CN203973530U - A kind of transposition clamping manipulator - Google Patents

Abstract

An indexing and clamping manipulator, comprising: a platform frame for supporting the horizontal movement of the indexing and clamping manipulator; four guide rollers for horizontally moving the indexing and clamping manipulator; Two gears that move in the same direction; a pair of racks used to mesh with the gears to ensure the movement of the gears; the pair of racks are respectively fixed on the platform frame; four bearing seats for supporting the drive shaft; A deceleration motor for clamping the manipulator to move horizontally; a rotating motor for driving the rotation of the rotating device; a long compression strip and a short compression strip are installed in the manipulator claw plate, and the long compression strip, the manipulator claw plate and the short compression strip The flexible connection with the long pressing bar is respectively through the pin shaft to ensure a certain angle of deflection and uniform clamping force. The purpose of the utility model is to realize the mechanized production of small and medium-sized enterprises, improve the efficiency and reduce the labor intensity of staff.

Description

An indexing clamping manipulator

technical field

The utility model belongs to the technical field of machinery and relates to a manipulator indexing and clamping mechanism, in particular to an indexing and clamping manipulator mechanism required before secondary cutting of blocks. the

Background technique

With the rapid development of modern industry, the limitations of block cutting machine tools and cutting technology currently used by enterprises lead to the discontinuity of the entire cutting process, low degree of automation of the production line, low production efficiency, large labor energy consumption, poor working environment, and blocks in It is easy to be collided in the process of handling, and the scrap rate is high. Enterprises are gradually realizing mechanized production, and it is a trend to replace manual handling and repositioning with manipulator indexing and clamping mechanisms. However, there are many problems in the existing manipulator mechanism, such as unstable clamping, inaccurate positioning of the telescopic stroke of the oil cylinder, and the clamping force cannot be corrected only by the clamping of the oil cylinder, resulting in damage to the corners of the block, etc. At the same time, the existing indexing clamp The manipulator is mainly suitable for occasions requiring high precision, but the manufacturing cost is high and the working frequency is limited, so it is not suitable for small and medium-sized enterprises. Therefore, in view of the above problems, it has become a trend to seek an indexing and clamping manipulator capable of correcting the clamping force, ensuring stable clamping, synchronous clamping of the clamping manipulator, high clamping efficiency and low manufacturing cost. the

Contents of the invention

In view of the above-mentioned status quo, the utility model provides an indexing and clamping manipulator, which adjusts the position and angle of the block by clamping, rotating, and moving horizontally. The clamping and pressing strip adopts movable connection to adapt to the multi-angle change and stability of clamping, improve production efficiency and realize mechanized production. the

The technical scheme that the utility model adopts is:

