C-shaped manipulator for clamping drum based on centering structure

Abstract

The utility model relates to a C-shaped manipulator, in particular to a C-shaped manipulator for clamping a drum based on a centering structure. The C-shaped mechanical arm for clamping the drum based on the centering structure comprises an electric sliding rail, an electric sliding block, a frame body, an air cylinder, a guiding piece, a sliding piece and a rotating rod, the electric sliding block is connected to the electric sliding rail in a sliding mode, the frame body is installed on the electric sliding block, the air cylinder is installed on the left side in the frame body, and the rotating rod is installed on the air cylinder. A guide part is fixedly connected to the right side in the frame, a sliding part is slidably connected into the guide part, a telescopic rod of the air cylinder is fixedly connected with the sliding part, and rotating rods distributed front and back are rotationally connected to the right side of the guide part. By arranging a series of matched components such as the controller, the visual recognizer, the first motor and the second motor, the frame body and the clamping jaw are adjusted in the vertical direction and the horizontal direction, it is ensured that the clamping jaw can accurately center barrels at different positions and postures, and full-process automation in the true sense is achieved.

Description

Technical Field

[0001] The utility model relates to a C-type manipulator, in particular to a C-type manipulator for clamping drums based on a centering structure. Background Art

[0002] A C-type robot, also known as a C-arm robot or C-clamp, is a mechanical device widely used in industrial automation. Its design typically takes on a "C" shape, hence its name. Due to its unique structure and flexibility, this type of robot plays a vital role in many manufacturing and assembly processes, particularly those requiring precise manipulation within confined spaces. In barrel processing, a C-type robot is required to grip and handle the barrels for easy processing.

[0003] The existing C-type manipulator is mainly composed of a C-type frame, a drive system, an end effector and a control system. Its working principle is: when receiving instructions from the control system, the drive system starts working, causing the C-type frame to move along a predetermined path. If a workpiece needs to be grasped, the end effector will first be positioned near the workpiece, and then, based on the characteristics of the workpiece and the handling requirements, it will safely grasp the workpiece by closing the gripper. However, when faced with randomly stacked workpieces, the limitations of the existing C-type manipulator become apparent. Since the gripper design of the end effector is often fixed, it is impossible to flexibly adjust its vertical or horizontal angle according to the stacking position of the workpiece. This makes it difficult for the manipulator to directly grasp workpieces in non-standard positions or postures. Therefore, when automating the processing of such workpieces, it is usually necessary to manually sort and arrange the workpieces in advance to ensure that they are in a fixed position and direction that the manipulator can grasp. This manual intervention step not only adds additional operating costs, but also limits the efficiency and flexibility of the automated production line, hindering the realization of true full-process automation.

[0004] Therefore, there is a particular need for a C-type manipulator for clamping drums based on a centering structure to solve the problems existing in the prior art. Utility Model Content

[0005] In order to overcome the shortcomings of existing C-type robots that usually require manual sorting and arrangement of randomly stacked workpieces in advance, which increases additional operating costs, limits the efficiency and flexibility of the automated production line, and hinders the realization of true full-process automation, the utility model provides a C-type robot for clamping drums based on a centering structure.

[0006] The utility model is realized by the following technical means: a C-type manipulator for clamping a drum based on a centering structure, comprising an electric slide rail, an electric slider, a frame, a cylinder, a guide, a sliding member, a rotating rod, a clamping claw, a first motor, a protective frame, a guide plate, a full gear, a second motor, a reduction gear, a rotating member, a fixed plate, a visual identifier and a lifting frame; the electric slide rail is slidably connected to the electric slider, the frame is installed on the electric slider, a cylinder is installed on the left side of the frame, the guide is fixedly connected to the right side of the frame, the guide is slidably connected to the sliding member, the telescopic rod of the cylinder is fixedly connected to the sliding member, the right side of the guide is rotatably connected to a rotating rod distributed front and back, the rotating rod is slidably connected to the sliding member, the right side of the guide is rotatably connected to a clamping claw distributed front and back, the rotating rod is connected to the corresponding clamping claw The claw is fixedly connected, and a first motor is installed on the right side of the lifting frame. A protective frame is installed on the output shaft of the first motor, and a fixed plate is fixedly connected to the upper part of the protective frame. A rotating part is rotatably connected to the fixed plate, and the rotating part is fixedly connected to the left side of the electric slide rail. A guide plate is fixedly connected to the left side of the upper part of the protective frame, and a full gear is rotatably connected to the guide plate. The full gear is fixedly connected to the bottom of the electric slide rail. A second motor is installed inside the protective frame, and a reduction gear is fixedly connected to the output shaft of the second motor. The reduction gear and the full gear are on the same horizontal plane and mesh with each other. A visual identifier is installed on the upper right side of the protective frame for identifying the position and posture of the barrel. A controller is installed on the lower right side of the protective frame, and the controller is electrically connected to the electric slide rail, electric slider, cylinder, first motor, second motor and visual identifier.

