Manipulator for clamping cylinder

Abstract

The utility model belongs to the technical field of manipulators, and discloses a manipulator for clamping cylinders, which comprises a mechanical arm and a frame, the frame is fixedly mounted at the front end of the mechanical arm, rotating rings are rotatably mounted at the upper end and the lower end of the frame, and a plurality of rows of matched claws are rotatably mounted at the upper end and the lower end of the frame at equal intervals. A limiting clamping block matched with the clamping jaw on the other side is fixedly installed at the outer end of the clamping jaw, the limiting clamping block is arranged in a C shape, a supporting rod rotationally connected with the inner end of the rotating ring is arranged on the outer side of the clamping jaw, a limiting rotating base is fixed to the outer end of the clamping jaw, and the inner end of the supporting rod is rotationally connected with the limiting rotating base. The outer end of the motor box is fixedly provided with a driving gear in meshed connection with the rotating ring through an output shaft of the motor box, the periphery of the rotating ring is fixedly provided with a plurality of driven gear blocks distributed in an arc line at equal intervals, and the driving gear is meshed with the driven gear blocks. Through multi-aspect structural improvement design, cylindrical objects can be efficiently and reliably grabbed and clamped.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator used for clamping a cylinder. Background Art

[0002] In the process of industrial production and express delivery, it is sometimes necessary to use a robot to move objects such as workpieces or goods. The existing robot structure is relatively simple, and the object is clamped by two relatively moving clamps and claws to facilitate grasping and moving. This clamping method is mainly suitable for objects with relatively regular shapes such as rectangular blocks.

[0003] In the prior art, Chinese utility model patent document CN210998715U discloses an industrial production manipulator that is easy to adjust, including a manipulator arm body, a frame body, a hydraulic telescopic rod, a clamping plate mechanism, a frame, a reset spring, a steel wire rope, a bidirectional lead screw, a linear rail, a slider, a stepping block and a guide wheel. A frame body is installed at the end of the manipulator arm body, and a frame is fixed to the top of the frame body. The inner wall of the frame body is symmetrically fixed with linear rails, and sliders are symmetrically slidably installed at both ends of the linear rails. A clamping plate mechanism is symmetrically arranged at the bottom of the frame body, and the top of the clamping plate mechanism is rotatably connected to the slider. Although the manipulator adjusts the spacing of the clamping plate mechanism by driving the bidirectional lead screw to adjust the clamping range and increase the clamping range, and through the engagement of the stud and the threaded barrel, the stud is extended and retracted in the threaded barrel to realize the sliding connection between the plate body and the plate sleeve, so that the length of the clamping plate mechanism can be adjusted to match the clamping length changed by the solid object; however, this scheme is difficult to apply to the clamping of objects with curved structures such as cylinders, and its scope of application is limited.

[0004] In summary, the clamping method of the existing technology is difficult to apply to cylindrical structures such as culverts. The outer surfaces of these structures are curved, which also causes traditional clamping robots to easily fall off when clamping them. For this reason, we propose a newly designed robot for cylindrical clamping. Utility Model Content

[0005] The utility model aims to provide a manipulator for clamping a cylinder, which solves the problems raised in the above-mentioned background technology through various structural improvements and designs.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A robot for clamping a cylinder, comprising a frame, a robot arm, a rotating ring, claws, a motor box, and a driving gear, characterized in that: the frame is fixedly mounted on the front end of the robot arm, the rotating rings are rotatably mounted on the upper and lower ends of the frame, multiple rows of mutually matching claws are rotatably mounted at the upper and lower ends of the frame at equal intervals, the motor box is fixed on the outer end surface of the frame, and the driving gear meshing with the rotating ring is fixedly mounted on the outer end of the motor box through its output shaft.

[0008] Preferably, it also includes a limit block, a support rod, and a limit rotating seat; a limit block matching the claw on the other side is fixedly installed on the outer end of the claw, the limit block is arranged in a C shape, a support rod rotatably connected to the inner end of the rotating ring is provided on the outer side of the claw, a limit rotating seat is fixed to the outer end of the claw, and the inner end of the support rod is rotatably connected to the limit rotating seat.

[0009] Compared with the prior art, the beneficial effects of the manipulator for cylindrical clamping of the utility model are:

[0010] 1. The manipulator has been improved in many aspects of structure design, and the various components cooperate smoothly with each other. The rotating ring drives multiple claws to rotate inward and clamps at multiple positions outside the cylinder to ensure the stability of the object. It can be used in a wider range of applications and has multi-directional clamping. It is suitable for reliable clamping of objects (workpieces) with curved structures such as cylinders, which makes up for the deficiency of traditional manipulators that are difficult to effectively clamp curved objects.

