes:

a gripper arm comprising a first gripper arm (1) and a second gripper arm (2);

the connecting end of the first grabbing arm (1) and the connecting end of the second grabbing arm (2) are connected with the driving unit (3);

the first grabbing arm (1) and the second grabbing arm (2) are respectively connected with the support (4) in a rotating mode;

the synchronous shaft (5), the synchronous shaft (5) can be arranged in the bracket (4) in a vertically sliding manner;

the connecting assembly comprises a connecting block I (9) and a connecting block II (10), the connecting block I (9) and the connecting block II (10) are rotatably connected with the synchronizing shaft (5), the connecting block I (9) is further rotatably connected with the first grabbing arm (1), and the connecting block II (10) is further rotatably connected with the second grabbing arm (2);

a certain grabbing space is formed between the clamping ends (14) of the first grabbing arm (1) and the second grabbing arm (2).

2. The synchronous grabbing manipulator as claimed in claim 1, wherein: the driving unit (3) is an opening and closing oil cylinder.

3. The synchronous grabbing manipulator as claimed in claim 1, wherein: the support (4) is fixed with pivot I (6) and pivot II (7), pivot I (6) with first snatching the rotatable phase connection of arm (1), pivot II (7) with the rotatable phase connection of arm (2) is snatched to the second.

4. The synchronous grabbing manipulator as claimed in claim 1, wherein: coupling assembling still includes synchronizing frame (8), synchronizing frame (8) are fixed on synchronizing shaft (5), the one end of connecting block I (9) with the rotatable connection of synchronizing frame (8), the other end with first snatch the rotatable connection of arm (1), connecting block II (10) one end with the rotatable connection of synchronizing frame (8), the other end with the second snatchs arm (2) and connects.

5. The synchronous grabbing manipulator as claimed in claim 1, wherein: the support (4) is also provided with a lifting unit (12).

6. The synchronous grabbing manipulator as claimed in claim 1, wherein: the clamping end (14) of the first grabbing arm (1) and the clamping end (14) of the second grabbing arm (2) are both provided with a tool (11).