[0007] Further description, it also includes a contact block and a buffer. The contact block is installed on the right side of the bottom of the electric slide rail, and the buffer is installed on the left side of the fixed plate in a front-to-back symmetrical manner.

[0008] It is further explained that the lower part of the frame is in sliding contact with the electric slide rail, which enhances the smoothness of movement and reduces shaking during the movement of the frame.

[0009] It is further explained that a rubber pad is provided on the clamping surface of the clamping jaws for firmly clamping the drum.

[0010] It is further explained that the meshing ratio of the full gear and the reduction gear is 1:4, which achieves deceleration and torque increase and ensures precise horizontal alignment.

[0011] It is further explained that the contact block and the buffer are on the same horizontal plane, so that the contact block contacts the buffer precisely, providing effective protection.

[0012] From the above description of the structure of the utility model, it can be seen that the design starting point, concept and advantages of the utility model are: 1. The utility model adjusts the frame and the clamping jaws in the vertical and horizontal directions by setting a series of coordinated controllers, visual identifiers, first motors, second motors and other components to ensure that the clamping jaws can accurately center the barrels in different positions and postures, thereby realizing true full-process automation.

[0013] 2. The utility model provides a contact block and a buffer. When the electric slide rail touches the lifting frame, the contact block contacts the buffer in advance. The buffer acts as a buffer to absorb the impact force, protect the electric slide rail and the lifting frame from damage, and ensure the stability and safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0015] Figure 2 It is a partial cross-sectional view of the guide member, sliding member, rotating rod and other components of the utility model.

[0016] Figure 3 This is a partial cross-sectional view of the protective frame, guide plate, full gear and other components of the utility model.

[0017] Figure 4 It is a partial cross-sectional view of the protective frame, rotating part, fixed plate and other components of the utility model.

[0018] Markings in the accompanying drawings: 1. Electric slide rail, 2. Electric slider, 3. Frame, 4. Cylinder, 5. Guide member, 6. Sliding member, 7. Turning rod, 8. Clamp, 9. First motor, 10. Protective frame, 11. Guide plate, 12. Full gear, 13. Second motor, 14. Reduction gear, 15. Contact block, 16. Rotating member, 17. Fixed plate, 18. Buffer, 19. Visual identifier, 20. Lifting frame, 21. Controller. DETAILED DESCRIPTION

[0019] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which presently preferred embodiments of the present invention are shown. However, the present invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and will fully convey the scope of the invention to those skilled in the art.