[0011] 2. The manipulator is flexible in operation and can effectively prevent the workpiece from falling off. The manipulator can flexibly control the clamping and loosening of the claws to achieve stable clamping and handling of the cylinder. The cooperation between the pawl and the ratchet tooth block limits the reverse rotation of the rotating ring to avoid loosening of the claws and effectively prevent the object from falling off.

[0012] 3. The manipulator has a high structural design strength and is easy to operate automatically. The design of the claws and limit blocks enhances the overall strength, improves the durability and reliability of the manipulator, and the application of motors and electric push rods realizes the automation of the manipulator operation and reduces manual intervention.

[0013] 4. The manipulator drives the support rod to rotate inward through the relative rotation between the frame and the rotating ring, thereby driving each claw to rotate inward in the frame, and then the claws can fit with the object at multiple positions on the periphery of the cylindrical object, thereby achieving the effect of clamping and positioning the cylindrical object in the frame.

[0014] 5. The manipulator can limit the reverse rotation of the rotating ring through the plug-in cooperation between the pawl and the ratchet tooth block, thereby preventing the outer claws from loosening when clamping a cylindrical object, further improving the clamping effect of the manipulator and preventing the object from falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall external structure of the robot according to an embodiment of the present application;

[0016] Figure 2 This is a schematic diagram of the overall internal structure of the robot according to an embodiment of the present application;

[0017] Figure 3 This is a schematic diagram of the internal structure of the frame of the robot according to the embodiment of the present application;

[0018] Figure 4 This is a schematic diagram of the external structure of the claw of the manipulator of the embodiment of the present application;

[0019] Figure 5 This is a schematic diagram of the external structure of the ratchet gear block of the manipulator of the embodiment of the present application;

[0020] Figure 6 This is a schematic diagram of the internal structure of the ratchet of the robot arm according to an embodiment of the present application.

[0021] In the figure:

[0022] 1. Frame; 2. Electric push rod; 10. Mechanical arm; 11. Rotating ring; 12. Claw; 13. Limit block; 14. Support rod; 15. Limit rotating seat; 16. First connecting block; 161. First limit rotating shaft; 162. First limit rotating hole; 17. Second connecting block; 171. Second limit rotating shaft; 172. Second limit rotating hole; 18. Motor box; 181. Driving gear; 182. Driven gear block; 21. Connecting plate; 22. Ratchet gear block; 24. Claw; 25. Limit frame; 26. Spring. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Example

[0025] See also Figure 1-6The robot for clamping a cylinder provided in the embodiment of the utility model is mainly improved to address the deficiency that the robot in the prior art cannot effectively clamp a curved workpiece such as a cylinder. The robot comprises a frame 1, a robot arm 10, a rotating ring 11, claws 12, a motor box 18, and a driving gear 181. The frame 1 is fixedly mounted on the front end of the robot arm 10. The rotating ring 11 is rotatably mounted on the upper and lower ends of the frame 1. A plurality of rows of claws 12 matching each other are rotatably mounted on the upper and lower ends of the frame 1 at equal intervals. The motor box 18 is fixed on the outer end surface of the frame 1. A driving gear 181 meshingly connected to the rotating ring 11 is fixedly mounted on the outer end of the motor box 18 through its output shaft.

[0026] Furthermore, the manipulator also includes a limit block 13, a support rod 14, and a limit rotating seat 15; the outer end of the claw 12 is fixedly mounted with a limit block 13 that matches the claw 12 on the other side, the limit block 13 is arranged in a C shape, the outer side of the claw 12 is provided with a support rod 14 rotatably connected to the inner end of the rotating ring 11, the outer end of the claw 12 is fixed with a limit rotating seat 15, and the inner end of the support rod 14 is rotatably connected to the limit rotating seat 15.

[0027] The working principle of the utility model is as follows: the manipulator can drive the frame 1 to move through the mechanical arm 10, the frame 1 can be placed outside the cylindrical object, the motor inside the motor box 18 is started, and the driving gear 181 is driven to rotate through its output shaft. The meshing effect between the driving gear 181 and the rotating ring 11 can achieve the rotation of the rotating ring 11 at the upper and lower ends of the frame 1, and the outer end of the support rod 14 is rotatably connected with the rotating ring 11, so that the rotating rotating ring 11 can drive the support rod 14 to rotate, and the support rod 14 and the outer end of the clamping claw 12 limit the rotating seat The rotation connection at 15 allows the inwardly rotating support rod 14 to drive the claws 12 to rotate inward within the frame 1, and then within the frame 1, each driving claw 12 can fit with various positions on the periphery of the cylindrical object, thereby achieving the effect of clamping and positioning the object, making it convenient for the robot arm 10 to grab and carry it, wherein, through the plug-in effect between the C-shaped limit block 13 and the claws 12 on the other side, the claws 12 can be combined and spliced, thereby improving the overall strength of each claw 12 and effectively preventing each claw 12 from bending and damage.

