CN105382832B - A kind of manipulator - Google Patents

A kind of manipulator Download PDF

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Publication number
CN105382832B
CN105382832B CN201510917617.4A CN201510917617A CN105382832B CN 105382832 B CN105382832 B CN 105382832B CN 201510917617 A CN201510917617 A CN 201510917617A CN 105382832 B CN105382832 B CN 105382832B
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China
Prior art keywords
gripping
manipulator
cylinder
crossbeam
fixed plate
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CN201510917617.4A
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Chinese (zh)
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CN105382832A (en
Inventor
周超群
谢友阔
陈明
陈昭
张�杰
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WUHU HENGXIN AUTOMOBILE TRIM MANUFACTURING Co Ltd
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WUHU HENGXIN AUTOMOBILE TRIM MANUFACTURING Co Ltd
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Abstract

The invention discloses a kind of manipulators, belong to and pick and place material device field, including manipulator ontology, it further includes manipulator gripping apparatus, manipulator gripping apparatus includes the first gripping apparatus, second gripping apparatus, fixed plate, head rod, cylinder, triangle muscle and link block, the both ends of fixed plate are arranged with cylinder, the piston rod of cylinder is connected with fixed plate and it is perpendicular to fixed plate, fixed plate is connected by head rod and the first gripping apparatus, the cylinder barrel of cylinder is connected with triangle muscle, triangle muscle is connected with the second gripping apparatus, second gripping apparatus is equipped with link block, plane is parallel with plane where the first gripping apparatus where second gripping apparatus, Workshop Production efficiency and the level of room machine can be improved using the technical program, it is and simple in structure, it is at low cost.

