Rotatable multi-claw manipulator equipment

Abstract

The utility model provides rotatable multi-claw manipulator equipment which comprises a gantry frame, a manipulator and a supporting frame, the supporting frame is arranged on the top of the gantry frame, a supporting frame driving assembly is arranged on the supporting frame, and the supporting frame moves in the length direction of the gantry frame through the supporting frame driving assembly. The mechanical arm is fixed to the supporting frame, a mechanical arm driving assembly is arranged on the mechanical arm, the mechanical arm driving assembly drives the mechanical arm to move in the length direction, the width direction and the vertical direction of the gantry frame, and the clamping jaw assembly axially rotates relative to the lifting arm through the rotating driving assembly. The clamping jaw assembly is provided with a plurality of air cylinder mechanical arms, and the air cylinder mechanical arms are close to or away from one another in the length direction and the width direction of the gantry frame. The grabbing position of the air cylinder manipulator is adjusted, the stress area of the reinforcing mesh is dispersed when the manipulator grabs the reinforcing mesh, and grabbing is more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a rotatable multi-claw manipulator device. Background Art

[0002] In industrial production, robots are often used to grab and move objects. They can replace heavy human labor to achieve mechanization and automation of production, can operate in harmful environments to protect personal safety, and improve production efficiency.

[0003] During the production and processing of steel mesh, due to the large volume and weight of the welded steel mesh, a robot is needed to replace manual handling. However, during the grasping process, the existing robot cannot stably grasp the steel mesh due to its small grasping area, and it is easy to drop it during transportation, which undermines the safety of production and easily causes damage to the equipment. Utility Model Content

[0004] The purpose of the utility model is to provide a rotatable multi-claw manipulator device to solve the technical problems raised in the above-mentioned background technology in view of the deficiencies in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution of the utility model is implemented as follows: a rotatable multi-claw manipulator device comprises a gantry frame, a manipulator, and a support frame, wherein the support frame is arranged on the top of the gantry frame, and a support frame driving assembly is arranged on the support frame, and the support frame moves along the length direction of the gantry frame through the support frame driving assembly, and the length direction of the support frame is the same as the width direction of the gantry frame. The manipulator is fixed on the support frame, and a manipulator driving assembly is arranged on the manipulator, and the manipulator driving assembly drives the manipulator to move along the length, width and vertical directions of the gantry frame. The manipulator comprises a lifting arm, a rotating assembly, and a clamping assembly, and the clamping assembly is connected to the lifting arm through a rotating assembly, and the clamping assembly rotates axially relative to the lifting arm through the rotating assembly, and a plurality of cylinder manipulators are arranged on the clamping assembly, and the plurality of cylinder manipulators approach or move away from each other along the length direction and width direction of the gantry frame through the clamping driving assembly.

[0006] The gantry frame includes a crossbeam, a crossbeam connecting rod, and a column. There are two crossbeams, and the two crossbeams are arranged in parallel. There are two crossbeam connecting rods, and the two crossbeam connecting rods are respectively arranged at both ends of the crossbeam in the length direction and connect the two crossbeams. There are multiple columns, and the columns are vertically arranged below the crossbeam and support the crossbeam.

[0007] The support frame includes a supporting beam and a supporting connecting rod. There are two supporting beams, which are arranged in parallel. The length direction of the supporting beam is the same as the length direction of the beam connecting rod. There are two supporting connecting rods, which are respectively arranged at both ends of the length direction of the supporting beam and connect the two supporting beams. The length direction of the supporting connecting rod is the same as the length direction of the beam. The beam is provided with a slide rail along its length direction, and a slider adapted to the slide rail is provided at the side end of the supporting beam, and the support frame slides along the length direction of the beam through the slide rail.

[0008] The support frame driving assembly includes a support frame motor, a support frame reducer, a support frame transmission shaft, a support frame bearing seat, and a support frame gear. The output end of the support frame motor is connected to the support frame reducer, and the support frame reducer is fixed on the support beam. The output end of the support frame reducer is connected to the support frame transmission shaft, and the other end of the support frame transmission shaft is fixed to the support frame through the support frame bearing seat. The length direction of the support frame transmission shaft is the same as the length direction of the support frame. The support frame gear is sleeved on one end of the support frame transmission shaft close to the beam, and the support frame transmission shaft drives the support frame gear to transmit synchronously. A support frame rack meshing with the support frame gear is provided on the beam, and the length direction of the support frame rack is the same as the length direction of the beam.

[0009] The length direction of the lifting arm is the vertical direction. The lifting arm is fixed to the support frame through a slide box and slides along the length direction of the support frame. A first slider is arranged on the outer side of the slide box. A first slide rail adapted to the first slider is arranged on the support beam. The length direction of the first slide rail is the same as the length direction of the support beam.