[0020] Example: A C-type manipulator for clamping drums based on a centering structure, see Figure 1-Figure 4As shown, it includes an electric slide 1, an electric slider 2, a frame 3, a cylinder 4, a guide 5, a slide 6, a rotating rod 7, a clamp 8, a first motor 9, a protective frame 10, a guide plate 11, a full gear 12, a second motor 13, a reduction gear 14, a rotating part 16, a fixed plate 17, a visual identifier 19 and a lifting frame 20. The electric slide 1 is slidably connected to the electric slider 2, and the electric slider 2 is connected to the frame 3 by bolts. The lower part of the frame 3 is in sliding contact with the electric slide 1 to enhance the stability of movement and reduce the shaking of the frame 3 during movement. The inside of the frame 3 The left side is connected to the cylinder 4 by means of bolts, the right side of the frame 3 is connected to the guide 5 by welding, the guide 5 is slidably connected to the sliding member 6, the telescopic rod of the cylinder 4 is fixedly connected to the sliding member 6, the right side of the guide 5 is rotatably connected to the rotating rod 7 distributed front and back, the rotating rod 7 is slidably connected to the sliding member 6, the right side of the guide 5 is rotatably connected to the clamping claw 8 distributed front and back, the rotating rod 7 is fixedly connected to the corresponding clamping claw 8, and a rubber pad is provided on the clamping surface of the clamping claw 8 for firmly clamping the barrel, and the right side of the lifting frame 20 is connected to the first motor 9 by means of bolts. The output shaft of the first motor 9 is connected to a protective frame 10 by means of bolts, and a fixed plate 17 is connected to the upper part of the protective frame 10 by welding. A rotating member 16 is rotatably connected to the fixed plate 17, and the rotating member 16 is fixedly connected to the left side of the electric slide 1. The left side of the upper part of the protective frame 10 is connected to a guide plate 11 by welding, and a full gear 12 is rotatably connected to the guide plate 11. The full gear 12 is fixedly connected to the bottom of the electric slide 1. The inside of the protective frame 10 is connected to the second motor 13 by means of bolts, and the output shaft of the second motor 13 is welded. The reduction gear 14 is connected to the full gear 12 in the same horizontal plane and meshes with each other, and the meshing ratio of the full gear 12 and the reduction gear 14 is 1:4, which realizes deceleration and torque increase and ensures accurate horizontal alignment. The upper right side of the protective frame 10 is connected to a visual identifier 19 by means of bolts for identifying the position and posture of the barrel. The lower right side of the protective frame 10 is connected to a controller 21 by means of bolts. The controller 21 is electrically connected to the electric slide 1, the electric slider 2, the cylinder 4, the first motor 9, the second motor 13 and the visual identifier 19.

[0021] See Figure 3 and Figure 4 As shown, it also includes a contact block 15 and a buffer 18. The contact block 15 is connected to the right side of the bottom of the electric slide rail 1 by bolts, and the buffer 18 is connected to the left side of the fixed plate 17 by bolts in a front-to-back symmetrical manner. The contact block 15 and the buffer 18 are on the same horizontal plane, so that the contact block 15 accurately contacts the buffer 18 to provide effective protection.

[0022] When it is necessary to use a C-type manipulator to clamp a barrel, the staff first fixes the lifting part on the precision column at the work site to ensure that the manipulator is at the appropriate height and position, and then starts the visual identifier 19 through the controller 21. The visual identifier 19 runs to scan the position and posture of any barrel, collects data and transmits it back to the controller 21. The controller 21 calculates the optimal gripping angle and position based on the collected data. After the calculation is completed, the controller 21 simultaneously starts the first motor 9 and the second motor 13 to achieve centering. The centering steps are as follows: the controller 21 starts the first motor 9 and the second motor 13 at the same time. The output shaft of the first motor 9 drives the protective frame 10 to rotate, and the protective frame 10 drives the fixed plate 17, the guide plate 11, the second motor 13 and the electric slide 1 to rotate, and adjusts the frame 3 and the clamping jaw 8 from the vertical direction. The output shaft of the second motor 13 drives the reduction gear 14 to rotate. The reduction gear 14 engages with the full gear 12, so that the full gear 12 drives the electric slide 1 to rotate, and adjusts the frame 3 and the clamping jaw 8 from the horizontal direction to ensure that the clamping jaw 8 can be accurately centered at different positions. During the centering process, if the electric slide 1 touches the lifting frame 20, the contact block 15 contacts the buffer 18 in advance. The buffer 18 acts as a buffer to absorb the impact force and prevent the electric slide 1 and the lifting frame 20 from being damaged. After the barrel is centered, the controller 21 controls the telescopic rod of the cylinder 4 to retract, driving the slide 6 to slide to the left. The slide 6 pulls the two rotating rods 7 to rotate outward synchronously, prompting the two clamping claws 8 to open synchronously. The controller 21 also starts the electric slide 1 and controls the electric slider 2 to drive the frame 3 to move to the right to the appropriate position. The controller 21 controls the telescopic rod of the cylinder 4 to extend, driving the slide 6 to slide to the right. The slide 6 pushes the two rotating rods 7 to rotate inward synchronously, prompting the two clamping jaws 8 to retract synchronously to clamp the barrel. After the controller 21 detects the clamping signal and confirms that the barrel has been firmly clamped, it controls the output shafts of the first motor 9 and the second motor 13 to reverse, so that the frame 3 and the clamping jaws 8 return to their initial state. At the same time, it controls the electric slider 2 to drive the frame to move to the left and reset, thus completing the entire barrel clamping process.

