CN212445283U - Manipulator convenient to change - Google Patents
Manipulator convenient to change Download PDFInfo
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- CN212445283U CN212445283U CN202020393886.1U CN202020393886U CN212445283U CN 212445283 U CN212445283 U CN 212445283U CN 202020393886 U CN202020393886 U CN 202020393886U CN 212445283 U CN212445283 U CN 212445283U
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- pneumatic clamping
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- pushing
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Abstract
The utility model provides a manipulator convenient for replacement, which comprises a rotating structure A, a rotating structure B, a supporting plate, a connecting plate, a replacing platform structure, an arm structure and a plurality of pneumatic clamping fingers A; the rotary structure A is connected with the connecting plate, the connecting plate is fixedly arranged on the upper surface of the supporting plate, the rotary structure B is arranged on the connecting plate, the mechanical arm structure is arranged below the supporting plate, a plurality of supporting rods are arranged between the supporting plate and the replacing platform structure, the replacing platform structure comprises a replacing platform, a plurality of pushing structures corresponding to the number of the pneumatic clamping fingers A, through holes for the mechanical arm structure to stretch out are formed in the position, corresponding to the mechanical arm structure, on the replacing platform, and the pushing structures are connected with the pneumatic clamping fingers A. The utility model has the advantages that: be provided with the change platform structure that snatchs the structure, can realize automatic change and snatch the structure, promote the efficiency of changing.
Description
Technical Field
The utility model relates to a hardware processing manipulator technical field especially relates to a manipulator convenient to change.
Background
A robot is an automatic manipulator which imitates some action functions of a human hand and arm for grasping, carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed by programming, and the advantages of both human and robot machines are combined in structure and performance. In the hardware processing process, in order to improve the production efficiency, a manipulator is arranged on some posts. In the daily processing production process, because the shape of hardware is more, in order to realize better snatching, need change the corresponding structure of snatching among the prior art, change at every turn and all need stop equipment, engineering personnel spend the certain time to change and debug, directly influenced the efficiency of production. In view of such circumstances, improvement is urgently required.
SUMMERY OF THE UTILITY MODEL
Based on this, the utility model aims at providing a manipulator convenient to change is provided with the change platform structure that snatchs the structure, can realize automatic change and snatch the structure, promotes the efficiency of changing.
The utility model provides a manipulator convenient for replacement, which comprises a rotating structure A, a rotating structure B, a supporting plate, a connecting plate, a replacing platform structure, an arm structure and a plurality of pneumatic clamping fingers A; the rotary structure A is connected with the connecting plate, the connecting plate is fixedly arranged on the upper surface of the supporting plate, the rotary structure B is arranged on the connecting plate, the mechanical arm structure is arranged below the supporting plate, a plurality of supporting rods are arranged between the supporting plate and the replacing platform structure, the replacing platform structure comprises a replacing platform, a plurality of pushing structures corresponding to the number of the pneumatic clamping fingers A, through holes for the mechanical arm structure to stretch out are formed in the position, corresponding to the mechanical arm structure, on the replacing platform, and the pushing structures are connected with the pneumatic clamping fingers A.
Preferably, the rotating structure A comprises a rotating motor A and a swing arm, one end of the swing arm is connected with the power output end of the rotating motor A, and the other end of the swing arm is fixedly connected with the connecting plate.
Preferably, the rotating structure B comprises a rotating motor B and a rotating shaft, the rotating motor B is fixedly arranged on the upper surface of the connecting plate, one end of the rotating shaft is connected with a power output end of the rotating motor B, a bearing is fixedly arranged on the connecting plate at a position corresponding to the rotating shaft, and the other end of the rotating shaft penetrates through the bearing and is fixedly connected with the supporting plate.
As preferred scheme, arm structure includes elevator motor, lift axle, mounting panel, pneumatic clamp indicates B, elevator motor is fixed to be set up the lower surface of backup pad, the one end of lift axle with elevator motor's power take off end is connected, the other end of lift axle with mounting panel fixed connection, pneumatic clamp indicates B fixed the setting and is in the lower surface of mounting panel.
As a preferred scheme, the material pushing structure comprises a material pushing cylinder, a material pushing arm and an arc-shaped material pushing block, the material pushing cylinder is fixedly arranged on the replacing table, one end of the material pushing arm is connected with the power output end of the material pushing cylinder, and the other end of the material pushing arm is fixedly connected with the material pushing block; the replacing table is provided with strip-shaped holes corresponding to the pneumatic clamping fingers A in number, and each strip-shaped hole is communicated with the through hole; the upper surfaces of the pneumatic clamping fingers A are fixedly provided with convex columns, the material pushing block is a magnetic material pushing block, and the convex columns are magnetically connected with the material pushing block; the pneumatic clamping fingers A are located below the replacing table, and the convex columns penetrate through the strip-shaped holes from bottom to top and extend out of the upper surface of the replacing table.
