CN211388824U

CN211388824U - Carrying manipulator

Info

Publication number: CN211388824U
Application number: CN201921738821.XU
Authority: CN
Inventors: 杨继祖; 曾献龙; 蓝浩
Original assignee: Zhaoqing Guoyao Precision Machinery Manufacturing Co ltd
Current assignee: Zhaoqing Guoyao Precision Machinery Manufacturing Co ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-09-01
Anticipated expiration: 2029-10-16

Abstract

The utility model relates to the field of automatic production, in particular to a carrying manipulator, which comprises a fixed seat, a control paw used for clamping a workpiece, a clamping connecting rod arranged in the control paw, a horizontal rotating mechanism and a vertical rotating mechanism, the control paw is rotatably arranged on the fixed seat through a horizontal rotating mechanism, a clamping driving cylinder is arranged on the control paw, the clamping driving cylinder is connected with the vertical rotating mechanism through the clamping connecting rod, the carrying manipulator disclosed by the utility model can control the position of the control paw through the arrangement of the clamping connecting rod, under the action of the clamping driving cylinder, the control paw clamps the workpiece, and through the matching of the horizontal rotating mechanism and the vertical rotating mechanism, the horizontal movement and the vertical turnover of the workpiece can be realized, and the workpiece can be conveniently carried and processed among different processing centers.

Description

Carrying manipulator

Technical Field

The utility model relates to an automated production field, more specifically relates to a transport manipulator.

Background

With the progress of science and technology, the production gradually tends to automatic production, and the automatic production mode can improve the processing precision, reduce the labor intensity of workers and save the production cost.

At present, when some accurate cast members need to be produced, such as parts of an automobile engine cylinder cover and the like, the parts can be processed through a plurality of machine tools during casting, at the moment, products need to be mutually transmitted among different processing centers, in the transmission process, the accuracy of transmission needs to be ensured, so that the gripper is required to be in the process of carrying the parts, except the parts which can not be deformed, the position of the gripper needs to be changed, the posture of a workpiece is controlled, therefore, when the automobile engine cylinder cover is produced at present, the parts of the automobile engine cylinder cover and the like are carried and checked manually, and the production cost is huge.

Therefore, it is necessary to provide a transfer robot that solves the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome above-mentioned prior art at least one defect (not enough), provide one kind and be used for carrying out the high accuracy transport to the material to can realize a transport manipulator of many gestures transform demand in handling.

In order to solve the technical problem, the technical scheme of the utility model as follows: a carrying manipulator comprises a fixed seat, a control paw used for clamping a workpiece, a clamping connecting rod arranged in the control paw, a horizontal rotating mechanism and a vertical rotating mechanism, wherein the control paw is rotatably arranged on the fixed seat through the horizontal rotating mechanism, the control paw is provided with a clamping driving cylinder, the clamping driving cylinder is connected with the vertical rotating mechanism through the clamping connecting rod, the position of the control paw can be controlled through the arrangement of the clamping connecting rod, the control paw clamps the workpiece under the action of the clamping driving cylinder, the horizontal rotating mechanism can control the horizontal rotating angle of the control paw in the horizontal direction, the vertical rotating mechanism can turn and position the workpiece in the process of carrying the workpiece, and the horizontal rotating mechanism is matched with the vertical rotating mechanism, the horizontal movement and the vertical turnover of the workpiece can be realized, and the workpiece can be conveniently carried and processed among different processing centers.

Furthermore, horizontal rotating mechanism includes driven gear, rotation axis, bearing frame and the horizontal rotation drive arrangement of setting in the fixing base, driven gear passes through the rotatory axle sleeve and establishes on the bearing frame, the control hand claw sets up on the rotation axis, horizontal rotation drive arrangement is connected with the control hand claw through driven gear, drives driven gear through horizontal rotation drive arrangement for the rotation axis that is connected with driven gear is at the bearing frame internal rotation, thereby controls horizontal rotation's angle.

Furthermore, horizontal rotation drive arrangement includes the straight line and drives actuating cylinder, drive rack, the joint that floats and set up the guide rail in the fixing base, the mobilizable setting that connects on the guide rail floats, the straight line drives actuating cylinder and meshes with driven gear through the drive rack that floats on the joint, and the straight line drives actuating cylinder and connects through the drive is floated for floating and connecting and slide on the guide rail, thereby adjust driven gear's rotation angle, and in practical application, the control hand claw drives the rotation axis through the straight line and makes the whole moving part in lower part realize 90 degrees horizontal rotation, thereby makes the work piece can realize the rotation of horizontal 90 degrees and transform the position, convenient processing.