[0010] The lifting arm is fixed on the inner side of the slide box and slides up and down in the vertical direction relative to the slide box. A second slide rail is provided on the side end of the lifting arm. The length direction of the second slide rail is the same as the length direction of the lifting arm. A second sliding block adapted to the second slide rail is provided on the inner side of the slide box.

[0011] The manipulator driving assembly includes a first driving assembly and a second driving assembly, the manipulator moves along the length direction of the support frame through the first driving assembly, and the manipulator moves in the vertical direction relative to the support frame through the second driving assembly;

[0012] The first driving assembly includes a first motor and a first reducer, the output end of the first motor is connected to the first reducer, the first reducer is fixed inside the slide box, the output end of the first reducer is provided with a first reducer gear, the inner side of the support beam is provided with a first rack meshing with the first reducer gear, and the length direction of the first rack is the same as the length direction of the support beam;

[0013] The second driving assembly includes a second motor and a second reducer. The output end of the second motor is connected to the second reducer. The second reducer is fixed to the outside of the slide box. The output end of the second reducer is provided with a second reducer gear. The lifting arm is provided with a second rack meshing with the second reducer gear. The length direction of the second rack is the same as the length direction of the lifting arm.

[0014] The rotating assembly includes a rotating motor and a rotating reducer. The rotating reducer is connected to the lower part of the lifting arm through a reducer seat. The output end of the rotating motor is connected to the rotating reducer. The output end of the rotating reducer is connected to the clamping claw assembly.

[0015] The clamping jaw assembly comprises a connecting frame and a clamping jaw driving assembly. The top of the connecting frame is connected to the rotating assembly, and the lower end of the connecting frame is connected to the clamping jaw driving assembly. The clamping jaw driving assembly comprises a first clamping jaw driving assembly and a second clamping jaw driving assembly. The number of the first clamping jaw driving assemblies is two, and the two first clamping jaw driving assemblies are fixed in parallel below the connecting frame, and the length direction of the first clamping jaw driving assembly is the same as the length direction of the beam. The number of the second clamping jaw driving assemblies is two, and the two second clamping jaw drives are respectively fixed below the two ends of the two first clamping jaw driving assemblies through connecting pipes, and the length direction of the second clamping jaw driving assembly is the same as the width direction of the beam. A first clamping jaw driving slider is arranged above the first clamping jaw driving assembly, and a first clamping jaw driving slide rail adapted to the first clamping jaw driving slide rail is arranged at the lower end of the connecting frame, and the length direction of the first clamping jaw driving slide rail is the same as the length direction of the beam. A second clamping jaw driving slider is arranged above the second clamping jaw driving assembly, and a second clamping jaw driving slide rail adapted to the second clamping jaw driving slide rail is arranged below the connecting pipe, and the length direction of the second clamping jaw driving slide rail is the same as the width direction of the beam.

[0016] The first jaw driving assembly includes a first movable branch, a first jaw driving motor, a first jaw driving reducer, a first jaw driving reducer gear, and a first jaw driving rack. The number of the first movable branches is two, and the length direction of the two first movable branches is the same as the length direction of the beam. The output end of the first jaw driving motor is connected to the first jaw driving reducer, and the first jaw driving reducer is fixed to the connecting frame through a motor seat. The output end of the first jaw driving reducer is provided with a first jaw driving reducer gear, and a first jaw driving rack meshing with the first jaw driving reducer gear is provided below the first movable branch. The first jaw driving racks of the two first movable branches are arranged opposite to each other, and the first jaw driving reducer gear is arranged between the two first jaw driving racks.

[0017] The connecting pipes above the two second jaw drive assemblies are connected to different first movable branch pipes. The second jaw drive assembly includes a second movable branch pipe, a second jaw drive motor, a second jaw drive reducer, a second jaw drive reducer gear, a second jaw drive rack, and a cylinder manipulator. The number of the second movable branch pipes is two, and the length direction of the two second movable branch pipes is the same as the width direction of the beam. The output end of the second jaw drive motor is connected to the second jaw drive reducer, and the second jaw drive reducer is fixed to the first jaw drive assembly through a motor seat. The output end of the second jaw drive reducer is provided with a second jaw drive Reducer gear, a second jaw drive rack meshing with the second jaw drive reducer gear is arranged under the second movable branch, the second jaw drive racks of the two second movable branches are arranged opposite to each other, and the second jaw drive reducer gear is arranged between the two second jaw drive racks, the cylinder manipulator is arranged under the second movable branch, the number of the cylinder manipulators is three, one of the cylinder manipulators is fixed to the second jaw drive assembly through the reducer base, and the other two cylinder manipulators are respectively fixed to the two second movable branches, and the two cylinder manipulators are respectively fixed at both ends of the length direction of the second movable branch.

