CN212100929U

CN212100929U - Removable vertical feeding and discharging manipulator

Info

Publication number: CN212100929U
Application number: CN202020748003.4U
Authority: CN
Inventors: 郑周
Original assignee: Xinchang Qiujie Machinery Technology Co ltd
Current assignee: Chongqing Hejuda Intelligent Equipment Co ltd
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2020-12-08
Anticipated expiration: 2030-05-07

Abstract

The utility model discloses a removable vertical feeding and discharging manipulator, which comprises a base, the intermediate position department at base top is equipped with the fixing base, the intermediate position department inside the fixing base is equipped with servo motor A, one side at base top is equipped with the control cabinet, the both sides of base top far away from the control cabinet are equipped with the mount pad, the top of mount pad is equipped with annular spout, the inside symmetry of annular spout is equipped with the slider, the outside that the base top is close to servo motor A is equipped with the carousel, the top of slider is equipped with the spout, the output of servo motor A is equipped with the protection storehouse; the utility model discloses the device passes through the relation of connection and connecting plate and pulley and spout connection cooperation of carousel and L type connecting plate, has increased the dual direction effect of device, and connects once more on the basis of dual direction, makes the position control of device and removes steady point and accurate, increases the practicality of device.

Description

Removable vertical feeding and discharging manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a removable vertical feeding mechanical arm of unloading.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both human and manipulator machines in structure and performance;

when the clamping movement is performed by using a manipulator, the following defects are often existed, such as:

1. when the manipulator performs rotation adjustment, height adjustment, inclination adjustment and the like, certain errors are generated due to the movement coordination of electric devices, the precision of part movement is reduced, and the practicability of the device is reduced;

2. when the manipulator clamps materials, the manipulator moves in different directions, so that the clamped materials can deviate or fall off, and the clamping force of the device on the materials is reduced;

3. when the manipulator is disassembled, the fixing of the manipulator is generally cancelled through loosening multiple groups of bolts, but the operation process of the method is complex and inconvenient, the work difficulty of operators is increased, and the work efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a removable vertical feeding mechanical arm of going up to the problem of proposing in solving above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a replaceable vertical feeding and discharging mechanical arm comprises a base, wherein a fixed seat is arranged in the middle of the top of the base, a servo motor A is arranged in the middle of the inside of the fixed seat, a control console is arranged on one side of the top of the base, mounting seats are arranged on two sides, far away from the control console, of the top of the base, annular sliding grooves are formed in the top of the mounting seats, sliding blocks are symmetrically arranged inside the annular sliding grooves, a turntable is arranged on the outer side, close to the servo motor A, of the top of the base, sliding grooves are formed in the top of the sliding blocks, a protection bin is arranged at the output end of the servo motor A, an electric cylinder A is arranged on the inner side of the protection bin, a mechanical arm is arranged at the output end of the electric cylinder A, a hinge shaft hinged with the mechanical arm is arranged on the inner side of the mechanical arm, pulleys matched with the sliding grooves are arranged on one sides, far away from each other, of the two groups of connecting plates, L-shaped connecting plates connected with the rotary table are arranged on two sides of the outer side of the protective bin, the L-shaped connecting plates are connected with the sliding grooves, a mounting groove A connected with the mechanical arm is arranged at one end of the back face of the top of the mechanical arm, a servo motor B is arranged on one side of the mounting groove A, the output end of the servo motor B extends into the mounting groove A and is provided with a bidirectional threaded rod A, an internal threaded sleeve A is arranged on the outer side of the bidirectional threaded rod A, a mounting groove B is arranged at the bottom of the two groups of internal threaded sleeve A, a bidirectional threaded rod B is arranged at the middle position of the top of the inner part of the mounting groove B, an internal threaded sleeve B is symmetrically arranged on the outer side of the bidirectional threaded rod B, an, one side of indent mount pad is equipped with fixed centre gripping subassembly, the control cabinet is the electricity through the wire respectively with servo motor A, electric cylinder A, servo motor B and electric cylinder B and is connected.