[0023] While the present invention has been described with reference to exemplary embodiments, it should be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all modifications and equivalent structures and functions.

Claims

1. A C-type manipulator for clamping drums based on a centering structure, characterized by: The invention comprises an electric slide rail (1), an electric slider (2), a frame (3), an air cylinder (4), a guide member (5), a sliding member (6), a rotating rod (7), a clamping claw (8), a first motor (9), a protective frame (10), a guide plate (11), a full gear (12), a second motor (13), a reduction gear (14), a rotating member (16), a fixed plate (17), a visual identifier (19) and a lifting frame (20). The electric slide rail (1) is slidably connected to the electric slider (2), and the electric slider (2) is provided with a frame. The frame (3) is provided with a cylinder (4) installed on the left side inside the frame (3), a guide member (5) is fixedly connected to the right side inside the frame (3), a sliding member (6) is slidably connected to the inside of the guide member (5), a telescopic rod of the cylinder (4) is fixedly connected to the sliding member (6), a rotating rod (7) distributed front and back is rotatably connected to the right side of the guide member (5), the rotating rod (7) is slidably connected to the sliding member (6), a clamping claw (8) distributed front and back is rotatably connected to the right side of the guide member (5), the rotating rod (7) is fixedly connected to the corresponding clamping claw (8), and the lifting frame (20) A first motor (9) is installed on the right side, a protection frame (10) is installed on the output shaft of the first motor (9), a fixed plate (17) is fixedly connected to the upper part of the protection frame (10), a rotating member (16) is rotatably connected to the fixed plate (17), the rotating member (16) is fixedly connected to the left side of the electric slide rail (1), a guide plate (11) is fixedly connected to the left side of the upper part of the protection frame (10), a full gear (12) is rotatably connected to the guide plate (11), the full gear (12) is fixedly connected to the bottom of the electric slide rail (1), and the protection frame (10) is fixedly connected to the left side of the upper part of the protection frame (10). A second motor (13) is installed inside the frame (10), a reduction gear (14) is fixedly connected to the output shaft of the second motor (13), and the reduction gear (14) and the full gear (12) are meshed with each other. A visual identifier (19) is installed on the right side of the upper part of the protective frame (10), and a controller (21) is installed on the right side of the lower part of the protective frame (10). The controller (21) is electrically connected to the electric slide rail (1), the electric slider (2), the cylinder (4), the first motor (9), the second motor (13) and the visual identifier (19).

2. A C-shaped manipulator for clamping drums based on a centering structure according to claim 1, characterized in that: The electric slide rail (1) further comprises a contact block (15) and a buffer (18). The contact block (15) is installed on the right side of the bottom of the electric slide rail (1), and the buffer (18) is installed on the left side of the fixed plate (17) in a front-to-back symmetrical manner.

3. A C-shaped manipulator for clamping drums based on a centering structure according to claim 2, characterized in that: The lower part of the frame (3) is in sliding contact with the electric slide rail (1).

4. A C-shaped manipulator for clamping drums based on a centering structure according to claim 3, characterized in that: A rubber pad is provided on the clamping surface of the clamping jaw (8).

5. A C-shaped manipulator for gripping drums based on a centering structure according to claim 4, characterized in that: The meshing ratio between the full gear (12) and the reduction gear (14) is 1:

4.

6. A C-shaped manipulator for gripping drums based on a centering structure according to claim 5, characterized in that: The contact block (15) and the buffer (18) are on the same horizontal plane.

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