Bucket rod box clamping manipulator

Abstract

The utility model relates to the technical field of clamping tools, in particular to a bucket rod box clamping manipulator which comprises a manipulator body, the manipulator body is provided with a connecting arm, left clamping jaws are symmetrically arranged on the left side of the connecting arm in a sliding structure mode, and each left clamping jaw is provided with a connecting rod in a hinged structure mode. The other end of the connecting rod is provided with a telescopic arm in a hinged structure mode, the telescopic arm is provided with a lock hole and further provided with a spring bolt matched with the lock hole, the spring bolt is provided with a telescopic air cylinder in a fixed structure mode, the telescopic air cylinder is connected with the connecting arm in a fixed structure mode, the telescopic arm is locked through the spring bolt, and then the movable clamping jaw is locked. The clamping stability is improved, and safe production is guaranteed.

Description

Technical fields:

[0001] This application relates to the field of clamping tooling technology, and in particular to a stick box clamping robot. Background technology:

[0002] Our company's utility model patent application number CN202420581069.7—a welding and positioning fixture for the rear section of a boom—includes a positioner with a tilting arm. The upper and lower end faces of the tilting arm are fixedly mounted with support seats, a rotary pressing cylinder, a bushing support column, and mounting seat A in a mirror-like structure. Several support seats are located in the middle of the tilting arm to support the lower side plates. A clamping block with an inverted frustum structure is fixedly mounted on the lower end face of the rotary pressing cylinder cantilever. The bushing support column is fixedly mounted on the end face of the tilting arm and cooperates with the clamping block to position the bushing. A guide rod cylinder is fixedly mounted on one side of mounting seat A to position the connecting plate. The guide rod cylinders on both sides of the tilting arm are mirror-like. By mirror-setting the support seats and other structural components on both sides of the tilting arm of the positioner, two workstations are formed for assembling the rear section of the boom, greatly reducing waiting time and improving work efficiency.

[0003] This tooling can perform spot welding on the rear section of the boom (also known as the boom box). Subsequently, a gripping robot needs to pick up the boom box and cooperate with the corresponding welding robot to perform full welding. The current method is to use a gripping robot to pick up the boom box. After gripping, the power components are always in a state of full load operation. Once a failure occurs, it is easy for the product to fall off and cause a safety accident. Utility model content:

[0004] To solve the above-mentioned technical problems, this utility model provides a robotic arm for gripping bucket boxes. The technical problem it addresses is that the power component is always operating at full load, and a malfunction could easily cause the product to fall off, resulting in a safety accident. The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0005] A robotic arm for holding a stick box, characterized in that it comprises:

[0006] The robotic arm itself;

[0007] Connecting arm, a connecting arm that is fixedly connected to the robot body;

[0008] The telescopic arm is connected to the connecting arm via a sliding structure.

[0009] The power component is connected to the connecting arm;

[0010] The movable claw has a cylindrical structure and is connected to the telescopic arm in a fixed manner.

[0011] The fixed clamping jaw is in a cylindrical structure and is connected to the connecting arm in a fixed structure;

[0012] The lock hole is arranged on the telescopic arm;

[0013] The lock tongue is connected to the connecting arm.

[0014] Further, the connecting arm is in a cylindrical structure, the telescopic arm and the power element are arranged in the connecting arm, one end of the power element is connected to the connecting arm in a hinged structure, and the other end is connected to the telescopic arm.

[0015] Further, the movable clamping jaw and the fixed clamping jaw are sleeves, the upper end surface of the sleeve is provided with the telescopic cylinder A in a fixed structure, the output shaft of the telescopic cylinder A extends into the sleeve and is connected to the pull rod, the lower end of the connecting rod is arranged in a hinged structure, the upper end of the connecting rod is provided with the inclined slot, the inclined slot is provided with the fixed shaft, and the fixed shaft is connected to the sleeve in a fixed structure.

[0016] Further, the sleeve is arranged outside the limiting plate.

[0017] Further, the connecting arm is provided with the telescopic cylinder B in a fixed structure, and the output shaft of the telescopic cylinder B is connected to the lock tongue.

[0018] Further, the left clamping jaw is symmetrically arranged on the left side of the connecting arm in a sliding structure, and the connecting rod is arranged between the left clamping jaw and the telescopic arm and connected to the left clamping jaw and the telescopic arm in a hinged structure.

[0019] Further, the connecting arm is provided with the mounting plate on one side in a fixed structure, the mounting plate is provided with the sliding rails on the upper and lower sides outside the mounting plate in a fixed structure, the sliding rails are provided with the sliding blocks in a sliding structure, the sliding blocks are connected to the connecting rod in a hinged structure, and the sliding blocks are connected to the left clamping jaw one by one in a fixed structure.

[0020] Further, the connecting rod is arranged in an arc structure.

[0021] Further, the power element is a cylinder.

[0022] The utility model discloses a movable clamping jaw and a fixed clamping jaw in a cylindrical structure can be inserted into the pin hole of the bucket lever box pin shaft, and the bucket lever box can be clamped and positioned without large clamping force, thereby ensuring the quality of subsequent welding.