Description

A kind of manipulator
Technical field
The present invention relates to one kind to take discharging device, more specifically to a kind of manipulator.
Background technology
Now with being constantly progressive for plastic material and its processing technology, MULTILAYER COMPOSITE plate technique, glass mat technology, Long fibre mould pressing technology and long fiber injection technology etc. are all successively widely used in manufacturing front-end bracket.Recently it is more and more Front-end bracket employs plastic/metal composite construction, and this structure takes full advantage of the performance advantage of plastics and metal, being capable of object It is used to the greatest extent and ingenious integrated, realize the optimization of function and minimumization of cost and weight.
It needs that manually metal plate is placed in mold before front-end bracket injection at present, waits again manually to take product after the completion of being molded Go out, but manual handling is less efficient, cost of labor is higher, and original manually-operated mode have been unable to meet mechanization, Allegro workshop, therefore for the workshop for adapting to modernization, front-end bracket injection moulding process is grabbed using manipulator The automatic crawl of tool has become necessary research topic now.
Through retrieval, Chinese Patent Application No.:2014200385673, the applying date:On January 21st, 2014, invention and created name For:A kind of silk-screen printing automatic clamping and placing material device, this application discloses a kind of silk-screen printing automatic clamping and placing material devices, belong to certainly It is dynamic to pick and place material device field.The device include tray disk-transporting devices and manipulator, manipulator include tray disks manipulator and Printing machinery hand;It is provided with the first material position and the second material position in tray disk-transporting devices side, the first of tray disk manipulators Material taking-up in tray disks is placed in the first material position by feeding component, and the printing feeding component of printing machinery hand is by first Material taking-up in material position is placed on printing position and the material printed taking-up is transported to the second material position.This application is led to Cross setting tray disks manipulator and printing machinery hand so that feeding, blowing process can carry out automatically, without by manual operation, It can ensure that the accurate of material placement location, and save labour, reduce cost, feeding can be carried out at the same time with blowing, whole The front and rear cooperation of a operation is compact, saves the time, improves work efficiency, but this picks and places material apparatus structure complexity, equipment Input cost is high.
Chinese Patent Application No.:201210327858X, the applying date:On September 6th, 2012, invention and created name are:It is a kind of Substrate conveying picks and places method, and this application discloses a kind of conveyings of substrate to pick and place method, includes the following steps:Substrate is provided to add Work assembly line is put substrate and is transmitted thereon;The first placing platform, the second placing platform of parallel interval setting are provided, Gasket is put in first placing platform;The first mechanical arm, the second mechanical arm of offer parallel interval setting, first Mechanical arm and the second mechanical arm synchronizing moving;First mechanical arm moves gasket to the second storing from the first placing platform and puts down Platform;Second mechanical arm self-reference substrate process line moving substrate to the second placing platform.The substrate conveying of this application picks and places Method has convenient, efficient and safe effect, but this robot manipulator structure is complicated, and manufacture difficulty is big.
Invention content
Technical problems to be solved by the inivention
When manually product is taken out in injection molding process in the prior art it is an object of the invention to overcome, remove by hand The deficiency for transporting that less efficient, cost of labor is higher etc., provides a kind of manipulator, workshop life can be improved using the technical program Efficiency and the level of room machine are produced, and simple in structure, it is at low cost.
Technical solution
In order to achieve the above objectives, technical solution provided by the invention is:
A kind of manipulator of the present invention, including manipulator ontology, further includes manipulator gripping apparatus, the manipulator gripping apparatus Including the first gripping apparatus, the second gripping apparatus, fixed plate, head rod, cylinder, triangle muscle and link block, the two of the fixed plate End is arranged with cylinder, and piston rod and the fixed plate of the cylinder are connected and it is perpendicular to fixed plate, and the fixed plate is led to It crosses head rod to be connected with the first gripping apparatus, cylinder barrel and the triangle muscle of above-mentioned cylinder are connected, the triangle muscle and the second gripping apparatus It is connected, second gripping apparatus is equipped with link block, and plane is parallel with plane where the first gripping apparatus where second gripping apparatus.
As further improvement of the present invention, first gripping apparatus includes gripping apparatus ontology, and the gripping apparatus ontology is The rectangular configuration of four cradling piece compositions, the cradling piece offer guide-track groove, the length of the guide-track groove along its length The equal length of degree and cradling piece, the guide-track groove are equipped with sucker.