[0028] Furthermore, the outer ends of the claw 12 and the support rod 14 are respectively fixed with a first connecting block 16 and a second connecting block 17, and the outer end of the frame 1 and the inner end of the rotating ring 11 are respectively provided with a plurality of first limit rotation holes 162 and second limit rotation holes 172 that match the positions of the first connecting block 16 and the second connecting block 17, and the inner end of the first connecting block 16 and the outer end of the second connecting block 17 are respectively fixed with a first limit rotation axis 161 and a second limit rotation axis 171 that are rotatably connected to the first limit rotation hole 162 and the second limit rotation hole 172.

[0029] Furthermore, when the rotating ring 11 rotates, the distance between the adjacent first connecting blocks 16 and the second connecting blocks 17 can be shortened through the first limiting rotating hole 162 and the second limiting rotating hole 172, and then through the rotating connection between the claw 12 and the support rod 14, in cooperation with the limiting rotating seat 15, the contracted first connecting block 16 and the second connecting block 17 can drive the claw 12 and the support rod 14 to rotate inward, thereby achieving the effect of driving the claw 12 to rotate inward and clamping the cylindrical object.

[0030] Furthermore, a plurality of driven gear blocks 182 distributed in an arc are fixedly installed at equal intervals on the outer periphery of the rotating ring 11 , and the driving gear 181 and the driven gear blocks 182 are meshed with each other.

[0031] Furthermore, a driven gear block 182 is provided, and through the meshing effect between the driven gear block 182 and the driving gear 181 , the rotating driving gear 181 can drive the rotating ring 11 to rotate at the upper and lower ends of the frame 1 .

[0032] Furthermore, a plurality of ratchet tooth blocks 22 distributed in an arc are fixedly installed at equal intervals on the other side of the periphery of the rotating ring 11, a limit frame 25 is fixedly installed on the outside of the frame body 1, a pawl 24 which is plugged into the periphery of the ratchet tooth block 22 is installed in the limit frame 25, a spring 26 is fixedly installed between the limit frame 25 and the pawl 24, a connecting plate 21 is fixedly installed on the periphery of the frame body 1, an electric push rod 2 is fixedly installed on the upper end surface of the connecting plate 21, and the inner end of the electric push rod 2 is fixedly connected to the outer end of the limit frame 25 through its output shaft.

[0033] Furthermore, when the rotating ring 11 rotates, the ratchet tooth block 22 can be driven to rotate inside the pawl 24, and the pawl 24 can be continuously plugged with the ratchet tooth blocks 22 at various locations in cooperation with the spring 26. When the rotating ring 11 stops rotating, the pawl 24 can be plugged and cooperated with the ratchet tooth block 22 to limit the reverse rotation of the rotating ring 11, thereby preventing the claw 12 from loosening, thereby ensuring the clamping effect of the claw 12 on the cylindrical object;

[0034] Furthermore, when it is necessary to put down the cylindrical object (workpiece), the electric push rod 2 is started, and through its output shaft, the limit frame 25 and the pawl 24 can be driven to move outward, so that the pawl 24 is separated from the ratchet tooth block 22, thereby releasing the restriction effect on the rotating ring 11, and the output shaft of the motor box 18 is started to rotate in the opposite direction, which is opposite to the above movement process, and can drive the rotating ring 11 to rotate in the opposite direction, and finally drive the claw 12 to rotate outward, thereby releasing the clamping effect of the claw 12 on the object, making it easier to put the object down.

[0035] The prototype of the robot for clamping cylinders in this embodiment has been trial-produced on a small scale under confidentiality and has been successfully used in a hardware processing workshop in Guangdong Province. On the production line of a certain workshop, cylindrical parts with a diameter of 30mm-80mm need to be removed from the conveyor belt and placed on the processing table. The cylinder clamping robot in this technical solution is used to replace other standardized existing robots, effectively improving the clamping efficiency.

[0036] The specific steps for use are:

[0037] Adjust the claws: Move the manipulator above the conveyor belt and adjust the manipulator's rotating ring and driving gear to rotate the claws inward to adapt to the diameter of the cylindrical component.

[0038] Clamping: Start the manipulator and move it in the vertical direction. The claws fit the cylindrical part. The rotating ring drives the claws to rotate inward so that the claws fit multiple positions on the periphery of the cylindrical part to achieve clamping.

[0039] Lifting: The cylindrical component is lifted by the robot arm and moved above the processing table.

[0040] Placement: Start the robot and move it in the vertical direction. When the cylindrical component reaches the top of the processing table, the rotating ring is rotated in the reverse direction to rotate the claws outward to place the cylindrical component on the processing table.