[0018] The rotatable multi-claw manipulator device obtained by the above technical solution has the following beneficial effects:

[0019] The manipulator can move along the length, width and vertical directions on the gantry frame, and the clamping claw assembly under the manipulator can rotate axially. The position of the manipulator can be adjusted as needed to realize the transportation of the steel mesh.

[0020] A plurality of cylinder manipulators are arranged on the clamping jaw assembly, and the plurality of cylinder manipulators are moved closer to or farther away from each other along the length and width directions of the gantry frame through the clamping jaw driving assembly, so that the grasping position of the cylinder manipulators can be effectively adjusted, and the force area of ​​the steel mesh when the manipulators grasp the steel mesh can be better dispersed, making the grasping more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the rotatable multi-claw manipulator device of the utility model;

[0022] Figure 2 It is a structural schematic diagram of the manipulator and the support frame of the utility model;

[0023] Figure 3 The utility model Figure 2 A magnified view of part A;

[0024] Figure 4 It is a structural schematic diagram of the gantry frame of the utility model;

[0025] Figure 5 It is a structural schematic diagram of the lifting arm and the sliding box of the utility model;

[0026] Figure 6 It is a structural schematic diagram of the manipulator and the support frame of the utility model;

[0027] Figure 7 The utility model Figure 6 A magnified view of part B;

[0028] Figure 8 It is a structural schematic diagram of the rotating assembly of the utility model;

[0029] Fig. 9 It is a structural schematic diagram of the clamping jaw assembly of the utility model;

[0030] Fig.10 It is a structural schematic diagram of the first clamping jaw driving assembly of the utility model;

[0031] Fig.11 It is a structural schematic diagram of the second clamping jaw driving assembly of the utility model;

[0032] Fig.12 It is a structural schematic diagram of the second clamping jaw driving assembly of the utility model from another angle.

[0033] In the figure, 1, gantry frame; 2, manipulator; 3, support frame; 4, support frame drive assembly; 5, manipulator drive assembly; 6, slide box; 11, crossbeam; 11a, slide rail; 11b, support frame rack; 12, crossbeam connecting rod; 13, column; 21, lifting arm; 21a, second slide rail; 21b, second rack; 22, rotating assembly; 22a, rotating motor; 22b, rotating reducer; 23, clamping jaw assembly; 231, connecting frame; 231a, first clamping jaw driving slide rail; 232, first clamping jaw driving assembly; 232a, first clamping jaw driving slider; 232b, first moving branch pipe; 232c, first clamping jaw driving motor; 232d, first clamping jaw driving reducer; 232e, first clamping jaw driving reducer gear; 232f, first clamping jaw driving rack; 233, second clamping jaw driving assembly; 233a, second The jaw drives the slider; 233b, the second movable branch; 233c, the second jaw drives the motor; 233d, the second jaw drives the reducer; 233e, the second jaw drives the reducer gear; 233f, the second jaw drives the rack; 233g, the cylinder manipulator; 234, the connecting pipe; 31, the supporting beam; 31a, the slider; 31b, the first slide rail; 31c, the first rack; 32, the supporting connecting rod; 41, the supporting frame motor; 42, the supporting frame reducer; 43, the supporting frame transmission shaft; 44, the supporting frame bearing seat; 45, the supporting frame gear; 51, the first driving assembly; 51a, the first motor; 51b, the first reducer; 51c, the first reducer gear; 52, the second driving assembly; 52a, the second motor; 52b, the second reducer; 51c, the first reducer gear; 6a, the first slider; 6b, the second slider. DETAILED DESCRIPTION

[0034] The utility model is described in detail below in conjunction with the accompanying drawings.