As further improvement of the present invention, second gripping apparatus includes first and stretches out beam, the second stretching beam, first Crossbeam, longeron and oil cylinder, described first stretches out beam and the second stretching Liangping row, and described first stretches out beam, the second stretching beam One end be connected with triangle muscle, two longerons, stretching beam-ends of the longeron where it are equipped on the other end Face, the above-mentioned first two longerons stretched out on beam are corresponded with two longerons of the second stretching beam and are connect by first crossbeam, And first crossbeam stretches out beam perpendicular to first, and the lateral surface at the first crossbeam both ends is arranged with oil cylinder, and described first Crossbeam is equipped with limiting device.
As further improvement of the present invention, described first, which stretches out beam and second, stretches out between beam equipped with the first reinforcement Muscle, described first stretch out beam on two longerons between by the second reinforcing rib connect, described second stretch out beam on two It is connected between root longeron also by the second reinforcing rib.
As further improvement of the present invention, the limiting device includes second cross beam, the second connecting rod and limiting Block, the second cross beam are located on first crossbeam, and the second cross beam is parallel with first crossbeam, and the second cross beam is Two, the both ends of two second cross beams are connected by the second connecting rod, and the both ends of second connecting rod are equipped with limited block.
Advantageous effect
Using technical solution provided by the invention, compared with prior art, have the advantages that:
(1)A kind of manipulator of the present invention, wherein, the guide rail with its equal length is offered on the cradling piece of the first gripping apparatus Slot so that when sucker is fixed on guide-track groove, only need to use a "T"-shaped structure make sucker along guide-track groove be adjusted from And be fixed, the sucker that the effect of guide-track groove can make thereon is very easily adjusted to any position of the first gripping apparatus, Sucker is avoided when drawing sheet metal component, due to the shape of sheet metal component is different or due to sheet metal component when drawing easy unbalance stress Etc. factors influence, the stability of the sucker of the first gripping apparatus is ensure that, so as to improve the crawl quality of the first gripping apparatus.
(2)A kind of manipulator of the present invention, wherein, the second gripping apparatus is molded the front-end module of completion for capturing, this The quadrilateral frame structure that front-end module is upper beam, bottom end rail and two longerons form, when the second gripping apparatus is in crawl front end During module, totally four oil cylinders set on two first crossbeams is made to be against between upper beam and bottom end rail, thus by front-end module Capture, oil cylinder herein can tightly make the second gripping apparatus capture front-end module, avoid since front-end module is too heavy and Make the risk of the second gripping apparatus accidental falling in the process of grasping, the in addition power output of oil cylinder is stablized and easy to control so that front end mould Block quadrilateral frame structure is not likely to produce deformation under the collective effect of four oil cylinders, so as to not interfere with the matter of front-end module Amount.
(3)A kind of manipulator of the present invention, reasonable in design, principle is simple, convenient for promoting the use of.
Description of the drawings
Fig. 1 is the structure diagram of manipulator gripping apparatus in the present invention;
Fig. 2 is the front view of manipulator gripping apparatus in the present invention;
Fig. 3 is the left view of manipulator gripping apparatus in the present invention.
Label declaration in schematic diagram:
1st, cylinder;2nd, triangle muscle;3rd, link block;4th, fixed plate;5th, head rod;61st, cradling piece;62nd, sucker;71、 First stretches out beam;72nd, second stretches out beam;73rd, the first reinforcing rib;74th, the second reinforcing rib, 75, first crossbeam;76th, longeron;77、 Oil cylinder;81st, second cross beam;82nd, the second connecting rod;83rd, limited block.
Specific embodiment
To further appreciate that present disclosure, with reference to attached drawing and embodiment, the present invention is described in detail.
Embodiment 1
With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of manipulator of the present embodiment including manipulator ontology, further includes manipulator and grabs Tool, manipulator gripping apparatus include the first gripping apparatus, the second gripping apparatus, fixed plate 4, head rod 5, cylinder 1, triangle muscle 2 and link block 3, the both ends of fixed plate 4 are arranged with cylinder 1, and the piston rod of cylinder 1 is connected with fixed plate 4 and it is perpendicular to fixed plate 4, fixed Plate 4 is connected by head rod 5 and the first gripping apparatus, and cylinder barrel and the triangle muscle 2 of above-mentioned cylinder 1 are connected, and triangle muscle 2 is grabbed with second Tool is connected, and the second gripping apparatus is equipped with link block 3, and plane is parallel with plane where the first gripping apparatus where the second gripping apparatus.
First gripping apparatus includes gripping apparatus ontology, the rectangular configuration that gripping apparatus ontology is formed for four cradling pieces 61,61 edge of cradling piece Length direction offers guide-track groove, the length of guide-track groove and the equal length of cradling piece 61, and guide-track groove is equipped with sucker 62, this reality Apply in example the guide-track groove offered on the cradling piece 61 of the first gripping apparatus with its equal length so that sucker 62 is fixed on guide-track groove When upper, need to only it use a "T"-shaped structure that sucker 62 is made to be adjusted along guide-track groove so as to be fixed, because inhaling Disk 62 when drawing sheet metal component, due to the shape of sheet metal component is different or due to sheet metal component when drawing easy unbalance stress etc. because Element needs to carry out appropriate adjustment to the position of sucker 62, and the effect of guide-track groove can be such that sucker 62 thereon very easily adjusts The whole any position to the first gripping apparatus ensure that the stability of the sucker 62 of the first gripping apparatus, so as to improve grabbing for the first gripping apparatus Take quality.