An indexing and clamping manipulator described in the utility model is characterized in that it includes: a supporting frame for supporting the manipulator, a supporting track plate, a supporting rack, an upper part frame of the manipulator for fixing the manipulator, and a frame for providing rotation Power rotating motor, driving sprocket and driven sprocket for transmitting rotating power, rotating shaft, rotating index plate for precise positioning angle and induction switch bracket, geared motor for providing driving power, coupling , transmission shaft, transmission gear, support roller, manipulator beam plate, manipulator slide plate, manipulator claw plate, long compression strip, short compression strip, rubber block; the support frame used to support the horizontal movement of the indexing and clamping manipulator is welded , and ensure the level of the platform so that the manipulator moves smoothly and accurately; the support track plate is fixed on the support frame with screws and the pair of support racks are respectively fixed on the support frame; Two of the four guide rollers on each side of the clamping manipulator moving in the horizontal direction are respectively fixed on the support beams on both sides of the upper frame of the indexing and clamping manipulator; the driving sprocket is fixed on the rotating motor and connected to the motor shaft connected by a flat key; the driven sprocket is fixed on the rotating shaft and rotates together with the rotating shaft; the index plate is fixed on the rotating shaft and ensures the synchronization with the rotating shaft; the transmission shaft passes through The coupling is connected with the traveling deceleration motor and installed on the mechanical fixing frame through the bearing seat to ensure the coaxiality between the rotating shaft and the decelerating motor shaft; the transmission gear is fixed on the transmission shaft and ensures synchronous rotation with the transmission shaft, and It forms a rack and pinion mesh with the rack on the support frame, so that the horizontal movement of the manipulator is completed through the rotation of the traveling motor; the manipulator beam plate is fixed on the manipulator rotation shaft, and ensures the synchronization with the rotation of the rotation shaft; The manipulator slide plate is slidingly connected with the mechanical beam plate, and the sliding line is guaranteed to be accurate and the convenience of lubrication is considered; the manipulator claw plate is fixedly connected to the manipulator slide plate, and reinforcement ribs are added to increase the strength; the long pressing The bar and the claw plate of the manipulator are movably connected through a pin shaft and can rotate at a certain angle. The flexible connection between the long pressing bar and the claw plate can be deflected at a certain angle so as to realize adaptation to different angles and make the force uniform; The tension strip and the long compression strip are flexibly connected by pin shafts and can rotate at a certain angle. The flexible connection between the short compression strip and the long compression strip not only adapts to different angles, but also adapts to different shapes, so as to achieve The clamping of bricks with different shapes and angles is not required; the rubber blocks are fixed in the short compression strips, and because the rubber blocks are elastic, the uniform distribution of the clamping force is ensured and the blocks will not be damaged. the

The rotating motor used to drive the rotating device is a geared motor with a frequency converter and a braking device, which can stop the rotation quickly when it rotates to a specified angle. the

The deceleration motor used to drive the horizontal movement of the indexing and clamping manipulator has a frequency converter and a braking device, which can stop the rotation quickly when it moves to the specified position. the

The working principle of the utility model:

In the utility model, the indexing and clamping manipulator, the gear motor drives the gears at both ends through the drive shafts at both ends, and the gears and racks mesh with each other, and then drives the entire indexing and clamping manipulator to move on the support frame in the horizontal direction. There are four guide rollers fixed on both sides of the clamping manipulator fixed frame, and the two positioning guide rollers on one side move on the guide roller track plate to realize the overall positioning and guiding function, and the two supporting rollers on one side play a role of supporting and guiding Function, the four rollers move in the horizontal direction, which can realize the positioning of the indexing and clamping manipulator at any time, and the way of clamping objects in various positions;

The rotating motor drives the fixed driving sprocket, chain, and driven sprocket, and then drives the rotating device to rotate 90 degrees, and the rotating device drives the robot claw to rotate, thereby realizing the multi-angle clamping and indexing of the indexing and clamping manipulator. The long pressing bar is movably connected with the claw plate of the manipulator, and the short pressing bar is movably connected with the long pressing bar, so as to ensure the adaptability of the manipulator to various shapes of the clamped objects. the

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the indexing and clamping manipulator of the present invention. the

Fig. 2 is a schematic diagram of the indexing and clamping manipulator of the present invention. the

Fig. 3 is a front view of the indexing and clamping manipulator of the present invention. the

Fig. 4 is a schematic diagram of the upper frame of the indexing and clamping manipulator of the present invention. the

Fig. 5 is a structural schematic diagram of the lower part of the gripper of the indexing and clamping manipulator of the present invention. the

Fig. 6 is a bottom view of the claw structure of the lower part of the indexing and clamping manipulator of the present invention. the

Fig. 7 is a schematic diagram of the frame of the mobile platform of the indexing and clamping manipulator of the present invention. the

Fig. 8 is a schematic diagram of the rotation mechanism of the present invention. the

Detailed ways

Below in conjunction with accompanying drawing 1-8, the present invention will be further described:

The manipulator support frame 7 provides a support platform for the indexing and clamping manipulator 2. When the block reaches the corresponding position and triggers the switch, the first hydraulic cylinder 6-3 and the second hydraulic cylinder 6-4 contract simultaneously. The first hydraulic cylinder and the second hydraulic cylinder rod are fixedly connected to the manipulator claw plate 5-1 so as to drive the manipulator claw plate to move together with the hydraulic cylinder, and the manipulator claw plate 5-1 is fixedly connected to the manipulator slide plate 5-3 to further Drive the slide plate to move, the slide plate of the manipulator is slidingly connected with the beam plate 5-4 of the manipulator so as to ensure the linearity of the movement of the left and right jaw plates of the manipulator, the first cylinder provides greater power than the second cylinder but the stroke is the same In this way, the purpose of positioning the high-power cylinder and clamping the low-power cylinder can be achieved, which can provide an accurate position for the index, so that the telescopic movement of the hydraulic cylinder can be transformed into the loosening and tensioning of the manipulator. Long compression bar 5-6 and short compression bar 5-7 are installed on both sides of described mechanical claw plate again, and described long compression bar 5-6 is movably connected with described manipulator claw plate by pin shaft, and can rotate appropriately angle, so that the manipulator can achieve the purpose of self-adaptation to the blocks placed at different angles; secondly, the short compression strip 5-7 is movably connected with the long compression strip through a pin shaft, and can rotate at an appropriate angle, This makes the manipulator reach the purpose of self-adaptation for blocks of different shapes; again, the rubber block 5-8 is fixedly installed in the small pressing strip, because the rubber block has toughness and increases the contact with the block surface. friction, so that the clamping force is evenly distributed and damage to the block is avoided. the

After the block is clamped, the reduction motor 2-11 provides the driving power and the reduction motor is fixed on the upper part frame 4 of the manipulator, and the reduction motor is connected to the transmission shaft through the coupling 2-15 2-13 connected, the spur gear 2-12 is fixedly connected with the transmission shaft through a key to ensure the synchronization of rotation, the rack 7-3 and the guide rail support plate 7-2 are respectively fixed on the The manipulator is supported on the frame and meshed with the spur gear to form a rack and pinion. The support rollers 2-3 are fixed on the upper frame of the manipulator. The support rollers at both ends of the frame are divided into two types, and the rollers at one end are slotted One end is designed without slotting, so that the slotted rollers can not only roll well on the guide rail support plate but also play a positioning role so that the manipulator can move horizontally on the guide rail without deviating from the direction and causing accidents. In this way, the rotary motion of the geared motor is converted into the horizontal movement of the indexing and clamping manipulator. the

When the block is sent to the designated position, the geared motor 2-6 provides rotational power and has a braking device, which can stop the rotation at any time to ensure the accuracy of the selection, and the active small sprocket is fixedly connected with the geared motor , the driven sprocket 8-3 is fixedly connected with the rotating shaft 8-5 through a key, the driving sprocket and the driven sprocket are connected through a chain to ensure good rotation synchronization, and the rotating shaft and The beam plate of the manipulator is fixedly connected by bolts. In order to ensure the accuracy of the circular rotation 90°, the index plate 8-4 is installed on the large chain wheel so that the rotation angle of the rotating shaft is reflected in the angle of the index plate. In the change, and the induction switch bracket 2-7 is installed on the upper frame of the manipulator, and ensures that the installation hole of the induction switch is accurately aligned with the notch of the indexing plate. In this way, the rotary indexing movement of the manipulator is completed and the accuracy of the cyclic rotation of 90 degrees is guaranteed. the

The working principle of the utility model:

Below in conjunction with accompanying drawing and specific embodiment the utility model is described further:

1 to 6, the utility model includes that the traveling motor 2-11 drives the transmission shafts 2-13 on both sides through the shaft coupling 2-15 to rotate, thereby driving the spur gears 2-12 on both sides to rotate. The rack and pinion meshes to complete the parallel movement of the manipulator to achieve multi-position clamping. The rotation of the rotating motor 2-6 drives the driving pinion to rotate. The driving pinion and the driven large sprocket 2-10 form a sprocket combination. The driven large sprocket and the rotating shaft 2-8 are linked by keys to transmit the rotation to the rotating shaft The shaft, the rotating shaft and the beam plate 4-4 of the manipulator are connected by bolts, and then the rotation of the rotating motor is transmitted to the manipulator, thereby completing the rotation of the manipulator. The indexing plate 2-9 reflects the rotation angle of the manipulator to the change of the indexing plate, and senses the angle change through the induction switch 2-7, so as to precisely control the 90-degree rotation accuracy and complete precise positioning. The hydraulic cylinder 5-5 and the manipulator claw plate 5-2 are connected by bolts, the manipulator claw plate is slidably connected with the manipulator slide plate 5-3, the long pressing bar 5-6 of the manipulator is connected with the manipulator claw plate through a pin shaft, and the manipulator is pressed tightly Bar 5-7 is movably linked with the long pressing bar of manipulator by bearing pin, and rubber block 5-8 is fixed in the little pressing bar. The action is as follows. The expansion and contraction of the hydraulic cylinder drives the claw plate of the manipulator to slide back and forth on the slide plate of the manipulator to realize its clamping and loosening. The force is uniform, and the flexible connection of the small compression strip and the long compression strip not only adapts to different angles, but also adapts to different shapes, so as to achieve the clamping of bricks of different shapes at different angles, greatly increasing the The scope of application of the utility model indexing and clamping manipulator.

Claims (3)

1. a transposition clamping manipulator, it is characterized in that: comprise the support frame for supported mechanical hand, supporting rail guidance tape, support tooth bar, for part frame on the manipulator of solid mechanical hand, for the electric rotating machine of rotary power is provided, for drive sprocket and the driven sprocket of transmitting rotary power, rotating shaft, for rotation-indexing table and the inductive switch support of accurate orientation angle, for the reducing motor of driving power is provided, shaft coupling, power transmission shaft, travelling gear, support rollers, manipulator beam slab, manipulator slide plate, manipulator claw-plate, long compression bar, short compression bar, block rubber, be welding for supporting the support frame that transposition clamping manipulator horizontal direction moves, and the level that ensures platform make that manipulator moves steadily and advance accurately, described supporting rail guidance tape is screwed on described support frame and described a pair of support tooth bar is separately fixed on support frame, two of the every sides of four guide rollers moving for transposition clamping manipulator horizontal direction, are separately fixed on the brace summer of part frame both sides on transposition clamping manipulator, described drive sprocket is fixed on electric rotating machine, and is connected with motor shaft flat key, described driven sprocket is fixed on rotating shaft and rotates together with rotating shaft, described index dial is fixed on rotating shaft, and the synchronism of guarantee and rotating shaft rotation, described power transmission shaft is connected with the reducing motor of advancing by shaft coupling and is arranged on mechanical fixed mount by bearing block, ensures the axiality of rotating shaft and reducing motor axle, described travelling gear is fixed on power transmission shaft and ensures synchronizes and rotates with power transmission shaft, and forms rack and pinion engagement with the tooth bar on support frame, thereby completes moving horizontally of manipulator by the rotation of the motor of advancing, described manipulator beam slab is fixed on manipulator rotating shaft, and the synchronism of guarantee and rotating shaft rotation, described manipulator slide plate and mechanical beam slab are slidably connected, described manipulator claw-plate is fixedly connected with manipulator slide plate, and has increased reinforcement, described long compression bar is flexibly connected by bearing pin with manipulator claw-plate and can rotates to an angle, long compression bar with being flexibly connected of claw-plate can deflection certain angle, described short compression bar is flexibly connected by bearing pin with long compression bar and can rotates to an angle, block rubber is fixed in short compression bar.

2. a kind of transposition clamping manipulator as claimed in claim 1, is characterized in that: for drive the electric rotating machine of whirligig be reducing motor with frequency converter, and with brake apparatus, in the time rotating to specified angle, can stop operating rapidly.

3. a kind of transposition clamping manipulator as claimed in claim 1, it is characterized in that: described for driving reducing motor that transposition clamping manipulator moves horizontally with frequency converter, and with brake apparatus, in the time moving to assigned address, can stop operating rapidly.