CN218575657U - Electro-hydraulic servo robot with variable gripper - Google Patents
Electro-hydraulic servo robot with variable gripper Download PDFInfo
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- CN218575657U CN218575657U CN202120071180.8U CN202120071180U CN218575657U CN 218575657 U CN218575657 U CN 218575657U CN 202120071180 U CN202120071180 U CN 202120071180U CN 218575657 U CN218575657 U CN 218575657U
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Abstract
The utility model discloses an electric hydraulic servo robot of variable tongs, including RGV chassis dolly (1), install joint robotic arm subassembly and flexible counter weight subassembly on RGV chassis dolly (1), forearm (5) and big arm (7) among the joint robotic arm subassembly are connected through connecting plate (6), are provided with tongs mount pad (3) on forearm (5) for the tongs of installation different grade type, rotary drive motor (8) are used for providing power to the gyration of whole joint robotic arm subassembly, install on telescopic frame (11) counterweight box (10) among the flexible counter weight subassembly, and telescopic frame (11) and spout (15) are connected, and telescopic cylinder (14) provide power to telescopic frame (11) flexible. The utility model has the characteristics of it is convenient to remove, and the operation is stable, can assemble the work piece tongs of different grade type, realizes the last unloading operation to multiple type work piece, and high accuracy location is carried fast and is got.
Description
Technical Field
The utility model relates to an unloading field, especially a liquid servo robot of variable tongs on liquid servo robot.
Background
The feeding and discharging of machining needs repeated continuous operation, the consistency and the accuracy of operation are required, a common factory needs continuous processing of multiple machine tools and multiple processes to manufacture the machining process flow of accessories, and therefore electro-hydraulic servo robots of multiple different types are needed to feed and discharge workpieces of different process flows, but along with improvement of labor cost, the traditional feeding and discharging robot is large in occupied area and inconvenient to move, one feeding and discharging robot can only carry out feeding and discharging operation on one or a few similar workpieces, and the labor cost is greatly increased.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming, provide and remove the convenience, can be used to the electric liquid servo robot of a variable tongs of multiple different grade type work piece.
The purpose of the utility model is realized through the following technical scheme: the utility model provides a variable-gripper's electric liquid servo robot, includes RGV chassis dolly, joint robotic arm subassembly and flexible counter weight subassembly, wherein:
the joint mechanical arm assembly comprises a rotary base, a rotary supporting plate, a rotary driving motor, a telescopic device, a connecting plate, a pull rod, a gripper mounting seat, a small arm and a large arm, wherein the rotary supporting plate is installed on the RGV chassis trolley, the rotary base is installed on the rotary supporting plate, the rotary base is provided with the rotary driving motor, a plurality of pull rods, the large arm and the small arm are connected through the connecting plate, one end of the large arm is connected onto the connecting plate, the other end of the large arm is connected onto the rotary base, one end of the small arm is connected onto the connecting plate, the other end of the small arm is connected with the gripper mounting seat, the telescopic devices are arranged between the large arm and the small arm and between the large arm and the rotary base, and the pull rods are arranged on the connecting plate.
Preferably, flexible counter weight subassembly includes weight box, spout, telescopic frame and flexible hydro-cylinder, spout and flexible hydro-cylinder are installed on rotating base, telescopic frame's side is provided with the wheel, and telescopic frame inserts the spout, and telescopic frame's tail end is provided with the weight box, and telescopic frame's centre and flexible hydro-cylinder are connected, and the telescopic frame who installs the weight box under the effect of hydro-cylinder can stretch out and draw back for adjust the overturning moment of joint arm subassembly when rotary drive.
Preferably, the number of the telescopic devices is three, two of the telescopic devices are arranged between the large arm and the rotary base, the other telescopic device is arranged between the small arm and the large arm, the telescopic device arranged between the large arm and the small arm is used for controlling the distance of the horizontal material taking distance of the joint mechanical arm assembly, and the telescopic device arranged between the large arm and the rotary base plate is used for controlling the height.
Preferably, the connecting plates are triangular plates, pin holes are formed in three corners of each connecting plate, the large arm and the small arm are connected into one pin hole through movable pins, and the rest two pin holes are connected with the pull rod.
Preferably, the number of the pull rods is four, one end of each of the two pull rods is connected with the connecting plate, the other end of each of the two pull rods is connected with the rotating base, one end of each of the other two pull rods is connected with the connecting plate, the other end of each of the other two pull rods is connected with the gripper mounting base, the pull rods move along with the movement of the large arm and the small arm when workpieces are gripped, the weight of the workpieces is shared by the large arm and the small arm, and the stability of the device is improved.
Preferably, the rotary base is composed of a disc and two vertical plates, a plurality of pin holes are formed in the vertical plates, and the vertical plates are uniformly erected on the disc.
Preferably, the RGV chassis trolley is arranged on a track to run.