Preferably, the pneumatic clamping finger B is a three-jaw pneumatic clamping finger.
Preferably, the pneumatic clamping finger A is a two-claw pneumatic clamping finger.
As a preferred scheme, the number of the material pushing structures arranged on the replacing table is N, and N is more than or equal to 3.
Preferably, the clamping fingers of the pneumatic clamping finger A are provided with clamping fingers with circular or polygonal clamping shapes.
The utility model has the advantages that: the material pushing structure is connected with the pneumatic clamping finger A, the plurality of pneumatic clamping fingers A are arranged, the pneumatic clamping fingers A are driven to the through hole through the material pushing structure, the pneumatic clamping fingers A are clamped by the mechanical arm structure, the mechanical arm structure drives the pneumatic clamping fingers A to extend out of the through hole after clamping of the pneumatic clamping fingers A is completed, the pneumatic clamping fingers A extending out of the through hole begin to grab hardware, when the pneumatic clamping fingers A need to be replaced, the mechanical arm structure drives the extending mechanical arm structure to reset to the original position, the pneumatic clamping fingers A are retracted by the original material pushing structure, one material pushing structure in other positions pushes the other pneumatic clamping fingers A to the position of the through hole continuously for clamping the mechanical arm structure, the mechanical arm structure drives the pneumatic clamping fingers A to extend out of the through hole for grabbing, automatic replacement of the grabbing structure is achieved, and replacement efficiency is improved.
Drawings
Fig. 1 is a structural view of the present invention.
Fig. 2 is a schematic structural view of the mechanical arm structure driving the pneumatic clamping finger a to extend out of the through hole.
Fig. 3 is a top view of the present invention.
Fig. 4 is a top view of the rotating structure a after rotating a certain angle.
Fig. 5 is a top view of a change station configuration (with three pusher configurations).
Fig. 6 is a top view of the change table configuration (with five pusher configurations).
The reference signs are: the device comprises a rotating structure B10, a rotating motor B12, a rotating shaft 11, a connecting plate 13, a bearing 14, a rotating structure A17, a rotating motor A16, a swing arm 15, a mechanical arm structure 22, a lifting motor 18, a lifting shaft 19, an installation plate 20, a pneumatic clamping finger B21, a material pushing structure 26, a material pushing cylinder 23, a material pushing arm 24, an arc-shaped material pushing block 25, a through hole 27, a convex column 28, a clamping finger 30 of the pneumatic clamping finger A, a pneumatic clamping finger A31, a replacing table 32, a supporting rod 34, a supporting plate 35 and a strip-shaped hole 36.
Detailed Description
For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Referring to fig. 1-6, a robot convenient to replace includes a rotation structure a17, a rotation structure B10, a support plate 35, a connection plate 13, a replacement table structure, a robot arm structure 22, and a plurality of pneumatic fingers a 31; revolution mechanic A17 is connected with connecting plate 13, connecting plate 13 is fixed to be set up at the upper surface of backup pad 35, revolution mechanic B10 sets up on connecting plate 13, arm structure 22 sets up the below at backup pad 35, be provided with a plurality of bracing pieces 34 between backup pad 35 and the change platform structure, change platform structure including change platform 32, a plurality of pushing equipment 26 that correspond with pneumatic clamp finger A31 quantity, change bench and offer the through-hole 27 that supplies arm structure 22 to stretch out with the position that arm structure 22 corresponds, pushing equipment 26 is connected with pneumatic clamp finger A31.
The rotating structure A17 comprises a rotating motor A16 and a swing arm 15, one end of the swing arm 15 is connected with the power output end of the rotating motor A16, and the other end of the swing arm 15 is fixedly connected with the connecting plate 13. The rotating motor A16 is connected with the control device, and during the in-service use, rotating motor A16 is fixed on the fixing base of production line, and rotating motor A16 power take off drives connecting plate 13 through swing arm 15 and swings, and the swing of connecting plate 13 drives backup pad 35, change platform structure, arm structure 22 in step and swings. The rotating angle of the rotating motor A16 can be set to be 0-180 degrees, and can be specifically set according to the position of the corresponding station on the production line.
The rotating structure B10 includes a rotating electrical machine B12 and a rotating shaft 11, the rotating electrical machine B12 is fixedly disposed on the upper surface of the connecting plate 13, one end of the rotating shaft 11 is connected to the power output end of the rotating electrical machine B12, a bearing 14 is fixedly disposed on the connecting plate 13 at a position corresponding to the rotating shaft 11, and the other end of the rotating shaft 11 penetrates through the bearing 14 and is fixedly connected to the supporting plate 35. The rotating electric machine B12 is connected to the control device. In actual use, the rotating motor B12 outputs power, and drives the support plate 35 to rotate through the rotating shaft 11, and the rotation of the support plate 35 synchronously drives the stage replacing structure and the mechanical arm structure 22 to rotate.
