Multi-angle flexible steering manipulator

Abstract

The utility model relates to a multi-angle flexible steering manipulator which comprises a transverse frame, a vertical frame, a moving seat, a rotating arm, a telescopic arm and a mechanical gripper, a first stroke air cylinder is arranged on the vertical frame, a second stroke air cylinder is arranged on the transverse frame, the moving seat is installed on the second stroke air cylinder, a supporting frame is arranged on the moving seat, and the rotating arm is installed on the supporting frame. The supporting frame is sequentially connected with a rotating arm, a telescopic arm, an overturning plate and a mechanical gripper. The mechanical gripper is reasonable in structural design, the rotating arm, the telescopic arm and the mechanical gripper achieve multi-angle rotation through different telescopic air cylinders and hydraulic rods, the transverse frame and the vertical frame can achieve up-and-down and left-and-right movement of the movable base, the mechanical gripper can move to the corresponding position according to needs, use is more flexible, and production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of headlight production and manufacturing equipment, in particular to a multi-angle flexible steering manipulator. Background Art

[0002] With the rapid development of the automotive industry, headlights, as an important part of automobiles, require high-precision and high-efficiency processing in production. As a high-precision and highly flexible automation device, the robotic arm plays an increasingly important role in headlight production. The robotic arm is a multi-functional robot system that can automatically position, grasp, and operate workpieces. It realizes various complex operation tasks by imitating the movement of the human arm. The traditional headlight production methods are mostly manual or semi-automatic production, which is inefficient and easily affected by human factors. By using a robotic arm for production, continuous and high-speed automated operations can be achieved, significantly improving production efficiency. During the use of the robotic arm, it is necessary for the robotic arm to be able to achieve multi-angle adjustment for grasping, making the use of the robotic arm more flexible. Content of the Utility Model

[0003] In order to overcome the deficiencies of the above-mentioned existing problems, the utility model provides a multi-angle flexible steering manipulator.

[0004] The technical solution adopted by the present utility model to solve its technical problems is as follows: A multi-angle flexible steering manipulator, comprising a horizontal frame, a vertical frame, a moving seat, a rotating arm, a telescopic arm and a mechanical gripper. There are two left and right vertical frames. A first stroke cylinder is arranged on the vertical frame. A vertical rod is longitudinally inserted in the first stroke cylinder. Both ends of the vertical rod are fixedly installed on the vertical frame. The horizontal frame is horizontally arranged between the two first stroke cylinders. Both ends of the horizontal frame are fixedly installed on the first stroke cylinder. A cross bar is horizontally arranged on the horizontal frame. A second stroke cylinder is arranged on the cross bar. The cross bar is inserted in the second stroke cylinder. The moving seat is fixedly installed on the second stroke cylinder. Support frames are arranged on both sides of the moving seat. A rotating motor is arranged on one side of the moving seat. The bottom of the support frame is fixedly installed on the moving seat. A rotating arm is arranged between the two support frames. An installation groove is opened at the end of the rotating arm. A rotating wheel is arranged in the installation groove. A rotating rod is fixedly inserted in the middle of the rotating wheel. One end of the rotating rod is provided with a bearing and is installed on one side in the installation groove through the bearing. The other end passes through one side of the support frame and the other side of the installation groove and is fixedly connected to the rotating motor. The front end of the rotating arm is connected to a telescopic arm. A first hydraulic rod is connected between the rotating arm and the telescopic arm. A second telescopic cylinder is fixedly installed in the telescopic arm. The front end of the second telescopic cylinder is fixedly connected to a telescopic rod. The telescopic rod is arranged in the telescopic arm and extends out through the end of the telescopic arm. The front end of the telescopic rod is connected to a turning plate. A second hydraulic rod is connected between the telescopic rod and the turning plate. A rotating cylinder is fixedly installed at the bottom of the turning plate. A mechanical gripper is connected to the bottom of the rotating cylinder.

[0005] Preferably, a bushing is arranged at the connection of the rotating rod with the support frame and the installation groove and is installed through the bushing.

[0006] Preferably, a rotating bearing is arranged at the connection of the rotating arm and the telescopic arm and is installed through the rotating bearing.

[0007] Preferably, a rotating shaft is arranged at both ends of the first hydraulic rod and is installed through the rotating shaft.

[0008] Preferably, a rotating shaft is arranged at both ends of the second hydraulic rod and is installed through the rotating shaft.

[0009] Preferably, a rotating bearing is arranged at the connection of the turning plate and the telescopic rod and is installed through the rotating bearing.