The utility model has the advantages of it is following: the device is convenient to move, the counterweight component keeping device is stable in operation, workpiece grippers of different types can be assembled, feeding and discharging operations on various workpieces are achieved, high-precision positioning is achieved, the workpieces are quickly carried and clamped, operation beats are shortened, machine tool efficiency is improved, operation of a robot is stable and reliable, unqualified products are effectively reduced, product quality is improved, fatigue-free continuous operation is achieved, the idle rate of the machine tool is reduced, factory productivity is enlarged, the automation level is high, single product manufacturing precision is improved, speed is improved, batch production efficiency is improved, high flexibility is achieved, new tasks and new products can be quickly and flexibly adapted, and delivery period is shortened.
Drawings
FIG. 1 is a schematic view of the present invention;
fig. 2 is a top view of the telescopic weight assembly of the present invention;
fig. 3 is a partial structural schematic view of the joint mechanical arm assembly of the present invention;
in the figure: the device comprises a 1-RGV chassis trolley, a 2-telescopic device, a 3-gripper mounting seat, a 4-pull rod, a 5-small arm, a 6-connecting plate, a 7-large arm, an 8-rotary driving motor, a 9-rotary base, a 10-weight box, an 11-telescopic frame, a 12-rotary supporting plate, 13 rollers, 14-telescopic oil cylinders and 15 sliding chutes.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following description.
As shown in fig. 1, a variable-gripper electro-hydraulic servo robot comprises an RGV chassis trolley 1, a joint mechanical arm assembly and a telescopic counterweight assembly, wherein:
the joint mechanical arm assembly comprises a rotary base 9, a rotary supporting plate 12, a rotary driving motor 8, a telescopic device 2, a connecting plate 6, a pull rod 4, a gripper mounting seat 3, a small arm 5 and a large arm 7, wherein the rotary supporting plate 12 is mounted on the RGV chassis trolley 1, the rotary base 9 is mounted on the rotary supporting plate 12, the rotary driving motor 8, a plurality of pull rods 4, the large arm 7 and a plurality of telescopic devices 2 are arranged on the rotary base 9, the large arm 7 and the small arm 5 are connected through the connecting plate 6, one end of the large arm 7 is connected onto the connecting plate 6, the other end of the large arm 7 is connected onto the rotary base 9, one end of the small arm 5 is connected onto the connecting plate 6, the other end of the small arm 5 is connected with the gripper mounting seat 3, the telescopic devices 2 are arranged between the large arm 7 and the small arm 5 and between the large arm 7 and the rotary base 9, and the pull rod 4 is arranged on the connecting plate 6;
the telescopic counterweight assembly comprises a weight box 10, a sliding groove 15, a telescopic frame 11 and a telescopic oil cylinder 14, wherein the sliding groove 15 and the telescopic oil cylinder 14 are installed on the rotary base 9, the telescopic frame 11 is inserted into the sliding groove 15, the tail end of the telescopic frame 11 is provided with the weight box 10, and the middle of the telescopic frame 11 is connected with the telescopic oil cylinder 14.
The telescopic devices 2 are three in number, two of which are arranged between the large arm 7 and the rotating base 9, and the other is arranged between the small arm 5 and the large arm 7.
The connecting plates 6 are triangular plates, pin holes are formed in three corners of each connecting plate 6, the large arm 7 and the small arm 5 are connected into one pin hole through movable pins, and the rest two pin holes are connected with the pull rod 4.
The number of the pull rods 4 is four, one end of each of the two pull rods 4 is connected with the connecting plate 6, the other end of each of the two pull rods 4 is connected with the rotating base 9, one end of each of the other two pull rods 4 is connected with the connecting plate 6, and the other end of each of the other two pull rods 4 is connected with the gripper mounting seat 3.
The rotary base 9 is composed of a disc and two vertical plates, a plurality of pin holes are formed in the vertical plates, and the vertical plates are evenly erected on the disc.
The contact sides of the telescopic frame 11 and the sliding groove 15 are provided with rollers 13.
The RGV chassis trolley 1 is arranged on a track to run.
The working principle of the utility model is as follows:
s1, moving the RGV chassis trolley 1 on a track to a position for replacing the gripper, and mounting different types of grippers on the gripper mounting seat 3 for gripping different workpieces.
S2, the RGV chassis trolley 1 moves to a specified loading and unloading position, meanwhile, the RGV chassis trolley 1 is clamped on the track, and the rotary driving motor 8 operates to drive the joint mechanical arm assembly and the telescopic counterweight assembly to rotate to the direction of the workpiece.
And S3, the telescopic device 2 arranged between the small arm 5 and the big arm 7 extends, the small arm 5 rotates around the big arm 7 through the connecting plate 6 connected with the pull rod 4 and the movable pin, the angle between the small arm 5 and the big arm 7 is increased, so that the small arm 5 extends to a distance, meanwhile, the telescopic oil cylinder 14 extends to push out the telescopic frame 11 provided with the weight box 10, and the overturning moment of the rotary drive of the joint mechanical arm assembly is reduced.