Second gripping apparatus includes first and stretches out beam 71, second stretching out beam 72, first crossbeam 75, longeron 76 and oil cylinder 77, and first Stretching beam 71 is parallel with the second stretching beam 72, and first one end for stretching out the stretching beam 72 of beam 71, second is connected with triangle muscle 2, separately Two longerons 76 are equipped on one end, stretching beam-ends face of the longeron 76 where it, above-mentioned first stretches out two on beam 71 Root longeron 76 is corresponded with two longerons 76 of the second stretching beam 72 and is connect by first crossbeam 75, and first crossbeam 75 is vertical Beam 71 is stretched out in first, the lateral surface at 75 both ends of first crossbeam is arranged with oil cylinder 77, is captured in the present embodiment with the second gripping apparatus The front-end module completed is molded, the quadrilateral frame that this front-end module is upper beam, bottom end rail and two longerons form Structure when the second gripping apparatus is when capturing front-end module, makes totally four oil cylinders 77 set on two first crossbeams 75 be against horizontal stroke Between beam and bottom end rail, so that front-end module be captured, before oil cylinder 77 herein can capture tightly the second gripping apparatus End module avoids the risk for making the second gripping apparatus accidental falling in the process of grasping due to front-end module too weight, oil cylinder 77 Power output is stable and easy to control so that front-end module quadrilateral frame structure is not easy to produce under the collective effect of four oil cylinders 77 Change shape, so as to not interfere with the quality of front-end module.
First, which stretches out beam 71 and second, stretches out between beam 72 equipped with the first reinforcing rib 73, and the first two stretched out on beam 71 are vertical It is connected between beam 76 by the second reinforcing rib 74, second stretches out between two longerons 76 on beam 72 also by the second reinforcing rib 74 Connection, improves the intensity of the second gripping apparatus, ensure that the work quality of the second gripping apparatus.
First crossbeam 75 is equipped with limiting device, this limiting device includes second cross beam 81, the second connecting rod 82 and limiting Block 83, second cross beam 81 are located on first crossbeam 75, and second cross beam 81 is parallel with first crossbeam 75, and second cross beam 81 is two, The both ends of two second cross beams 81 are connected by the second connecting rod 82, and the both ends of the second connecting rod 82 are equipped with limited block 83, this Limiting device is equipped in embodiment on first crossbeam 75 so that the second gripping apparatus is when capturing front-end module, on first crossbeam 75 The limited block 83 of limiting device can be against injection mould opening, give that the second gripping apparatus crawl front-end module one is thick to be oriented to, So that the second gripping apparatus is easier to capture front-end module;Limited block 83 is equipped at the both ends of the second connecting rod 82 of limiting device, this Limited block 83 can be adjusted according to demand.
Manipulator gripping apparatus in the present embodiment, by the way that link block 3 is controlled to rotate the manipulator gripping apparatus in vertical state 90°(Manipulator gripping apparatus as shown in Figure 3 is rotated by 90 ° in the way of arrow in figure), inhaled using the sucker 62 on the first gripping apparatus Take the sheet metal component on workbench;Then the manipulator gripping apparatus for obtaining sheet metal component is rotated by 90 ° reset, then manipulator gripping apparatus is transferred To front-end module injection mold so that the second gripping apparatus alignment mold die sinking mouth makes the limited block 83 of limiting device be against mold On;Adjustment starts oil cylinder so that the upper beam and bottom end rail of the front-end module after 77 pedestal of the oil cylinder alignment die sinking of the second gripping apparatus 77 so that the second gripping apparatus is against the position between upper beam and bottom end rail, and the front-end module of injection formed is captured;Then by machine Tool hand gripping apparatus moves up, and the first gripping apparatus is made to be directed at mold mouth, and starting cylinder 1 at this time makes it that the first gripping apparatus be pushed then will forward The sheet metal component of crawl is put into mold;Manipulator gripping apparatus is finally moved into workbench, entire manipulator gripping apparatus is completed and captures automatically Sheet metal component after this process can capture front-end module, is then put into mold, avoids front end by the process of front-end module It after module is sent to workbench, then goes to take the process of sheet metal component, has saved the time that front-end module picks and places part in injection moulding process, carried High Workshop Production efficiency.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing What is shown is also one of embodiments of the present invention, and practical structure is not limited thereto.So if common skill of this field Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution Similar frame mode and embodiment, are within the scope of protection of the invention.