[0010] The beneficial effects of the present utility model are as follows: The structure of the present utility model is reasonably designed. The rotating arm, the telescopic arm and the mechanical gripper realize multi-angle rotation through different telescopic cylinders and hydraulic rods. The horizontal frame and the vertical frame can realize the up, down, left and right movement of the moving seat, so that the mechanical gripper can move to the corresponding position according to needs, and the use is more flexible, improving production efficiency. Brief Description of the Drawings

[0011] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0012] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0013] Figure 2 is a schematic side view structure diagram of the present utility model;

[0014] Figure 3 is a schematic top view partial structure diagram of the present utility model;

[0015] In the figure, 1, horizontal frame; 2, vertical frame; 3, moving seat; 4, first stroke cylinder; 5, vertical rod; 6, cross bar; 7, second stroke cylinder; 8, rotating arm; 9, mounting groove; 10, rotating wheel; 11, rotating rod; 12, telescopic arm; 13, first hydraulic rod; 14, telescopic cylinder; 15, telescopic rod; 16, flipping plate; 17, second hydraulic rod; 18, rotating cylinder; 19, mechanical gripper; 20, support frame. Detailed Embodiment

[0016] All features disclosed in this specification, or all steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any manner.

[0017] Any feature disclosed in this specification (including any additional claims, abstract, and drawings), unless specifically stated, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically stated, each feature is only an example of a series of equivalent or similar features.

[0018] Such as Figures 1 - 3As shown in the figure, a multi-angle flexible steering manipulator includes a horizontal frame 1, a vertical frame 2, a moving seat 3, a rotating arm 8, a telescopic arm 12 and a mechanical gripper 19. There are two left and right vertical frames 2. A first stroke cylinder 4 is arranged on the vertical frame 2. A vertical rod 5 is longitudinally arranged in the first stroke cylinder 4. Both ends of the vertical rod 5 are fixedly installed on the vertical frame 2. The horizontal frame 1 is horizontally arranged between the two first stroke cylinders 4. Both ends of the horizontal frame 1 are fixedly installed on the first stroke cylinder 4. A cross bar 6 is horizontally arranged on the horizontal frame 1. A second stroke cylinder 7 is arranged on the cross bar 6. The cross bar 6 is arranged in the second stroke cylinder 7. The moving seat 3 is fixedly installed on the second stroke cylinder 7. Support frames 20 are arranged on both sides of the moving seat 3. A rotating motor is arranged on one side of the moving seat 3. The bottom of the support frame 20 is fixedly installed on the moving seat 3. A rotating arm 8 is arranged between the two support frames 20. An installation groove 9 is opened at the end of the rotating arm 8. A rotating wheel 10 is arranged in the installation groove 9. A rotating rod 11 is fixedly arranged in the middle of the rotating wheel 10. One end of the rotating rod 11 is provided with a bearing and is installed in one side of the installation groove 9 through the bearing. The other end passes through one side of the support frame 20 and the other side of the installation groove 9 and is fixedly connected to the rotating motor. The front end of the rotating arm 8 is connected to a telescopic arm 12. A first hydraulic rod 13 is connected between the rotating arm 8 and the telescopic arm 12. A telescopic cylinder 14 is fixedly installed in the telescopic arm 12. The front end of the telescopic cylinder 14 is fixedly connected to a telescopic rod 15. The telescopic rod 15 is arranged in the telescopic arm 12 and extends out through the end of the telescopic arm 12. The front end of the telescopic rod 15 is connected to a turning plate 16. A second hydraulic rod 17 is connected between the telescopic rod 15 and the turning plate 16. A rotating cylinder 18 is fixedly installed at the bottom of the turning plate 16. The mechanical gripper 19 is connected to the bottom of the rotating cylinder 18.

[0019] Shaft sleeves are arranged at the joints of the rotating rod 11 with the support frame 20 and the installation groove 9 and are installed through the shaft sleeves; rotating bearings are arranged at the joints of the rotating arm 8 and the telescopic arm 12 and are installed through the rotating bearings; rotating shafts are arranged at both ends of the first hydraulic rod 13 and are installed through the rotating shafts; rotating shafts are arranged at both ends of the second hydraulic rod 17 and are installed through the rotating shafts; rotating bearings are arranged at the joints of the turning plate 16 and the telescopic rod 15 and are installed through the rotating bearings; the first stroke cylinder 4, the second stroke cylinder 7, the telescopic cylinder 14, the first hydraulic rod 13, the second hydraulic rod 17 and the rotating cylinder 18 are all connected to a controller and their movements are respectively controlled by the controller.