The mechanical arm structure 22 comprises a lifting motor 18, a lifting shaft 19, a mounting plate 20 and a pneumatic clamping finger B21, wherein the lifting motor 18 is fixedly arranged on the lower surface of the supporting plate 35, one end of the lifting shaft 19 is connected with the power output end of the lifting motor 18, the other end of the lifting shaft 19 is fixedly connected with the mounting plate 20, and the pneumatic clamping finger B21 is fixedly arranged on the lower surface of the mounting plate 20. The lifting motor 18 and the pneumatic clamping finger B21 are connected with the control device. In actual operation, the lifting motor 18 outputs power, the lifting shaft 19 drives the mounting plate 20 to move up and down, and the mounting plate 20 synchronously drives the pneumatic clamping finger B21 to move.
The pushing structure 26 comprises a pushing cylinder 23, a pushing arm 24 and an arc-shaped pushing block 25, the pushing cylinder 23 is fixedly arranged on the replacing table 32, and the pushing cylinder 23 and the pneumatic clamping finger A31 are connected with the control device. One end of the pushing arm 24 is connected with the power output end of the pushing cylinder 23, and the other end of the pushing arm 24 is fixedly connected with the pushing block 25; the replacing table 32 is provided with strip-shaped holes 36 the number of which corresponds to that of the pneumatic clamping fingers A31, and each strip-shaped hole 36 is communicated with the through hole 27; the upper surfaces of the pneumatic clamping fingers A31 are all fixedly provided with convex columns 28, the material pushing block 25 is arranged as a magnetic material pushing block 25, and the convex columns 28 are magnetically connected with the material pushing block 25; the pneumatic gripper fingers a31 are located below the changing table, and the studs 28 pass through the strip-shaped holes 36 from bottom to top and extend beyond the upper surface of the changing table. In actual operation, the pushing cylinder 23 outputs power, the pushing arm 24 drives the pushing block 25 to move back and forth along the strip-shaped hole 36, and the pushing block 25 synchronously drives the pneumatic clamping finger a31 to move back and forth along the strip-shaped hole 36 through the convex column 28.
In a preferred embodiment, the pneumatic gripper fingers B21 are configured as three-jaw pneumatic gripper fingers.
In a preferred embodiment, the pneumatic gripper fingers a31 are provided as two-jaw pneumatic gripper fingers.
In a preferred embodiment, the number of the pushing structures 26 on the replacing table is N, N is not less than 3, and in the present embodiment, the replacing table with 3 pushing structures 26 and the replacing table with 5 pushing structures 26 are respectively provided.
In a preferred embodiment, the gripping fingers 30 of the pneumatic gripping fingers a are provided as gripping fingers with a circular or polygonal gripping shape, the polygon being a rectangle, a pentagon, a hexagon, an octagon.
The operating principle of the present embodiment is: the control device sends an instruction to the material pushing cylinder 23, the material pushing cylinder 23 outputs power, the material pushing arm 24 drives the material pushing block 25 to move along the strip-shaped hole 36, and the material pushing block 25 synchronously drives the pneumatic clamping finger A to move to the position of the through hole through the convex column 28; the control device sends out an instruction to the lifting motor 18 to enable the lifting motor 18 to output power, the lifting shaft 19 drives the pneumatic clamp finger B21 to move to a preset position, the pneumatic clamp finger B21 outputs power to clamp the convex column 28, and the material pushing cylinder 23 drives the material pushing block 25 to reset; the lifting motor 18 continues power output, and drives the pneumatic clamp finger B21 to stretch out to the through hole through the lifting shaft 19, thereby synchronously driving the pneumatic clamp finger A to stretch out to the through hole, and the pneumatic clamp finger A stretching out of the through hole begins to grab the hardware.
When the pneumatic clamping finger A needs to be replaced, the lifting motor 18 outputs power, the lifting shaft 19 drives the pneumatic clamping finger B21 to move to the initial position, the original material pushing structure retracts the pneumatic clamping finger A, one material pushing structure at other positions continuously pushes the other pneumatic clamping finger A to the position of the through hole for clamping by the mechanical arm structure, and the mechanical arm structure drives the pneumatic clamping finger A to extend out of the through hole for grabbing operation, so that the automatic replacement of the grabbing structure is realized, and the replacement efficiency is improved.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (9)
1. The utility model provides a manipulator convenient to change which characterized in that: the device comprises a rotating structure A (17), a rotating structure B (10), a supporting plate (35), a connecting plate (13), a replacing table structure, a mechanical arm structure (22) and a plurality of pneumatic clamping fingers A (31); revolution mechanic A (17) with connecting plate (13) are connected, connecting plate (13) are fixed to be set up the upper surface of backup pad (35), revolution mechanic B (10) set up on connecting plate (13), arm structure (22) set up the below of backup pad (35), backup pad (35) with be provided with a plurality of bracing pieces (34) between the platform structure of changing, change a platform structure including change platform (32), a plurality of with pneumatic press from both sides material pushing structure (26) that indicate A (31) quantity corresponds, change on the platform and with the position that arm structure (22) correspond has seted up the confession through-hole (27) that arm structure (22) stretched out, material pushing structure (26) with pneumatic clamp indicates A (31) to be connected.