Claims (4)

1. a kind of manipulator, including manipulator ontology, which is characterized in that it further includes manipulator gripping apparatus, and the manipulator is grabbed Tool includes the first gripping apparatus, the second gripping apparatus, fixed plate (4), head rod (5), cylinder (1), triangle muscle (2) and link block (3), The both ends of the fixed plate (4) are arranged with cylinder (1), and the piston rod of the cylinder (1) is connected with fixed plate (4) and it Perpendicular to fixed plate (4), the fixed plate (4) is connected by head rod (5) with the first gripping apparatus, above-mentioned cylinder (1) Cylinder barrel is connected with triangle muscle (2), and the triangle muscle (2) is connected with the second gripping apparatus, and second gripping apparatus is equipped with link block (3), plane is parallel with plane where the first gripping apparatus where second gripping apparatus;
Wherein:Second gripping apparatus includes first and stretches out beam (71), the second stretching beam (72), first crossbeam (75), longeron (76) and oil cylinder (77), described first stretches out beam (71) and stretches out that beam (72) is parallel with second, the described first stretching beam (71), Second one end for stretching out beam (72) is connected with triangle muscle (2), and two longerons (76), the longeron are equipped on the other end (76) the stretching beam-ends face where it, the above-mentioned first two longerons (76) stretched out on beam (71) stretch out beam with second (72) two longerons (76) correspond to be connected, and first crossbeam (75) stretches out beam perpendicular to first by first crossbeam (75) (71), the lateral surface at the first crossbeam (75) both ends is arranged with oil cylinder (77), and the first crossbeam (75) is equipped with Limiting device.
2. a kind of manipulator according to claim 1, it is characterised in that:First gripping apparatus includes gripping apparatus ontology, institute Rectangular configuration of the gripping apparatus ontology stated for four cradling piece (61) compositions, the cradling piece (61) offers along its length leads Track slot, the length of the guide-track groove and the equal length of cradling piece (61), the guide-track groove are equipped with sucker (62).
3. a kind of manipulator according to claim 1, it is characterised in that:Described first stretches out beam (71) and second and stretches out The first reinforcing rib (73) is equipped between beam (72), passes through second between the described first two longerons (76) stretched out on beam (71) Reinforcing rib (74) connects, between two longerons (76) on the described second stretching beam (72) also by the second reinforcing rib (74) even It connects.
4. a kind of manipulator according to claim 1, it is characterised in that:The limiting device includes second cross beam (81), the second connecting rod (82) and limited block (83), the second cross beam (81) is on first crossbeam (75), and described Two crossbeams (81) are parallel with first crossbeam (75), and the second cross beam (81) is two, the both ends of two second cross beams (81) It is connected by the second connecting rod (82), the both ends of second connecting rod (82) are equipped with limited block (83).
CN201510917617.4A 2015-12-14 2015-12-14 A kind of manipulator Active CN105382832B (en)

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CN105382832B true CN105382832B (en) 2018-07-06

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63209912A (en) * 1987-02-27 1988-08-31 Sumitomo Heavy Ind Ltd Unloader for injection molder
CN202066956U (en) * 2011-03-11 2011-12-07 浙江省电力公司 Transposition device for electric energy meter between meter case and single position fixture plate
CN103921847A (en) * 2014-04-21 2014-07-16 芜湖恒信汽车内饰制造有限公司 Easily-maintained commonly-used automobile front end support and manufacturing method thereof
CN104139492A (en) * 2014-06-28 2014-11-12 张圣贤 Injection molding blade pickup mechanical hand
CN104440826A (en) * 2014-12-19 2015-03-25 天津三宇车体制造有限公司 Drive shelter positioning and assembling equipment and assembling method
CN205364372U (en) * 2015-12-14 2016-07-06 芜湖恒信汽车内饰制造有限公司 Manipulator gripping apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63209912A (en) * 1987-02-27 1988-08-31 Sumitomo Heavy Ind Ltd Unloader for injection molder
CN202066956U (en) * 2011-03-11 2011-12-07 浙江省电力公司 Transposition device for electric energy meter between meter case and single position fixture plate
CN103921847A (en) * 2014-04-21 2014-07-16 芜湖恒信汽车内饰制造有限公司 Easily-maintained commonly-used automobile front end support and manufacturing method thereof
CN104139492A (en) * 2014-06-28 2014-11-12 张圣贤 Injection molding blade pickup mechanical hand
CN104440826A (en) * 2014-12-19 2015-03-25 天津三宇车体制造有限公司 Drive shelter positioning and assembling equipment and assembling method
CN205364372U (en) * 2015-12-14 2016-07-06 芜湖恒信汽车内饰制造有限公司 Manipulator gripping apparatus

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