[0020] During use, the controller controls the movement of the first stroke cylinder 4, causing the left and right first stroke cylinders 4 to move synchronously up and down on the vertical rod 5, thereby driving the cross frame 1 to move up and down in the vertical direction, and further driving the moving seat 3 to move up and down; the controller controls the movement of the second stroke cylinder 7, causing the second stroke cylinder 7 to move horizontally left and right on the cross bar 6, thereby driving the moving seat 3 to move left and right; the controller controls the extension and retraction of the first hydraulic rod 13 to adjust the angle between the rotating arm 8 and the telescopic arm 12; the controller controls the movement of the telescopic cylinder 14 to change the extension length of the telescopic rod 15 outside the telescopic arm 12; the controller controls the extension and retraction of the second hydraulic rod 17 to adjust the up and down angle of the flip plate 16; rotating bearings or rotating shafts are provided at each connection point to achieve driven movement; the controller controls the rotation of the rotating cylinder 18 to control the rotation of the mechanical gripper 19.

[0021] The design of this solution is ingenious. The moving seat 3 moves up, down, left, and right on the cross frame 1 and the vertical frame 2 through the first stroke cylinder 4 and the second stroke cylinder 7, making the movement of the moving seat 3 more flexible; the rotating arm 8, the telescopic arm 12, and the mechanical gripper 19 are controlled by the telescopic cylinder 14, the first hydraulic rod 13, the second hydraulic rod 17, and the rotating cylinder 18 to achieve multi-angle rotation, enabling the mechanical gripper 19 to move to the corresponding position as needed, being more flexible in use, and improving production efficiency.

[0022] The present utility model is not limited to the foregoing specific embodiments. The present utility model extends to any new feature or any new combination disclosed in this specification, as well as any new method or process step or any new combination disclosed.

Claims

1. A multi-angle flexible steering manipulator, characterized in that: The invention comprises a horizontal frame (1), a vertical frame (2), a movable seat (3), a rotating arm (8), a telescopic arm (12) and a mechanical gripper (19), wherein the vertical frame (2) is provided with two left and right ones, a first stroke cylinder (4) is provided on the vertical frame (2), a vertical rod (5) is longitudinally passed through the first stroke cylinder (4), and both ends of the vertical rod (5) are fixedly mounted on the vertical frame (2), the horizontal frame (1) is horizontally arranged between the two first stroke cylinders (4), and both ends of the horizontal frame (1) are fixedly mounted on the first stroke cylinder (4). ) is transversely arranged on the crossbar (6), a second stroke cylinder (7) is arranged on the crossbar (6), the crossbar (6) is inserted into the second stroke cylinder (7), the moving seat (3) is fixedly mounted on the second stroke cylinder (7), support frames (20) are arranged on both sides of the moving seat (3), a rotating motor is arranged on one side of the moving seat (3), the bottom of the support frame (20) is fixedly mounted on the moving seat (3), a rotating arm (8) is arranged between the two support frames (20), and the end of the rotating arm (8) is provided with a A mounting groove (9) is provided, a rotating wheel (10) is arranged in the mounting groove (9), a rotating rod (11) is fixedly passed through the middle of the rotating wheel (10), one end of the rotating rod (11) is provided with a bearing and is installed on one side of the mounting groove (9) through the bearing, and the other end passes through a support frame (20) on one side and the other side of the mounting groove (9) and is fixedly connected to a rotating motor, the front end of the rotating arm (8) is connected to a telescopic arm (12), a first hydraulic rod (13) is connected between the rotating arm (8) and the telescopic arm (12), and the telescopic arm (11) is connected to the rotating arm (8). 2) A telescopic cylinder (14) is fixedly installed inside the telescopic cylinder (14), a telescopic rod (15) is fixedly connected to the front end of the telescopic cylinder (14), the telescopic rod (15) is arranged in the telescopic arm (12) and extends through the end of the telescopic arm (12), the front end of the telescopic rod (15) is connected to a flip plate (16), a second hydraulic rod (17) is connected between the telescopic rod (15) and the flip plate (16), a rotating cylinder (18) is fixedly installed at the bottom of the flip plate (16), and a mechanical gripper (19) is connected to the bottom of the rotating cylinder (18).

2. The multi-angle flexible steering manipulator according to claim 1, characterized in that: A shaft sleeve is provided at the connection between the rotating rod (11), the support frame (20) and the mounting groove (9) and the rotating rod (11) is mounted via the shaft sleeve.

3. The multi-angle flexible steering manipulator according to claim 1, characterized in that: A rotating bearing is provided at the connection between the rotating arm (8) and the telescopic arm (12) and is installed via the rotating bearing.

4. The multi-angle flexible steering manipulator according to claim 1, characterized in that: Both ends of the first hydraulic rod (13) are provided with rotating shafts and are mounted via the rotating shafts.

5. The multi-angle flexible steering manipulator according to claim 1, characterized in that: Both ends of the second hydraulic rod (17) are provided with rotating shafts and are mounted via the rotating shafts.

6. The multi-angle flexible steering manipulator according to claim 1, characterized in that: A rotating bearing is provided at the connection between the flip plate (16) and the telescopic rod (15) and the two are mounted via the rotating bearing.

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