Preferably, fixed centre gripping subassembly includes arc grip block, manipulator, spring, grip block, hinge bar and articulated seat, the manipulator is located one side of indent mount pad, the four corners department that the manipulator is close to one side each other all is equipped with articulated seat, four groups the inboard of articulated seat is equipped with rather than mutual articulated arc grip block, the intermediate position department that the manipulator is close to one side each other is equipped with the spring, one side that the spring outside is close to each other is equipped with the grip block, the four corners department that the grip block kept away from one side each other all is equipped with the hinge bar with the mutual articulated of arc grip block.

Preferably, the outer sides of the electric cylinder B and the servo motor B are provided with protective cases, and the inner sides of the protective cases are provided with silencing cotton.

Preferably, the bottom of base evenly is equipped with the fixed plate, and the bottom of fixed plate all is equipped with the slipmat.

Preferably, the bottom of the outer side of the bidirectional threaded rod B is provided with a rotating handle, and the outer side of the rotating handle is provided with anti-skid grains.

Preferably, the outer sides of the arc-shaped clamping plate and the clamping plate are both provided with rubber protection pads.

Compared with the prior art, the beneficial effects of the utility model are that: the replaceable vertical feeding and discharging mechanical arm strengthens the adjusting position of a part through the double guide assembly, effectively increases the practicability of the device and the working efficiency of operators by utilizing the secondary clamping structure and the clamping assembly convenient to disassemble, and is simple and reasonable in structural design and convenient to use;

1. the connection relationship between the rotary table and the L-shaped connecting plate, the pulley and the sliding chute are connected and matched, so that the double-guide effect of the device is increased, and the device is connected again on the basis of double guide, so that the position adjustment and the movement of the device are stable and accurate, and the practicability of the device is increased;

2. through the mutual matching of the secondary clamping structures, the material can be conveniently clamped, the clamping effect is better and firm, and the falling or position deviation of the material during feeding and discharging can be prevented;

3. utilize the block adaptation of L type lug and indent mount pad, be convenient for remove the fixed effect of indent mount pad, make things convenient for operating personnel to install and dismantle work to the indent mount pad, increased staff's operability and work efficiency.

Drawings

Fig. 1 is a front sectional view of the present invention;

fig. 2 is an enlarged schematic view of the structure at a in fig. 1 according to the present invention;

fig. 3 is a side view of the robot of the present invention;

FIG. 4 is a front view of the present invention

Fig. 5 is a side view of the present invention.

In the figure: 1. a base; 2. an L-shaped connecting plate; 3. a fixed seat; 4. a servo motor A; 5. a turntable; 6. A mounting seat; 7. an annular chute; 8. a slider; 9. a chute; 10. a protection bin; 11. an electric cylinder A; 12. A mechanical arm; 13. hinging a shaft; 14. a bidirectional threaded rod A; 15. mounting grooves A; 16. an internal thread sleeve A; 17. a servo motor B; 18. an electric cylinder B; 19. a pulley; 20. a connecting plate; 21. a console; 22. an internal thread sleeve B; 23. mounting grooves B; 24. a bidirectional threaded rod B; 25. an L-shaped bump; 26. An arc-shaped clamping plate; 27. a manipulator; 28. a spring; 29. a clamping plate; 30. a hinged lever; 31. a hinged seat; 32. concave mount pad.

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.

Referring to fig. 1-5, the present invention provides an embodiment: a replaceable vertical loading and unloading manipulator comprises a base 1, a fixed seat 3 is arranged at the middle position of the top of the base 1, a servo motor A4 is arranged at the middle position inside the fixed seat 3, a control console 21 is arranged on one side of the top of the base 1, mounting seats 6 are arranged on two sides, far away from the control console 21, of the top of the base 1, an annular sliding groove 7 is arranged at the top of the mounting seat 6, sliding blocks 8 are symmetrically arranged inside the annular sliding groove 7, a turntable 5 is arranged on the outer side, close to the servo motor A4, of the top of the base 1, a sliding groove 9 is arranged at the top of the sliding block 8, a protection cabin 10 is arranged at the output end of a servo motor A4, an electric cylinder A11 is arranged on the inner side of the protection cabin 10, a mechanical arm 12 is arranged at the output end of the electric cylinder A11, a hinged shaft 13 is arranged, two sides of the bottom of the outer side of the mechanical arm 12 are provided with connecting plates 20, one side, away from each other, of each of the two groups of connecting plates 20 is provided with a pulley 19 matched with the sliding groove 9, two sides of the outer side of the protective bin 10 are provided with L-shaped connecting plates 2 connected with the rotating disc 5, the L-shaped connecting plates 2 are connected with the sliding grooves 9, one end of the back of the top of the mechanical arm 12 is provided with a mounting groove A15 connected with the mechanical arm, one side of the mounting groove A15 is provided with a servo motor B17, the output end of the servo motor B17 extends into the mounting groove A15 and is provided with a bidirectional threaded rod A14, the outer side of the bidirectional threaded rod A14 is provided with an internally threaded sleeve A16, the bottom of the two groups of internally threaded sleeves A16 is provided with a mounting groove B23, the middle position of the top of the inside of the mounting groove B23 is provided with a bidirectional threaded rod B24, the outer side of the bidirectional, be convenient for install the dismantlement to the part, one side of indent mount pad 32 is equipped with fixed centre gripping subassembly, and control cabinet 21 is the electricity through the wire and is connected with servo motor A4, electric cylinder A11, servo motor B17 and electric cylinder B18 respectively.

