Material barrel grabbing manipulator structure

Abstract

The utility model discloses a material barrel grabbing manipulator structure which comprises a mounting seat, a left clamping arm, a right clamping arm, a driving air cylinder and a connecting rod, wherein the left clamping arm, the right clamping arm, the driving air cylinder and the connecting rod are mounted on the mounting seat; the tail part of the left clamping arm is mounted on the mounting seat through a first rotating shaft, and the tail part of the right clamping arm is mounted on the mounting seat through a second rotating shaft; the tail portion of the driving air cylinder is hinged to the installation base through a pin shaft, the front end of the driving air cylinder is hinged to a first connecting shaft, the first connecting shaft is vertically installed on the left clamping arm, a second connecting shaft is vertically installed on the right clamping arm, one end of a connecting rod is hinged to the first connecting shaft, and the other end of the connecting rod is hinged to the second connecting shaft. The driving air cylinder extends, the driving air cylinder drives the left clamping arm to rotate inwards around the first rotating shaft through the first connecting shaft, meanwhile, the first connecting shaft drives the right clamping arm to rotate inwards around the second rotating shaft through the connecting rod and the second connecting shaft, and therefore the left clamping arm and the right clamping arm synchronously conduct inward clamping action.

Description

Technical Field

[0001] The utility model belongs to the technical field of printing and dyeing and manipulators, and particularly relates to a material barrel grabbing manipulator structure. Background Art

[0002] In dyeing workshops, dye buckets need to be grasped. Existing grasping manipulators often employ gear trains, multi-link structures, or linear sliding fits. These manipulators are often complex and have many components. Designing a simple, compact, and stable grasping manipulator suitable for grasping dye buckets is a technical challenge that needs to be addressed. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a bucket grabbing manipulator structure.

[0004] The utility model is realized through the following technical solutions:

[0005] A bucket grabbing manipulator structure includes a mounting base and a left clamping arm, a right clamping arm, a driving cylinder and a connecting rod mounted on the mounting base;

[0006] The tail of the left clamp arm is installed on the mounting base through the first rotating shaft, and the tail of the right clamp arm is installed on the mounting base through the second rotating shaft; the tail of the driving cylinder is hinged to the mounting base through a pin shaft, and the front end of the driving cylinder is hinged to the first connecting shaft, and the first connecting shaft is vertically installed on the left clamp arm, and the installation position of the first connecting shaft and the left clamp arm is located at the rear side of the first rotating shaft; a second connecting shaft is vertically installed on the right clamp arm, and the installation position of the second connecting shaft and the right clamp arm is located at the front side of the second rotating shaft; one end of the connecting rod is hinged to the first connecting shaft, and the other end of the connecting rod is hinged to the second connecting shaft.

[0007] In the above technical solution, the left clamping arm and the right clamping arm are both arc-shaped and symmetrically arranged.

[0008] In the above technical solution, the distance between the installation position of the first connecting shaft and the left clamping arm and the first rotating shaft is equal to the distance between the installation position of the second connecting shaft and the right clamping arm and the second rotating shaft.

[0009] In the above technical solution, the mounting seat is an L-shaped plate, including a horizontal plate and a vertical plate, and the left clamping arm, the right clamping arm, the driving cylinder and the connecting rod are all mounted on the horizontal plate of the mounting seat.

[0010] In the above technical solution, the left clamping arm and the right clamping arm are installed on the bottom surface of the horizontal plate, the driving cylinder and the connecting rod are installed on the top surface of the horizontal plate, and a through hole is provided on the horizontal plate. The first connecting shaft passes through the through hole so that the top of the first connecting shaft is connected to the driving cylinder and the connecting rod, and the bottom of the first connecting shaft is connected to the left clamping arm.

[0011] In the above technical solution, a plurality of bolt holes are arranged on the vertical plate of the mounting seat, for mounting the mounting seat on the target device by bolts.

[0012] The advantages and beneficial effects of the present application are as follows:

[0013] The present application has the following advantages and beneficial effects: the structure of the present application is simple, compared with the traditional structure of the grabbing manipulator, no gear transmission structure is needed, nor is a precise linear sliding matching structure needed, but only one driving cylinder, one connecting rod and two connecting shafts are used, the number of components is small, the cost is low, the present application is easy to assemble and stable in work. In addition, the present application is integrated on the mounting seat, has high integration degree and compact structure, the mounting seat adopts an L-shaped plate, all functional components are mounted on the horizontal plate of the mounting seat, and a plurality of bolt holes are arranged on the vertical plate of the mounting seat, so that the mounting seat can be conveniently mounted on the target device by bolts. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a schematic view of the open state of the material barrel grabbing manipulator structure of the present application.

[0015] Figure 2 is a schematic view of the closed state of the material barrel grabbing manipulator structure of the present application.

[0016] For ordinary skilled persons in the art, other related drawings can be obtained according to the above drawings without creative labor. DETAILED DESCRIPTION

[0017] In order to enable persons skilled in the art to better understand the present application, the technical scheme of the present application will be further described in combination with specific embodiments.

[0018] Referring to the accompanying drawings, Figure 1 The present application designs a material barrel grabbing manipulator structure, which comprises a mounting seat 1 and left and right clamping arms 2 and 3, a driving cylinder 4 and a connecting rod 5 mounted on the mounting seat 1.

[0019] The left and right clamping arms 2 and 3 are symmetrically mounted on the mounting seat 1 through rotating shafts, i.e., the tail of the left clamping arm 2 is mounted on the mounting seat 1 through a first rotating shaft 6, the tail of the right clamping arm 3 is mounted on the mounting seat 1 through a second rotating shaft 7, and the left and right clamping arms 2 and 3 are both arc-shaped and symmetrically arranged, and are used for clamping a dye barrel 0.