2. The manipulator of claim 1, wherein the manipulator is configured to: revolution mechanic A (17) include rotating electrical machines A (16), swing arm (15), the one end of swing arm (15) with the power take off end of rotating electrical machines A (16) is connected, the other end of swing arm (15) with connecting plate (13) fixed connection.
3. A manipulator facilitating replacement according to claim 2, wherein: revolution mechanic B (10) include rotating electrical machines B (12), rotation axis (11), rotating electrical machines B (12) are fixed to be set up the upper surface of connecting plate (13), the one end of rotation axis (11) with the power take off end of rotating electrical machines B (12) is connected, on connecting plate (13) with the rigidity that rotation axis (11) corresponds is provided with bearing (14), the other end of rotation axis (11) runs through bearing (14) with backup pad (35) fixed connection.
4. A manipulator convenient to replace according to claim 3, wherein: arm structure (22) indicate B (21) including elevator motor (18), lift axle (19), mounting panel (20), pneumatic clamp, elevator motor (18) are fixed to be set up the lower surface of backup pad (35), the one end of lift axle (19) with the power take off end of elevator motor (18) is connected, the other end of lift axle (19) with mounting panel (20) fixed connection, pneumatic clamp indicates that B (21) is fixed to be set up the lower surface of mounting panel (20).
5. The robot hand of claim 4, wherein the robot hand is configured to be replaced by: the pushing structure (26) comprises a pushing cylinder (23), a pushing arm (24) and an arc-shaped pushing block (25), the pushing cylinder (23) is fixedly arranged on the replacing table (32), one end of the pushing arm (24) is connected with the power output end of the pushing cylinder (23), and the other end of the pushing arm (24) is fixedly connected with the pushing block (25); the replacing table (32) is provided with strip-shaped holes (36) corresponding to the pneumatic clamping fingers A (31) in number, and each strip-shaped hole (36) is communicated with the through hole (27); the upper surfaces of the pneumatic clamping fingers A (31) are fixedly provided with convex columns (28), the material pushing block (25) is a magnetic material pushing block (25), and the convex columns (28) are magnetically connected with the material pushing block (25); the pneumatic clamping finger A (31) is located below the replacing table, and the convex column (28) penetrates through the strip-shaped hole (36) from bottom to top and extends out of the upper surface of the replacing table.
6. A manipulator convenient to replace according to claim 3, wherein: the pneumatic clamping finger B (21) is a three-jaw pneumatic clamping finger.
7. A manipulator convenient to replace according to any one of claims 1 to 6, wherein: the pneumatic clamping finger A (31) is set to be a two-claw pneumatic clamping finger.
8. The robot hand of claim 7, wherein the robot hand is adapted to be replaced by: the number of the material pushing structures (26) arranged on the replacing table is N, and N is more than or equal to 3.
9. The robot hand of claim 8, wherein the robot hand is adapted to be replaced by: the clamping fingers of the pneumatic clamping finger A (31) are provided with clamping fingers with circular or polygonal clamping shapes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020393886.1U CN212445283U (en) | 2020-03-25 | 2020-03-25 | Manipulator convenient to change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020393886.1U CN212445283U (en) | 2020-03-25 | 2020-03-25 | Manipulator convenient to change |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212445283U true CN212445283U (en) | 2021-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020393886.1U Active CN212445283U (en) | 2020-03-25 | 2020-03-25 | Manipulator convenient to change |
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| Country | Link |
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| CN (1) | CN212445283U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407001A (en) * | 2022-01-21 | 2022-04-29 | 安徽智玛利机器人有限公司 | Multi-shaft manipulator capable of automatically replacing clamping jaw |
-
2020
- 2020-03-25 CN CN202020393886.1U patent/CN212445283U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407001A (en) * | 2022-01-21 | 2022-04-29 | 安徽智玛利机器人有限公司 | Multi-shaft manipulator capable of automatically replacing clamping jaw |
| CN114407001B (en) * | 2022-01-21 | 2023-07-07 | 安徽智玛利机器人有限公司 | Multi-shaft mechanical arm capable of automatically replacing clamping jaw |
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