Further, fixed centre gripping subassembly includes arc grip block 26, manipulator 27, spring 28, grip block 29, articulated rod 30 and articulated seat 31, manipulator 27 is located one side of indent mount pad 32, manipulator 27 all is equipped with articulated seat 31 in the four corners department that is close to one side each other, the inboard of four groups of articulated seats 31 is equipped with rather than articulated arc grip block 26 each other, manipulator 27 is close to the intermediate position department of one side each other and is equipped with spring 28, the one side that is close to each other in the spring 28 outside is equipped with grip block 29, grip block 29 all is equipped with the articulated rod 30 each other articulated with arc grip block 26 in the four corners department that keeps away from one side each other.

Furthermore, protective cases are arranged on the outer sides of the electric cylinder B18 and the servo motor B17, and silencing cotton is arranged on the inner sides of the protective cases, so that the protection performance of components is improved.

Further, the bottom of base 1 evenly is equipped with the fixed plate, and the bottom of fixed plate all is equipped with the slipmat, has increased the fixed effect of device.

Furthermore, the bottom of the outer side of the bidirectional threaded rod B24 is provided with a rotating handle, and the outer side of the rotating handle is provided with anti-skid grains, so that the operability is improved.

Furthermore, rubber protection pads are arranged on the outer sides of the arc-shaped clamping plates 26 and the clamping plates 29, so that the materials are prevented from being damaged.

The working principle is as follows: the electric parts of the device are all powered by an external power supply, the operation precision of the parts is effectively enhanced through the designation of a double-guide structure, and the clamping assembly convenient to disassemble and assemble is used for assembling the manipulator;

when the materials need to be clamped and moved, the servo motor A4 can be used for integrally rotating the electric cylinder A11 and the mechanical arm 12, the L-shaped connecting plate 2 is driven to rotate under the matching guide of the turntable 5 while rotating, the pulley 19 and the chute 9 are driven to rotate and guide under the matching of the slider 8 and the annular chute 7 through the connecting plate 20, the L-shaped connecting plate 2 and the chute 9 are connected with each other, and when the electric cylinder A11 pushes the mechanical arm 12, the pulley 19 is guided to ascend and descend under the sliding of the chute 9, the structure has a double guide effect, the precision and the stability of part rotation and ascending and descending are effectively realized, and the practicability of the device is improved;

when clamping materials, the servo motor B17 can be started through the console 21, then the servo motor B17 drives the bidirectional threaded rod A14 to rotate, the bidirectional threaded rod A14 rotates to drive the internal threaded sleeve A16 to approach each other, the mounting groove B23 and the clamping plate 29 are driven to approach and move along with the movement of the internal threaded sleeve A16, then the objects are clamped, meanwhile, when the objects are in contact with the clamping plate 29, the clamping plate 29 can drive the spring 28 to retract and the hinge rod 30 to descend, the arc-shaped clamping plate 26 is driven to close the clamping plate 29 under the hinge fit of the hinge seat 31, secondary clamping and fixing are carried out on the objects, the clamping force of the materials is effectively increased, and the positions of the materials are prevented from inclining and falling off when moving;