[0035] like Figure 1-2As shown, a rotatable multi-claw manipulator device includes a gantry frame 1, a manipulator 2, and a support frame 3. The support frame 3 is arranged on the top of the gantry frame 1, and a support frame driving component 4 is arranged on the support frame 3. The support frame 3 moves along the length direction of the gantry frame 1 through the support frame driving component 4. The length direction of the support frame 3 is the same as the width direction of the gantry frame 1. The manipulator 2 is fixed on the support frame 3, and a manipulator driving component 5 is arranged on the manipulator 2. The manipulator driving component 5 drives the manipulator 2 to move along the length, width and vertical direction of the gantry frame 1. The manipulator driving component 5 can make the manipulator 2 move freely on the gantry frame to transport the grabbed steel mesh to the required position. The manipulator 2 It includes a lifting arm 21, a rotating component 22, and a clamping component 23. The clamping component 23 is connected to the lifting arm 21 through the rotating component 22. The clamping component 23 rotates axially relative to the lifting arm 21 through the rotating component 22. The manipulator 2 can freely adjust the direction when grasping to facilitate grasping, making the grasping more flexible. A plurality of cylinder manipulators 233g are arranged on the clamping component 23. The plurality of cylinder manipulators 233g are approached or moved away from each other along the length and width directions of the gantry frame 1 through the clamping driving component. The distance between the cylinder manipulators 233g is adjusted through the clamping driving component, and then the grasping positions of different cylinder manipulators 233g are adjusted to better disperse the force area of ​​the steel mesh when the manipulator grasps, making the grasping more stable.

[0036] like Figure 4 As shown, the gantry frame 1 includes a crossbeam 11, a crossbeam connecting rod 12, and a column 13. The number of the crossbeams 11 is two, and the two crossbeams 11 are arranged in parallel. The number of the crossbeam connecting rods 12 is two, and the two crossbeam connecting rods 12 are respectively arranged at both ends of the length direction of the crossbeam 11 and connect the two crossbeams 11. The number of the columns 13 is multiple, and the columns 13 are vertically arranged below the crossbeam 11 and support the crossbeam 11.

[0037] like Figure 6 As shown, the support frame 3 includes a supporting beam 31 and a supporting connecting rod 32. The number of the supporting beams 31 is two, and the two supporting beams 31 are arranged in parallel. The length direction of the supporting beam 31 is the same as the length direction of the beam connecting rod 12. The number of the supporting connecting rod 32 is two, and the two supporting connecting rods 32 are respectively arranged at both ends of the supporting beam 31 in the length direction and connect the two supporting beams 31. The length direction of the supporting connecting rod 32 is the same as the length direction of the beam 11. The beam 11 is provided with a slide rail 11a along its length direction. The side end of the supporting beam 31 is provided with a slider 31a adapted to the slide rail, and the support frame 3 slides along the length direction of the beam 11 through the slide rail 11a.

[0038] like Figure 3 As shown, the support frame driving assembly 4 includes a support frame motor 41, a support frame reducer 42, a support frame transmission shaft 43, a support frame bearing seat 44, and a support frame gear 45. The output end of the support frame motor 41 is connected to the support frame reducer 42, and the support frame reducer 42 is fixed on the support beam 31. The output end of the support frame reducer 42 is connected to the support frame transmission shaft 43. The other end of the support frame transmission shaft 43 is fixed to the support frame 3 through the support frame bearing seat 44. The length direction of the support frame transmission shaft 43 is the same as the length direction of the support frame 3. The support frame gear 45 is sleeved on the support frame transmission shaft 43. Close to one end of the crossbeam 11, the support frame transmission shaft 43 drives the support frame gear 45 for synchronous transmission. A support frame rack 11b meshing with the support frame gear 45 is provided on the crossbeam 11, and the length direction of the support frame rack 11b is the same as the length direction of the crossbeam 11. The support frame motor 41 is started, and the support frame reducer 42 is started along with the support frame motor. The support frame transmission shaft 43 at the output end of the support frame reducer 42 rotates axially, and the support frame gear 45 rotates synchronously, so that it moves along the length direction of the support frame rack 11b below when it rotates, thereby driving the entire support frame 3 to slide along the length direction of the crossbeam 11 through the slide rail 11a below.

[0039] like Figure 5 As shown, the length direction of the lifting arm 21 is the vertical direction, the lifting arm 21 is fixed to the support frame 3 through a slide box 6 and slides along the length direction of the support frame 3, a first slider 6a is provided on the outer side of the slide box 6, and a first slide rail 31b adapted to the first slider 6a is provided on the support beam 31, and the length direction of the first slide rail 31b is the same as the length direction of the support beam 31;

[0040] The lifting arm 21 is fixed on the inner side of the slide box 6 and slides up and down in the vertical direction relative to the slide box 6. A second slide rail 21a is provided on the side end of the lifting arm 21. The length direction of the second slide rail 21a is the same as the length direction of the lifting arm 21. A second slider 6b adapted to the second slide rail 21a is provided on the inner side of the slide box 6.

[0041] The manipulator driving assembly 5 includes a first driving assembly 51 and a second driving assembly 52. ​​The manipulator 2 moves along the length direction of the support frame 3 through the first driving assembly 51, and the manipulator 2 moves in the vertical direction relative to the support frame 3 through the second driving assembly 52.