[0023] The lock hole is arranged on the telescopic arm, the telescopic arm is locked by the lock tongue, the movable clamping jaw is locked, the clamping stability is improved, and safe production is ensured.

[0024] The left clamping jaw is arranged on the left side of the connecting arm, the fixed clamping jaw and the moving clamping jaw are arranged on the lower part, and the structure layout can realize the simultaneous clamping of two bucket rod boxes on one manipulator, saves the investment of the manipulator, reduces the occupation of the factory building, and achieves two goals at one time. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of an embodiment of the utility model.

[0026] Figure 2 It is a sectional structure schematic diagram of the utility model.

[0027] In the drawing:

[0028] 1, connecting arm, 2, left clamping jaw, 3, connecting rod, 4, telescopic arm, 5, power piece, 6, moving clamping jaw, 7, fixed clamping jaw, 8, mounting plate, 9, slide rail, 10, sliding block, 11, sleeve, 12, telescopic cylinder A, 13, pull rod, 14, pressing jaw, 15, inclined groove, 16, limiting plate, 17, lock hole, 18, telescopic cylinder B. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the utility model clearer, the utility model will be further described in detail below with reference to the drawings and embodiments, so that the public can better master the implementation method of the utility model, and the specific implementation scheme of the utility model is:

[0030] A bucket rod box clamping manipulator, including manipulator body (not given in the drawing), the manipulator body is six-axis industrial robot, the manipulator body is provided with the connecting arm 1 in fixed structure mode, the connecting arm 1 is provided with the left clamping jaw 2 on the left side through sliding structure mode, each left clamping jaw 2 is provided with a connecting rod 3 through hinged structure mode, the other end of the connecting rod 3 is provided with the telescopic arm 4 through hinged structure mode, the telescopic arm 4 is arranged in the connecting arm 1 through sliding structure mode, the connecting arm 1 is also provided with the power piece 5 for driving the telescopic arm 4 to move, one end of the power piece 5 is connected with the connecting arm 1 through hinged structure mode, the other end is connected with the telescopic arm 4;The telescopic arm 4 is provided with the moving clamping jaw 6 in fixed structure mode, the connecting arm 1 is provided with the fixed clamping jaw 7 in fixed structure mode, by setting the cylindrical moving clamping jaw 6 and fixed clamping jaw 7, can be inserted into the pin hole of the bucket rod box pin shaft, without large clamping force, can be positioned to the bucket rod box, guarantee the quality of subsequent welding;The left clamping jaw 2 is arranged on the left side of the connecting arm 1, the fixed clamping jaw 7 and the moving clamping jaw 6 are arranged on the lower part, through the above structure design layout, two bucket rod boxes can be clamped simultaneously on one manipulator, saves the investment of the manipulator, reduces the occupation of the factory building, and achieves two goals at one time.

[0031] It should be noted that the power element 5 can be a cylinder, an oil cylinder or other linear power element, or a mechanism for converting rotary motion into linear motion.

[0032] The subsequent two left clamping jaws 2 are also convenient for clamping the completed bucket rod box, and then horizontally placed in the shelf.

[0033] It should be noted that one side of the connecting arm 1 is provided with a mounting plate 8 through a fixed structure, the upper and lower sides of the mounting plate 8 are provided with sliding rails 9 through a fixed structure, the sliding rails 9 are provided with sliding blocks 10 through a sliding structure, the sliding blocks 10 are connected with the connecting rods 3 through a hinged structure, the sliding blocks 10 are fixedly connected with the left clamping jaws 2 one by one, the power element 5 drives the connecting rods 3 through the telescopic arm 4, the connecting rods 3 drive the sliding blocks 10 to move on the sliding rails 9, and then the left clamping jaws are closed.

[0034] In order to meet the large amplitude opening and closing requirement of the left clamping jaw 2, the connecting rod 3 is designed in an arc structure.

[0035] Specifically, the connecting arm 1 is provided with a through hole for the movement of the movable clamping jaw 6 along the axial direction, and the movable clamping jaw 6 and the fixed clamping jaw 7 both include a sleeve 11, the upper end surface of the sleeve 11 is provided with a telescopic cylinder A 12 through a fixed structure, the output shaft of the telescopic cylinder A 12 is connected with a pull rod 13 arranged in the sleeve 11, the lower end of the connecting rod 3 is provided with a pressing jaw 14 through a hinged structure, the pressing jaw 14 is provided with an inclined slot 15, a fixed shaft is arranged in the inclined slot 15, and the fixed shaft is connected with the sleeve 11 through a fixed structure. By moving the mechanical hand, the lower part of the sleeve 11 is inserted into the pin hole of the pin shaft of the bucket rod box, and then the telescopic cylinder A 12 drives the pressing jaw 14 to hook the lower end surface of the pin shaft through the pull rod 13, so as to clamp the bucket rod box. In order to facilitate the limiting of the upper part of the pin shaft, a limiting plate 16 is sleeved outside the sleeve 11.