when manipulator 27 needs to be dismantled, rotatable two-way threaded rod B24 drives internal thread sleeve B22 and keeps away from each other, utilizes internal thread sleeve B22 to drive L type lug 25 and cancels the fixed to concave mount pad 32, alright dismantle concave mount pad 32, manipulator 27 etc. this structure operation mode is simple and convenient swift, and is more firm to the fixed of concave mount pad 32, increases the steadiness when part uses.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a removable vertical feeding mechanical arm that goes up, includes base (1), its characterized in that: the device is characterized in that a fixing seat (3) is arranged at the middle position of the top of the base (1), a servo motor A (4) is arranged at the middle position of the inner part of the fixing seat (3), a control console (21) is arranged on one side of the top of the base (1), mounting seats (6) are arranged on the two sides of the top of the base (1) far away from the control console (21), an annular sliding groove (7) is arranged at the top of each mounting seat (6), sliding blocks (8) are symmetrically arranged in the annular sliding groove (7), a rotary table (5) is arranged on the outer side, close to the servo motor A (4), of the top of the base (1), a sliding groove (9) is arranged at the top of each sliding block (8), a protection bin (10) is arranged at the output end of the servo motor A (4), an electric cylinder A (11) is arranged on the inner side of the protection bin, the inner side of the mechanical arm (12) is provided with a hinged shaft (13) mutually hinged with the mechanical arm, the front end of the mechanical arm (12) is provided with an electric cylinder B (18) mutually connected with the mechanical arm, the two sides of the bottom of the outer side of the mechanical arm (12) are provided with connecting plates (20), one side of the two groups of connecting plates (20) which are mutually far away from each other is provided with a pulley (19) mutually matched with a sliding groove (9), the two sides of the outer side of the protection bin (10) are provided with L-shaped connecting plates (2) mutually connected with a turntable (5), the L-shaped connecting plates (2) are mutually connected with the sliding groove (9), one end of the back of the top of the mechanical arm (12) is provided with a mounting groove A (15) mutually connected with the mechanical arm, one side of the mounting groove A (15) is provided with a servo motor B (17), the output end of, the outside of two-way threaded rod A (14) is equipped with internal thread sleeve pipe A (16), and is two sets of the bottom of internal thread sleeve pipe A (16) is equipped with mounting groove B (23), the intermediate position department at the inside top of mounting groove B (23) is equipped with two-way threaded rod B (24), the outside symmetry of two-way threaded rod B (24) is equipped with internal thread sleeve pipe B (22), one side of internal thread sleeve pipe B (22) is equipped with L type lug (25), the outside of L type lug (25) is equipped with indent mount pad (32) rather than mutual adaptation, one side of indent mount pad (32) is equipped with fixed centre gripping subassembly, control cabinet (21) are the electricity through the wire and are connected with servo motor A (4), electric cylinder A (11), servo motor B (17) and electric cylinder B (18) respectively.

2. The replaceable vertical loading and unloading manipulator as claimed in claim 1, wherein: fixed centre gripping subassembly includes arc grip block (26), manipulator (27), spring (28), grip block (29), articulated rod (30) and articulated seat (31), manipulator (27) are located one side of indent mount pad (32), manipulator (27) are close to the four corners department of one side each other and all are equipped with articulated seat (31), four groups the inboard of articulated seat (31) is equipped with rather than articulated arc grip block (26) each other, manipulator (27) are close to the intermediate position department of one side each other and are equipped with spring (28), the one side that is close to each other in spring (28) outside is equipped with grip block (29), grip block (29) are kept away from the four corners department of one side each other and all are equipped with articulated rod (30) each other with arc grip block (26).

3. The replaceable vertical loading and unloading manipulator as claimed in claim 1, wherein: the outside of electric cylinder B (18) and servo motor B (17) is equipped with the protective housing, and the inboard of protective housing is equipped with the amortization cotton.

4. The replaceable vertical loading and unloading manipulator as claimed in claim 1, wherein: the bottom of base (1) evenly is equipped with the fixed plate, and the bottom of fixed plate all is equipped with the slipmat.

5. The replaceable vertical loading and unloading manipulator as claimed in claim 1, wherein: the bottom of the outer side of the bidirectional threaded rod B (24) is provided with a rotating handle, and the outer side of the rotating handle is provided with anti-skid grains.

6. The replaceable vertical loading and unloading manipulator as claimed in claim 2, wherein: and rubber protection pads are arranged on the outer sides of the arc-shaped clamping plate (26) and the clamping plate (29).