[0042] like Figure 7As shown, the first driving assembly 51 includes a first motor 51a and a first reducer 51b, the output end of the first motor 51a is connected to the first reducer 51b, the first reducer 51b is fixed on the inner side of the slide box 6, the output end of the first reducer 51b is provided with a first reducer gear 51c, the inner side of the supporting beam 31 is provided with a first rack 31c meshing with the first reducer gear 51c, and the length direction of the first rack 31c is the same as the length direction of the supporting beam 31; start the first motor 51a, the first reducer 51b is started along with the first motor 51a, the first reducer gear 51c at the output end of the first reducer 51b rotates axially, and the first reducer gear 51c moves along the length direction of the first rack 31c below it when rotating, thereby driving the slide box 6 connected to the first driving assembly 51 to slide synchronously along the length direction of the supporting beam 31 through the first slide rail 31b below, thereby making the manipulator 2 connected to the slide box 6 through the lifting arm 21 move synchronously along the length direction of the supporting beam 31.

[0043] The second driving assembly 52 includes a second motor 52a and a second reducer 52b. The output end of the second motor 52a is connected to the second reducer 52b, and the second reducer 52b is fixed to the outside of the slide box 6. The output end of the second reducer 52b is provided with a second reducer gear 52c. The lifting arm 21 is provided with a second rack 21b meshing with the second reducer gear 52c. The length direction of the second rack 21b is the same as the length direction of the lifting arm 21. When the second motor 52a is started, the second reducer 52b is started along with the second motor 52a, and the second reducer gear 52c at the output end of the second reducer 52b rotates axially. When the second reducer gear 52c rotates, it moves along the length direction of the second rack 21b at its side end, thereby driving the slide box 6 connected to the second driving assembly 52 to move synchronously in the vertical direction through the second slide rail 21a, and thereby making the manipulator 2 connected to the slide box 6 through the lifting arm 21 move synchronously in the vertical direction.

[0044] like Figure 8 As shown, the rotating assembly 22 includes a rotating motor 22a and a rotating reducer 22b. The rotating reducer 22b is connected to the bottom of the lifting arm 21 through a reducer seat. The output end of the rotating motor 22a is connected to the rotating reducer 22b. The output end of the rotating reducer 22b is connected to the clamping jaw assembly 23.

[0045] like Fig. 9As shown, the clamping jaw assembly 23 includes a connecting frame 231 and a clamping jaw driving assembly. The top of the connecting frame 231 is connected to the rotating assembly 22, and the lower end of the connecting frame 231 is connected to the clamping jaw driving assembly. The clamping jaw driving assembly includes a first clamping jaw driving assembly 232 and a second clamping jaw driving assembly 233. The number of the first clamping jaw driving assemblies 232 is two, and the two first clamping jaw driving assemblies 232 are fixed in parallel below the connecting frame 231, and the length direction of the first clamping jaw driving assembly 232 is the same as the length direction of the beam 11. The number of the second clamping jaw driving assemblies 233 is two, and the two second clamping jaw driving assemblies 233 are respectively fixed at both ends of the two first clamping jaw driving assemblies 232 through connecting pipes 234. The length direction of the second jaw driving component 233 is the same as the width direction of the beam 11, a first jaw driving slider 232a is arranged above the first jaw driving component 232, and a first jaw driving slide rail 231a adapted to the first jaw driving slider 232a is arranged at the lower end of the connecting frame 231, and the length direction of the first jaw driving slide rail 231a is the same as the length direction of the beam 11, a second jaw driving slider 233a is arranged above the second jaw driving component 233, and a second jaw driving slide rail 234a adapted to the second jaw driving slider is arranged below the connecting pipe 234, and the length direction of the second jaw driving slide rail 234a is the same as the width direction of the beam 11.

[0046] like Fig.10As shown, the first jaw driving assembly 232 includes a first moving branch pipe 232b, a first jaw driving motor 232c, a first jaw driving reducer 232d, a first jaw driving reducer gear 232e, and a first jaw driving rack 232f. The number of the first moving branch pipes 232b is two, and the length direction of the two first moving branch pipes 232b is the same as the length direction of the beam 11. The output end of the first jaw driving motor 232c is connected to the first jaw driving reducer 232d, and the first jaw driving reducer 232d is fixed to the connecting frame 231 through a motor seat. The output end of the first jaw driving reducer 232d is provided with a first jaw driving reducer gear 232e, and the first moving branch pipe 232b is provided with a gear connected to the first jaw driving reducer gear 232e below. e, starts the first jaw driving rack 232f, starts the first jaw driving motor 232c, and the first jaw driving reducer 232d is started accordingly, and the first jaw driving reducer gear 232e at the output end of the first jaw driving reducer 232d rotates axially, and the first jaw driving rack 232f moves along its length direction, so that the first moving branch pipe 232d connected to the first jaw driving rack 232f slides along the length direction of the first moving branch pipe 232d through the first jaw driving slide rail 231a, and the first jaw driving racks 232f of the two first moving branches 232b are arranged opposite to each other, and the first jaw driving reducer gear 232e is arranged between the two first jaw driving racks 232f, at this time, the first jaw racks 232f on the two first moving branches 232b move in opposite directions along their length directions.