Further, still include the slip stopper, the slip stopper sets up on the guide rail, through the setting of slip stopper, can control the sliding distance that floats the joint fast, is convenient for carry on spacingly to floating the joint to improve rotation accuracy.

Furthermore, the sliding limiter is a limit stop, the limit stop is simple in structure, and the sliding displacement of the floating joint can be quickly controlled, so that the displacement of the floating joint is limited, and the device is simple and convenient.

Furthermore, vertical rotating mechanism drives actuating cylinder, perpendicular guide rail, rotation connecting rod and grip block including the upset, the grip block passes through perpendicular guide rail setting on the upset drives actuating cylinder, grip block one end is connected with the clamping connecting rod, and the other end is connected with the rotation connecting rod, drives actuating cylinder drive grip block through the upset for the control hand claw that the clamping connecting rod is connected overturns, thereby realizes 180 degrees upsets to the work piece, thereby is convenient for control work piece's processing angle, improves the degree of accuracy.

Further, be equipped with pressure detector on the clamp plate, through pressure detector's setting, can detect tight degree of clamp, thereby avoid taking place to drop at the in-process that the work piece overturns or removes and influence the normal operating and constructor's of equipment safety, in practical application, pressure detector can be pressure sensor or pressure detector, and it is all within the protection scope.

Furthermore, the control hand claw is one at least, and in practical application, can set up the control hand claw of different quantity on the fixing base as required, it is all within the utility model discloses a protection scope.

Furthermore, the side protection plates are arranged on two sides of the fixing seat, and devices in the fixing seat can be protected through the side protection plates, so that other devices are prevented from colliding with the devices, and the working accuracy of the manipulator is ensured.

Furthermore, the mechanical arm fixing device further comprises a main connecting plate and a connecting flange arranged on the main connecting plate, wherein the main connecting plate is arranged on the side protection plate, and the main connecting plate and the connecting flange are arranged to be used for fixing the whole fixing seat, so that the mechanical arm is convenient to fix and install.

Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:

(1) the utility model discloses a carrying manipulator, setting through pressing from both sides tight connecting rod, can control the position of control hand claw, under the effect that presss from both sides tight drive actuating cylinder, make control hand claw press from both sides tightly the work piece, wherein, horizontal rotary mechanism can be on the horizontal direction, control the horizontal rotation angle of control hand claw, and vertical rotary mechanism, can be at the in-process of carrying the work piece, overturn and fix a position the work piece, cooperation through horizontal rotary mechanism and vertical rotary mechanism, can realize the horizontal migration and the vertical upset of work piece, the work piece of being convenient for is carried and is processed between the machining center of difference.

(2) The utility model discloses a transport manipulator is through horizontal rotation drive arrangement drive driven gear for the rotation axis that is connected with driven gear is at the bearing frame internal rotation, thereby controls horizontal rotation's angle.

(3) The utility model discloses a transport manipulator, the straight line drives actuating cylinder and passes through the drive joint that floats for floating and connecting and slide on the guide rail, thereby adjust driven gear's rotation angle, in practical application, control hand claw drives actuating cylinder through the straight line and drives the horizontal rotation that the rotation axis made the whole moving part in lower part realize 90 degrees, thereby make the work piece can realize the rotation of horizontal 90 degrees and transform the position, convenient processing.

(4) The utility model discloses a transport manipulator drives actuating cylinder drive clamp plate through the upset for the control hand claw that the clamping connecting rod is connected overturns, thereby realizes 180 degrees upsets to the work piece, thereby is convenient for control the processing angle of work piece, improves the degree of accuracy.

Drawings

Fig. 1 is a schematic structural diagram of the robot of the present invention.

Fig. 2 is a side view of the robot of the present invention.

Fig. 3 is a plan view of the robot of the present invention.

Fig. 4 is an enlarged view of the horizontal rotation mechanism of the present invention.

Fig. 5 is an enlarged view of the vertical rotation mechanism of the present invention.