[0041] Repeat operation: The robot returns to the top of the conveyor belt and repeats the above steps to continuously clamp and carry cylindrical parts.

[0042] After actual testing, the utility model has the following beneficial effects:

[0043] Wider application range, with multi-directional clamping, suitable for efficient and reliable clamping of objects (workpieces) with curved structures such as cylinders, to support various subsequent processing operations, making up for the deficiency of traditional manipulators in clamping curved objects; it drives multiple claws to rotate inward through the rotating ring, clamps at multiple positions on the periphery of the cylinder to ensure the stability of the object; flexible operation and prevention of falling off, the manipulator can flexibly control the clamping and loosening of the claws to achieve stable clamping and handling of the cylinder, the cooperation of the pawl and the ratchet tooth block limits the reverse rotation of the rotating ring to avoid loosening of the claws and effectively prevent the object from falling off; the structural design has high strength and is easy to operate automatically, and the design of the claws and limit blocks enhances the overall strength The application of motors and electric push rods realizes the automation of the operation of the manipulator and reduces manual intervention. The relative rotation between the frame and the rotating ring drives the support rod to rotate inward, thereby driving each claw to rotate inward in the frame, so that the claws can fit with the object at multiple positions on the periphery of the cylindrical object, thereby achieving the effect of clamping and positioning the cylindrical object in the frame. The plug-in cooperation between the pawl and the ratchet tooth block can limit the reverse rotation of the rotating ring, thereby preventing the outer claws from loosening when clamping the cylindrical object, further improving the clamping effect of the manipulator and preventing the object from falling off.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for clamping a cylindrical object, characterized in that: The invention comprises a frame (1), a mechanical arm (10), a rotating ring (11), a clamping claw (12), a motor box (18), and a driving gear (181). The frame (1) is fixedly mounted on the front end of the mechanical arm (10). The rotating ring (11) is rotatably mounted on the upper and lower ends of the frame (1). A plurality of rows of mutually matching clamping claws (12) are rotatably mounted on the upper and lower ends of the frame (1) at equal intervals. The motor box (18) is fixed on the outer end surface of the frame (1). The driving gear (181) meshingly connected with the rotating ring (11) is fixedly mounted on the outer end of the motor box (18) through its output shaft.

2. The manipulator for cylindrical clamping according to claim 1, characterized in that: It also includes, A limit block (13), a support rod (14), and a limit rotating seat (15); a limit block (13) matching with the other side of the clamping claw (12) is fixedly mounted on the outer end of the clamping claw (12); the limit block (13) is arranged in a C shape; a support rod (14) rotatably connected to the inner end of the rotating ring (11) is arranged on the outer side of the clamping claw (12); a limit rotating seat (15) is fixed on the outer end of the clamping claw (12); and the inner end of the support rod (14) is rotatably connected to the limit rotating seat (15).

3. The manipulator for cylindrical clamping according to claim 2, characterized in that: The outer ends of the clamping claw (12) and the support rod (14) are respectively fixed with a first connecting block (16) and a second connecting block (17); the outer end of the frame (1) and the inner end of the rotating ring (11) are respectively provided with a plurality of first position-limiting rotating holes (162) and second position-limiting rotating holes (172) which respectively match the positions of the first connecting block (16) and the second connecting block (17).

4. The manipulator for cylindrical clamping according to claim 3 is characterized in that: A first position-limiting rotating shaft (161) and a second position-limiting rotating shaft (171) which are rotatably connected to the first position-limiting rotating hole (162) and the second position-limiting rotating hole (172) are respectively fixedly mounted on the inner end of the first connecting block (16) and the outer end of the second connecting block (17).

5. The manipulator for cylindrical clamping according to claim 1, characterized in that: A plurality of driven gear blocks (182) distributed in an arc are fixedly mounted at equal intervals on the periphery of the rotating ring (11), and the driving gear (181) and the driven gear blocks (182) are meshed with each other.

6. The manipulator for cylindrical clamping according to claim 5, characterized in that: A plurality of ratchet tooth blocks (22) distributed in an arc are fixedly mounted at equal intervals on the other side of the outer periphery of the rotating ring (11).

7. The manipulator for cylindrical clamping according to claim 6, characterized in that: A limit frame (25) is fixedly installed on the outside of the frame body (1), a pawl (24) plugged into the periphery of the ratchet tooth block (22) is installed in the limit frame (25), and a spring (26) is fixedly installed between the limit frame (25) and the pawl (24).

8. The manipulator for cylindrical clamping according to claim 7, characterized in that: A connecting plate (21) is fixedly mounted on the periphery of the frame (1), an electric push rod (2) is fixedly mounted on the upper end surface of the connecting plate (21), and the inner end of the electric push rod (2) is fixedly connected to the outer end of the limit frame (25) via its output shaft.

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