[0047] like Fig.11 , 12As shown, the connecting pipes 234 above the two second jaw drive assemblies 233 are connected to different first movable branches 232b, so after the first jaw drive assembly 232 is started, the two second jaw drive assemblies 233 move closer to or farther away from each other along the length direction of the first jaw drive assembly 232. The second jaw drive assembly 233 includes a second movable branch 233b, a second jaw drive motor 233c, a second jaw drive reducer 233d, a second jaw drive reducer gear 233e, a second jaw drive rack 233f, and a cylinder manipulator 233g. The number of the second movable branches 233b is two, and the length of the two second movable branches 233b is The direction is the same as the width direction of the beam 11, the output end of the second clamping jaw driving motor 233c is connected to the second clamping jaw driving reducer 233d, and the second clamping jaw driving reducer 233d is fixed to the first clamping jaw driving assembly 232 through a motor seat, and the output end of the second clamping jaw driving reducer 233d is provided with a second clamping jaw driving reducer gear 233e, and a second clamping jaw driving rack 233f meshing with the second clamping jaw driving reducer gear 233e is provided below the second moving branch pipe 233b. The second clamping jaw driving racks 233f of the two second moving branches 233b are arranged opposite to each other. When in use, the second clamping jaw driving motor 233 is driven c, the second gripper driving reducer 233d is started, and the second gripper driving reducer gear 233e at the output end of the second gripper driving reducer 233d rotates axially, and the second gripper driving rack 233f moves along its length direction, so that the second moving branch pipe 233b connected to the second gripper driving rack 233f slides along the length direction of the second moving branch pipe 233b through the second gripper driving slide rail 234a, and the second gripper driving reducer gear 233e is set between the two second gripper driving racks 233f. At this time, the second gripper driving racks 233f on the two second moving branches 233b move in opposite directions along their length direction, and the cylinder manipulator 23 3g is arranged below the second movable branch pipe 233b, the number of the cylinder manipulators 233g is three, one of the cylinder manipulators 233g is fixed to the second gripper driving assembly 233 through a reducer base, the other two cylinder manipulators 233g are respectively fixed to the two second movable branch pipes 233b, and the two cylinder manipulators 233g are respectively fixed to the two ends of the length direction of the second movable branch pipe 233b, when the second gripper driving assembly 233 is started, the cylinder manipulator 233g fixed on the second gripper driving assembly 233 does not move, and the cylinder manipulators 233g fixed on the two second movable branch pipes 233b are close to or away from each other.

[0048] When in use, start the manipulator drive component 5 to allow the manipulator 2 to move freely on the gantry frame to the position where the mesh needs to be grasped, adjust the angle of the manipulator through the rotating component 22, and adjust the distance between the cylinder manipulator 233g through the clamping claw drive component to make it suitable for grasping steel meshes of different specifications, and then move the manipulator 2 downward through the manipulator drive component 5 to grasp the steel mesh. After grasping, the manipulator 2 is freely moved to the next workstation on the gantry frame 1 through the manipulator drive component 5.

[0049] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the utility model. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the utility model and fall within the protection scope of the utility model.

[0050] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0051] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

Claims

1. A rotatable multi-claw manipulator device, comprising a gantry frame (1), a manipulator (2), and a support frame (3), characterized in that: The support frame (3) is arranged on the top of the gantry frame (1); a support frame driving component (4) is arranged on the support frame (3); the support frame (3) moves along the length direction of the gantry frame (1) through the support frame driving component (4); the length direction of the support frame (3) is the same as the width direction of the gantry frame (1); the manipulator (2) is fixed on the support frame (3); a manipulator driving component (5) is arranged on the manipulator (2); the manipulator driving component (5) drives the manipulator (2) to move along the length and width of the gantry frame (1). The manipulator (2) can move in the vertical direction and in the vertical direction. The manipulator (2) comprises a lifting arm (21), a rotating assembly (22), and a clamping assembly (23). The clamping assembly (23) is connected to the lifting arm (21) via the rotating assembly (22). The clamping assembly (23) is axially rotated relative to the lifting arm (21) via the rotating assembly (22). A plurality of cylinder manipulators (233g) are arranged on the clamping assembly (23). The plurality of cylinder manipulators (233g) are moved toward or away from each other along the length direction and the width direction of the gantry frame (1) via the clamping assembly.