In the figure, 1 is a fixed seat, 2 is a control paw, 3 is a clamping connecting rod, 4 is a horizontal rotating mechanism, 5 is a vertical rotating mechanism, 6 is a clamping driving air cylinder, 7 is a driven gear, 8 is a rotating shaft, 9 is a bearing seat, 10 is a linear driving air cylinder, 11 is a driving rack, 12 is a floating joint, 13 is a guide rail, 14 is a sliding stopper, 15 is an overturning driving air cylinder, 16 is a vertical guide rail, 17 is a clamping plate, 18 is a pressure detector, 19 is a side protection plate, 20 is a main connecting plate, 21 is a connecting flange, and 22 is a rotating connecting rod.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, so to speak, as communicating between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art. The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.

As shown in fig. 1-3, a carrying manipulator comprises a fixed seat 1, a control paw 2 for clamping a workpiece, a clamping connecting rod 3 arranged in the control paw 2, a horizontal rotating mechanism 4 and a vertical rotating mechanism 5, wherein the control paw 2 is rotatably arranged on the fixed seat 1 through the horizontal rotating mechanism 4, the control paw 2 is provided with a clamping driving cylinder 6, the clamping driving cylinder 6 is connected with the vertical rotating mechanism 5 through the clamping connecting rod 3, the position of the control paw 2 can be controlled through the arrangement of the clamping connecting rod 3, the control paw 2 clamps the workpiece under the action of the clamping driving cylinder 6, wherein the horizontal rotating mechanism 4 can control the horizontal rotating angle of the control paw 2 in the horizontal direction, and the vertical rotating mechanism 5 can turn and position the workpiece in the process of carrying the workpiece, through the cooperation of the horizontal rotating mechanism 4 and the vertical rotating mechanism 5, the horizontal movement and the vertical turnover of the workpiece can be realized, and the workpiece can be conveniently carried and processed between different processing centers.

As shown in fig. 4, the horizontal rotation mechanism 4 includes a driven gear 7, a rotation shaft 8, a bearing seat 9 and a horizontal rotation driving device disposed in the fixed seat 1, the driven gear 7 is sleeved on the bearing seat 9 through the rotation shaft 8, the control paw 2 is disposed on the rotation shaft 8, the horizontal rotation driving device is connected with the control paw 2 through the driven gear 7, the driven gear 7 is driven by the horizontal rotation driving device, so that the rotation shaft 8 connected with the driven gear 7 rotates in the bearing seat 9, thereby controlling the angle of horizontal rotation, wherein the horizontal rotation driving device includes a linear driving cylinder 10, a driving rack 11, a floating joint 12 and a guide rail 13 disposed in the fixed seat 1, the floating joint 12 is movably disposed on the guide rail 13, the linear driving cylinder 10 is engaged with the driven gear 7 through the driving rack 11 on the floating joint 12, the linear driving cylinder 10 drives the floating joint 12 to make the floating joint 12 slide on the guide rail 13, so as to adjust the rotation angle of the driven gear 7, in practical application, the control paw 2 drives the rotation axis 8 through the linear driving cylinder 10 to make the whole lower moving part realize 90-degree horizontal rotation, so as to make the workpiece realize 90-degree horizontal rotation and change position, so as to facilitate processing, besides, the linear driving cylinder also comprises a sliding stopper 14, the sliding stopper 14 is arranged on the guide rail 13, the sliding distance of the floating joint 12 can be rapidly controlled through the arrangement of the sliding stopper 14, so as to facilitate the limiting of the floating joint 12, thereby improving the rotation precision, and in the utility model, the sliding stopper 14 is a limit stopper, the structure of the limit stopper is simple, and the sliding displacement of the floating joint can be rapidly controlled, thereby the displacement to floating the joint is spacing, and is simple and convenient.

As shown in fig. 5, the vertical rotation mechanism 5 includes a turning driving cylinder 15, a vertical guide rail 16, a rotation link 22 and a clamping plate 17, the clamping plate 17 is disposed on the turning driving cylinder 15 through the vertical guide rail 16, and is clamped, one end of the clamping plate 17 is connected to the clamping link 3, and the other end is connected to the rotation link 22, the clamping plate 17 is driven by the turning driving cylinder 15, so that the control paw 2 connected to the clamping link 3 is turned over, thereby turning over the workpiece 180 degrees, thereby facilitating the control of the processing angle of the workpiece, and improving the accuracy, wherein a pressure detector 18 is disposed on the clamping plate 17, and the clamping degree can be detected through the arrangement of the pressure detector 18, thereby preventing the workpiece from falling down in the turning or moving process and affecting the normal operation of the equipment and the safety of the constructors, in practical application, the pressure detector 18 can be a pressure sensor or a pressure detector, it is all in the utility model discloses an within the protection scope, in practical application, can set up the control hand claw of different quantity on the fixing base as required, it is all within the utility model discloses a within the protection scope.