[0020] The tail of the driving cylinder 4 is hinged to the mounting base 1 through a pin shaft 41, and the front end of the driving cylinder 4 is hinged to the first connecting shaft 8. The first connecting shaft 8 is vertically installed on the left clamping arm 2, and the installation position of the first connecting shaft 8 and the left clamping arm 2 is located at the rear side of the first rotating shaft 6; a second connecting shaft 9 is vertically installed on the right clamping arm 3, and the installation position of the second connecting shaft 9 and the right clamping arm 3 is located at the front side of the second rotating shaft 7; the distance between the installation position of the first connecting shaft 8 and the left clamping arm 2 and the first rotating shaft 6 is equal to the distance between the installation position of the second connecting shaft 9 and the right clamping arm 3 and the second rotating shaft 7.

[0021] One end of the connecting rod 5 is hinged to the first connecting shaft 8 , and the other end of the connecting rod 5 is hinged to the second connecting shaft 9 .

[0022] When it is necessary to clamp the dye bucket 0, the driving cylinder 4 extends, and then drives the cylinder 4 to drive the left clamping arm 2 to rotate inward around the first rotation axis 6 through the first connecting shaft 8. At the same time, the first connecting shaft 8 also drives the right clamping arm 3 to rotate inward around the second rotation axis 7 through the connecting rod 5 and the second connecting shaft 9, thereby realizing the synchronous inward clamping action of the left clamping arm 2 and the right clamping arm 3, clamping the target dye bucket 0 (see attached Figure 2 Similarly, when the dye bucket 0 needs to be released, the driving cylinder 4 contracts, which can drive the left clamping arm 2 and the right clamping arm 3 to open outward synchronously, thereby releasing the dye bucket 0 (see the attached Figure 1 status shown).

[0023] Furthermore, the mounting base 1 is preferably an L-shaped plate, including a horizontal plate and a vertical plate, and the left clamping arm 2, right clamping arm 3, driving cylinder 4 and connecting rod 5 are all installed on the horizontal plate of the mounting base 1, wherein the left clamping arm 2 and right clamping arm 3 are installed on the bottom surface of the horizontal plate, and the driving cylinder 4 and connecting rod 5 are installed on the top surface of the horizontal plate, and a through hole 11 is provided on the horizontal plate, and the first connecting shaft 8 passes through the through hole 11, so that the top of the first connecting shaft 8 is connected to the driving cylinder 4 and the connecting rod 5, and the bottom of the first connecting shaft 8 is connected to the left clamping arm 2.

[0024] Furthermore, a plurality of bolt holes 12 are provided on the vertical plate of the mounting base 1 for mounting the mounting base 1 on a target device via bolts. For example, the mounting base 1 can be mounted on a mobile device such as a robotic arm to drive the bucket grabbing manipulator structure of the present invention to move.

[0025] For ease of description, spatially relative terms such as "upper", "lower", "left", "right", and the like, are used to describe an element's or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as being on the "lower" side of other elements or features would then be oriented on "upper" sides thereof. Thus, the exemplary term "lower" can encompass both an orientation of "lower" and "upper", depending on the particular orientation of the device. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0026] Also, the terms "first" and "second" are used only to distinguish one component from another, and do not necessarily require or imply that there is any such actual relationship or order between the components.

[0027] The above has been described by way of example for the utility model, it should be explained that, without departing from the core of the utility model, any simple deformation, modification or other equivalent replacement which the person skilled in the art can not spend creative labor falls into the protection scope of the utility model.

Claims

1. A bucket grabbing manipulator structure, characterized by: It includes a mounting base, and a left clamping arm, a right clamping arm, a driving cylinder and a connecting rod installed on the mounting base; The tail of the left clamp arm is installed on the mounting base through the first rotating shaft, and the tail of the right clamp arm is installed on the mounting base through the second rotating shaft; the tail of the driving cylinder is hinged to the mounting base through a pin shaft, and the front end of the driving cylinder is hinged to the first connecting shaft, and the first connecting shaft is vertically installed on the left clamp arm, and the installation position of the first connecting shaft and the left clamp arm is located at the rear side of the first rotating shaft; a second connecting shaft is vertically installed on the right clamp arm, and the installation position of the second connecting shaft and the right clamp arm is located at the front side of the second rotating shaft; one end of the connecting rod is hinged to the first connecting shaft, and the other end of the connecting rod is hinged to the second connecting shaft.

2. The bucket grabbing manipulator structure according to claim 1 is characterized in that: The left clamping arm and the right clamping arm are both arc-shaped and symmetrically arranged.

3. The bucket grabbing manipulator structure according to claim 1 is characterized in that: The distance between the installation position of the first connecting shaft and the left clamping arm and the first rotating shaft is equal to the distance between the installation position of the second connecting shaft and the right clamping arm and the second rotating shaft.

4. The bucket grabbing manipulator structure according to claim 1, characterized in that: The mounting seat is an L-shaped plate, including a horizontal plate and a vertical plate. The left clamping arm, the right clamping arm, the driving cylinder and the connecting rod are all mounted on the horizontal plate of the mounting seat.

5. The bucket grabbing manipulator structure according to claim 4 is characterized in that: The left clamping arm and the right clamping arm are installed on the bottom surface of the horizontal plate, the driving cylinder and the connecting rod are installed on the top surface of the horizontal plate, and a through hole is provided on the horizontal plate, and the first connecting shaft passes through the through hole so that the top of the first connecting shaft is connected to the driving cylinder and the connecting rod, and the bottom of the first connecting shaft is connected to the left clamping arm.

6. The bucket grabbing manipulator structure according to claim 5, characterized in that: A plurality of bolt holes are provided on the vertical plate of the mounting base for mounting the mounting base on the target device by means of bolts.

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