2. A rotatable multi-claw manipulator device according to claim 1, characterized in that: The gantry frame (1) comprises a crossbeam (11), a crossbeam connecting rod (12), and a column (13); the number of the crossbeams (11) is two, and the two crossbeams (11) are arranged in parallel; the number of the crossbeam connecting rods (12) is two, and the two crossbeam connecting rods (12) are respectively arranged at both ends of the crossbeam (11) in the length direction and connect the two crossbeams (11); the number of the column (13) is multiple, and the column (13) is vertically arranged below the crossbeam (11) and supports the crossbeam (11).

3. A rotatable multi-claw manipulator device according to claim 2, characterized in that: The support frame (3) comprises a support beam (31) and a support connecting rod (32). The number of the support beams (31) is two, and the two support beams (31) are arranged in parallel. The length direction of the support beam (31) is the same as the length direction of the beam connecting rod (12). The number of the support connecting rod (32) is two, and the two support connecting rods (32) are respectively arranged at two ends of the support beam (31) in the length direction and connect the two support beams (31). The length direction of the support connecting rod (32) is the same as the length direction of the beam (11). The beam (11) is provided with a slide rail (11a) along its length direction. A slider (31a) adapted to the slide rail is provided at the side end of the support beam (31). The support frame (3) slides along the length direction of the beam (11) through the slide rail (11a).

4. A rotatable multi-claw manipulator device according to claim 3, characterized in that: The support frame driving assembly (4) comprises a support frame motor (41), a support frame reducer (42), a support frame transmission shaft (43), a support frame bearing seat (44), and a support frame gear (45); the output end of the support frame motor (41) is connected to the support frame reducer (42); the support frame reducer (42) is fixed on the support crossbeam (31); the output end of the support frame reducer (42) is connected to the support frame transmission shaft (43); the other end of the support frame transmission shaft (43) is fixed via the support frame bearing seat (44). On the support frame (3), the length direction of the support frame transmission shaft (43) is the same as the length direction of the support frame (3), the support frame gear (45) is sleeved on one end of the support frame transmission shaft (43) close to the crossbeam (11), the support frame transmission shaft (43) drives the support frame gear (45) to transmit synchronously, and a support frame rack (11b) meshing with the support frame gear (45) is provided on the crossbeam (11), and the length direction of the support frame rack (11b) is the same as the length direction of the crossbeam (11).

5. A rotatable multi-claw manipulator device according to claim 3, characterized in that: The length direction of the lifting arm (21) is vertical; the lifting arm (21) is fixed to the support frame (3) through a slide box (6) and slides along the length direction of the support frame (3); a first sliding block (6a) is arranged on the outer side of the slide box (6); a first sliding rail (31b) adapted to the first sliding block (6a) is arranged on the support crossbeam (31); and the length direction of the first sliding rail (31b) is the same as the length direction of the support crossbeam (31); The lifting arm (21) is fixed on the inner side of the slide box (6) and slides up and down in the vertical direction relative to the slide box (6); a second slide rail (21a) is provided at the side end of the lifting arm (21); the length direction of the second slide rail (21a) is the same as the length direction of the lifting arm (21); and a second sliding block (6b) adapted to the second slide rail (21a) is provided on the inner side of the slide box (6).

6. A rotatable multi-claw manipulator device according to claim 5, characterized in that: The manipulator driving assembly (5) comprises a first driving assembly (51) and a second driving assembly (52); the manipulator (2) moves along the length direction of the support frame (3) through the first driving assembly (51); and the manipulator (2) moves in a vertical direction relative to the support frame (3) through the second driving assembly (52); The first driving assembly (51) comprises a first motor (51a) and a first reducer (51b), the output end of the first motor (51a) is connected to the first reducer (51b), the first reducer (51b) is fixed on the inner side of the slide box (6), the output end of the first reducer (51b) is provided with a first reducer gear (51c), the inner side of the supporting crossbeam (31) is provided with a first rack (31c) meshing with the first reducer gear (51c), and the length direction of the first rack (31c) is the same as the length direction of the supporting crossbeam (31); The second driving assembly (52) comprises a second motor (52a) and a second reducer (52b), the output end of the second motor (52a) is connected to the second reducer (52b), the second reducer (52b) is fixed to the outside of the slide box (6), the output end of the second reducer (52b) is provided with a second reducer gear (52c), the lifting arm (21) is provided with a second rack (21b) meshing with the second reducer gear (52c), and the length direction of the second rack (21b) is the same as the length direction of the lifting arm (21).