The utility model discloses in, be equipped with side protection board 19 in 1 both sides of fixing base, through the setting of side protection board 19, can protect the device in the fixing base 1, avoid other utensils to collide it, ensure the precision of manipulator work, in addition, still include main connecting plate 20 and the flange 21 of setting on main connecting plate 20, main connecting plate 20 sets up on side protection board 19, main connecting plate 20 and flange 21's setting can be used for the holistic fixed of fixing base 1, be convenient for carry the fixed of manipulator and install.

Examples

In this embodiment, the manipulator is used for carrying automobile engine cylinder lid, at first, presss from both sides tight actuating cylinder and drives horizontal rotation mechanism and control hand claw simultaneously through pressing from both sides tight connecting rod and to remove the clampable work piece to the centre, and when the work piece presss from both sides tight back, can need carry out the rotation or the removal of certain limit and angle to the work piece more, and concrete operation is as follows: when the control paw of the clamping workpiece needs to rotate horizontally, only the linear driving cylinder needs to be controlled, so that the floating joint moves on the guide rail.

In addition, still be equipped with perpendicular rotary mechanism on the manipulator, the control hand claw can be removed on perpendicular guide rail, and the pinch-off blades can overturn under the drive of upset drive actuating cylinder for work piece on the control hand claw can rotate as required, makes the work piece can be processed with different angles in the machining center of difference, has improved the accuracy of work piece processing.

In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a carrying manipulator, includes fixing base (1), is used for pressing from both sides the control hand claw (2) of tight work piece and sets up clamping connecting rod (3) in control hand claw (2), its characterized in that: the device is characterized by further comprising a horizontal rotating mechanism (4) and a vertical rotating mechanism (5), the control paw (2) is rotatably arranged on the fixing seat (1) through the horizontal rotating mechanism (4), a clamping driving cylinder (6) is arranged on the control paw (2), and the clamping driving cylinder (6) is connected with the vertical rotating mechanism (5) through a clamping connecting rod (3).

2. The transfer robot of claim 1, wherein: horizontal rotation mechanism (4) include driven gear (7), rotation axis (8), bearing frame (9) and set up the horizontal rotation drive arrangement in fixing base (1), driven gear (7) are established on bearing frame (9) through rotation axis (8) cover, control hand claw (2) set up on rotation axis (8), horizontal rotation drive arrangement is connected with control hand claw (2) through driven gear (7).

3. The transfer robot of claim 2, wherein: the horizontal rotation driving device comprises a linear driving air cylinder (10), a driving rack (11), a floating joint (12) and a guide rail (13) arranged in the fixed seat (1), wherein the floating joint (12) is movably arranged on the guide rail (13), and the linear driving air cylinder (10) is meshed with the driven gear (7) through the driving rack (11) on the floating joint (12).

4. The transfer robot of claim 3, wherein: the device also comprises a sliding limiter (14), wherein the sliding limiter (14) is arranged on the guide rail (13).

5. The transfer robot of claim 4, wherein: the sliding limiter (14) is a limit stop.

6. The transfer robot of claim 1, wherein: vertical rotation mechanism (5) drive actuating cylinder (15), perpendicular guide rail (16), rotatory connecting rod (22) and pinch-off blades (17) including the upset, pinch-off blades (17) set up on upset drive actuating cylinder (15) through perpendicular guide rail (16), pinch-off blades (17) one end is connected with clamping connecting rod (3), and the other end is connected with rotatory connecting rod (22).

7. The transfer robot of claim 6, wherein: and a pressure detector (18) is arranged on the clamping plate (17).

8. The transfer robot of claim 1, wherein: the number of the control claws (2) is at least one.

9. The transfer robot of claim 1, wherein: and side protection plates (19) are arranged on two sides of the fixed seat (1).

10. The transfer robot of claim 9, wherein: the connecting structure further comprises a main connecting plate (20) and a connecting flange (21) arranged on the main connecting plate (20), wherein the main connecting plate (20) is arranged on the side protection plate (19).