S4, the telescopic device 2 arranged between the small arm 5 and the big arm 7 contracts, the small arm 5 rotates around the big arm 7 through the connecting plate 6 connected with the movable pin through the pull rod 4, the angle between the small arm 5 and the big arm 7 is reduced, so that the small arm 5 contracts nearby, meanwhile, the telescopic oil cylinder 14 extends to contract the telescopic frame 11 provided with the weight box 10 in the box, and the stability of the whole device is maintained.
S5, the telescopic device 2 arranged between the large arm 7 and the rotary chassis extends, the large arm 7 rotates around the rotary chassis, and the angle between the large arm 7 and the rotary chassis is increased, so that the height of the small arm 5 is increased.
S6, the telescopic device 2 arranged between the large arm 7 and the rotary chassis contracts, the large arm 7 rotates around the rotary chassis, and the angle between the large arm 7 and the rotary chassis is reduced, so that the height of the small arm 5 is reduced.
Claims (7)
1. The utility model provides a variable electro-hydraulic servo robot of tongs which characterized in that: including RGV chassis dolly (1), joint robotic arm subassembly and flexible counter weight subassembly, wherein:
the joint mechanical arm assembly comprises a rotary base (9), a rotary supporting plate (12), a rotary driving motor (8), a telescopic device (2), a connecting plate (6), a pull rod (4), a gripper mounting seat (3), a small arm (5) and a large arm (7), wherein the rotary supporting plate (12) is mounted on an RGV chassis trolley (1), the rotary base (9) is mounted on the rotary supporting plate (12), the rotary driving motor (8), the plurality of pull rods (4), the large arm (7) and the plurality of telescopic devices (2) are arranged on the rotary base (9), the large arm (7) and the small arm (5) are connected through the connecting plate (6), one end of the large arm (7) is connected onto the connecting plate (6), the other end of the large arm (7) is connected onto the rotary base (9), one end of the small arm (5) is connected onto the connecting plate (6), the other end of the small arm (5) is connected with the gripper mounting seat (3), the large arm (7) and the small arm (5) and the large arm (7) and the small arm (7) are arranged between the large arm (9) and the large arm (7) and the large arm (9);
the telescopic counterweight assembly comprises a counterweight box (10), a sliding groove (15), a telescopic frame (11) and a telescopic oil cylinder (14), the sliding groove (15) and the telescopic oil cylinder (14) are installed on the rotary base (9), the sliding groove (15) is inserted into the telescopic frame (11), the counterweight box (10) is arranged at the tail end of the telescopic frame (11), and the middle of the telescopic frame (11) is connected with the telescopic oil cylinder (14).
2. A variable-gripper electro-hydraulic servo robot as claimed in claim 1, wherein: the number of the telescopic devices (2) is three, two of the telescopic devices are arranged between the large arm (7) and the rotary base (9), and the other telescopic device is arranged between the small arm (5) and the large arm (7).
3. A variable-gripper electro-hydraulic servo robot as claimed in claim 1, wherein: the connecting plates (6) are triangular plates, pin holes are formed in three corners of each connecting plate (6), the large arm (7) and the small arm (5) are connected into one pin hole through movable pins, and the rest two pin holes are connected with the pull rod (4).
4. A variable-gripper electro-hydraulic servo robot as claimed in claim 1, wherein: the number of the pull rods (4) is four, one ends of the two pull rods (4) are connected with the connecting plate (6), the other ends of the two pull rods are connected with the rotating base (9), one ends of the other two pull rods (4) are connected with the connecting plate (6), and the other ends of the other two pull rods are connected with the gripper mounting seat (3).
5. A variable-gripper electro-hydraulic servo robot as claimed in claim 1, wherein: the rotary base (9) is composed of a disc and two vertical plates, a plurality of pin holes are formed in the vertical plates, and the vertical plates are uniformly erected on the disc.
6. A variable-gripper electro-hydraulic servo robot as claimed in claim 1, wherein: and rollers (13) are arranged on two sides of the telescopic frame (11) which are contacted with the sliding groove (15).
7. A variable-gripper electro-hydraulic servo robot as claimed in claim 1, wherein: the RGV chassis trolley (1) is arranged on a track to run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120071180.8U CN218575657U (en) | 2021-01-12 | 2021-01-12 | Electro-hydraulic servo robot with variable gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120071180.8U CN218575657U (en) | 2021-01-12 | 2021-01-12 | Electro-hydraulic servo robot with variable gripper |
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| Publication Number | Publication Date |
|---|---|
| CN218575657U true CN218575657U (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120071180.8U Active CN218575657U (en) | 2021-01-12 | 2021-01-12 | Electro-hydraulic servo robot with variable gripper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589513A (en) * | 2021-01-12 | 2021-04-02 | 成都九系机器人科技有限公司 | Electro-hydraulic servo robot with variable gripper |
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2021
- 2021-01-12 CN CN202120071180.8U patent/CN218575657U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589513A (en) * | 2021-01-12 | 2021-04-02 | 成都九系机器人科技有限公司 | Electro-hydraulic servo robot with variable gripper |
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