7. A rotatable multi-claw manipulator device according to claim 1, characterized in that: The rotating assembly (22) comprises a rotating motor (22a) and a rotating reducer (22b); the rotating reducer (22b) is connected to the lower part of the lifting arm (21) via a reducer seat; the output end of the rotating motor (22a) is connected to the rotating reducer (22b); and the output end of the rotating reducer (22b) is connected to the clamping jaw assembly (23).

8. A rotatable multi-claw manipulator device according to claim 3, characterized in that: The clamping jaw assembly (23) comprises a connecting frame (231) and a clamping jaw driving assembly. The top of the connecting frame (231) is connected to the rotating assembly (22), and the lower end of the connecting frame (231) is connected to the clamping jaw driving assembly. The clamping jaw driving assembly comprises a first clamping jaw driving assembly (232) and a second clamping jaw driving assembly (233). The number of the first clamping jaw driving assemblies (232) is two, and the two first clamping jaw driving assemblies (232) are fixed in parallel below the connecting frame (231), and the length direction of the first clamping jaw driving assembly (232) is the same as the length direction of the crossbeam (11). The number of the second clamping jaw driving assemblies (233) is two, and the two second clamping jaw driving assemblies (233) are respectively fixed below the two ends of the two first clamping jaw driving assemblies (232) through connecting pipes (234). , and the length direction of the second gripper driving component (233) is the same as the width direction of the beam (11), a first gripper driving slider (232a) is arranged above the first gripper driving component (232), a first gripper driving slide rail (231a) adapted to the first gripper driving slider (232a) is arranged at the lower end of the connecting frame (231), the length direction of the first gripper driving slide rail (231a) is the same as the length direction of the beam (11), a second gripper driving slider (233a) is arranged above the second gripper driving component (233), a second gripper driving slide rail (234a) adapted to the second gripper driving slider is arranged below the connecting pipe (234), the length direction of the second gripper driving slide rail (234a) is the same as the width direction of the beam (11).

9. A rotatable multi-claw manipulator device according to claim 8, characterized in that: The first clamping jaw driving assembly (232) comprises a first moving branch pipe (232b), a first clamping jaw driving motor (232c), a first clamping jaw driving reducer (232d), a first clamping jaw driving reducer gear (232e), and a first clamping jaw driving rack (232f). The number of the first moving branch pipes (232b) is two, and the length direction of the two first moving branch pipes (232b) is the same as the length direction of the beam (11). The output end of the first clamping jaw driving motor (232c) is connected to the first clamping jaw driving reducer (232d). The first clamping jaw driving reducer (232d) is fixed on the connecting frame (231) through a motor seat, and a first jaw driving reducer gear (232e) is provided at the output end of the first jaw driving reducer (232d), and a first jaw driving rack (232f) meshing with the first jaw driving reducer gear (232e) is provided below the first movable branch pipe (232b), and the first jaw driving racks (232f) of the two first movable branch pipes (232b) are arranged opposite to each other, and the first jaw driving reducer gear (232e) is arranged between the two first jaw driving racks (232f).

10. A rotatable multi-claw manipulator device according to claim 9, characterized in that: The connecting pipes (234) above the two second jaw drive assemblies (233) are connected to different first movable branch pipes (232b); the second jaw drive assembly (233) comprises a second movable branch pipe (233b), a second jaw drive motor (233c), a second jaw drive reducer (233d), a second jaw drive reducer gear (233e), a second jaw drive rack (233f), and a cylinder manipulator (233g); the number of the second movable branch pipes (233b) is two; the length direction of the two second movable branch pipes (233b) is the same as the width direction of the beam (11); the output end of the second jaw drive motor (233c) is connected to the second jaw drive reducer (233d); the second jaw drive reducer (233d) is fixed to the first jaw drive assembly (232) through a motor seat; the output end of the second jaw drive reducer (233d) is provided with a second jaw drive A second jaw driving rack (233f) meshing with the second jaw driving reducer gear (233e) is arranged below the second moving branch pipe (233b), the second jaw driving racks (233f) of the two second moving branches (233b) are arranged opposite to each other, and the second jaw driving reducer gear (233e) is arranged between the two second jaw driving racks (233f), the cylinder manipulator (233g) is arranged below the second moving branch pipe (233b), the number of the cylinder manipulators (233g) is three, one of the cylinder manipulators (233g) is fixed to the second jaw driving assembly (233) through a reducer base, and the other two cylinder manipulators (233g) are respectively fixed to the two second moving branches (233b), and the two cylinder manipulators (233g) are respectively fixed to the two ends of the second moving branch pipe (233b) in the length direction.

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