[0036] One power element 5 can drive the movable clamping jaw 6 to clamp one bucket rod box together with the pressing jaw 14, and the next movement can clamp another bucket rod box with the left clamping jaw 2. Through the design of the scheme structure, the clamping of two workpieces, a left work position and a lower work position, is realized by one power element, enough space is left to avoid affecting the welding path of the welding robot.

[0037] In order to ensure the stability during clamping and welding, a locking structure for locking the telescopic arm 4 is also arranged, the locking structure includes a lock hole 17, a lock tongue matched with the lock hole 17, the lock tongue is provided with a telescopic cylinder B 18 through a fixed structure, the telescopic cylinder B 18 is connected with the connecting arm 1 through a fixed structure, and one locking structure can lock two work positions at the same time.

[0038] The working principle and working process of the utility model are as follows:

[0039] The device is installed at the front end of the manipulator body, the fixed jaw 7 and the movable jaw 6 are extended into the pin shaft of the bucket box A through the action of the manipulator, then the telescopic cylinder A12 is started, the telescopic cylinder A12 pulls the pressing jaw 14 upward through the pull rod 13, the lower part of the pressing jaw 14 is moved inward to hook the lower end surface of the pin shaft due to the cooperation of the inclined groove 15 and the fixed shaft, at this time, the bucket box A can be moved left and right without being continuously clamped, then the left clamping jaw 2 is used to clamp the bucket box B, the cylinder 5 pulls the connecting rod 3 to the right side, the connecting rod 3 pulls the sliding block 10 to move inward along the slide rail 9, and then the left clamping jaw 2 is driven to clamp the bucket box B;

[0040] Then the telescopic cylinder B18 is started to drive the locking tongue to extend into the locking hole 17, the telescopic arm 4 is locked, and the stability of the bucket box during the full welding process is ensured.

[0041] In the description of the utility model, it is understood that the terms "center", "upper", "lower", "left", "right", "front", "back", "left lower", "right upper", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the protection scope of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Although the utility model is described according to a limited number of embodiments, those skilled in the art should understand from the above description that other embodiments can be conceived within the scope of the utility model described herein.

Claims

1. A bucket arm box clamping robot characterized by, The utility model relates to a mechanical arm, which comprises the following parts: A connecting arm (1) is fixedly connected with the mechanical arm body; A telescopic arm (4) is connected with the connecting arm (1) through a sliding structure; A power component (5) is connected with the connecting arm (1); A moving jaw (6) in a cylindrical structure is fixedly connected with the telescopic arm (4); A fixed jaw (7) in a cylindrical structure is fixedly connected with the connecting arm (1); A lock hole (17) is arranged on the telescopic arm (4); A lock tongue is connected with the connecting arm (1). The connecting arm (1) is in a cylindrical structure, the telescopic arm (4) and the power component (5) are arranged in the connecting arm (1), one end of the power component (5) is hingedly connected with the connecting arm (1), and the other end is connected with the telescopic arm (4).

2. The stick box gripping robot of claim 1 wherein: The moving jaw (6) and the fixed jaw (7) are sleeved with a sleeve (11), an extension cylinder A (12) is arranged on the upper end face of the sleeve (11) in a fixed structure, a pull rod (13) is connected with the output shaft of the extension cylinder A (12) and arranged in the sleeve (11), a pressing jaw (14) is arranged at the lower end of the connecting rod (3) through a hinged structure, an inclined groove (15) is arranged on the pressing jaw (14), a fixed shaft is arranged in the inclined groove (15), and the fixed shaft is fixedly connected with the sleeve (11).

3. The stick box gripping robot of claim 1 wherein: A limiting plate (16) is arranged outside the sleeve (11).

4. The stick box gripping robot of claim 3, wherein: The connecting arm (1) is provided with an extension cylinder B (18) in a fixed structure, and the output shaft of the extension cylinder B (18) is connected with the lock tongue.

5. The stick box gripping robot of claim 1 wherein: A left clamping jaw (2) is symmetrically arranged on the left side of the connecting arm (1) through a sliding structure, a connecting rod (3) is arranged between the left clamping jaw (2) and the telescopic arm (4), and the connecting rod (3) is connected with the left clamping jaw (2) and the telescopic arm (4) through a hinged structure.

6. The stick box gripping robot of claim 1 wherein: An installation plate (8) is arranged on one side of the connecting arm (1) in a fixed structure, slide rails (9) are arranged on the upper and lower sides of the installation plate (8) in a fixed structure, slide blocks (10) are arranged on the slide rails (9) through a sliding structure, the slide blocks (10) are connected with the connecting rod (3) through a hinged structure, and the slide blocks (10) are fixedly connected with the left clamping jaw (2) one by one.

7. The stick box gripping robot of claim 6 wherein: The connecting rod (3) is in an arc structure.

8. A stick box gripping robot according to claim 6 or 7, characterized in that: The power component (5) is a cylinder.

9. The stick box gripping robot of claim 1 wherein: ​

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