CN105383000B - A kind of manipulator gripping apparatus - Google Patents

Abstract

The invention discloses a kind of manipulator gripping apparatus, belong to and pick and place material device field, including the first gripping apparatus, second gripping apparatus, fixed plate and head rod, it also includes cylinder, triangle muscle and contiguous 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 provided with contiguous 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 construction, cost is low.

Description

A mechanical gripper

technical field

The invention relates to a pick-and-place device, more specifically, to a manipulator gripper.

Background technique

At present, with the continuous improvement of plastic materials and their processing technology, multi-layer composite board technology, glass fiber felt technology, long fiber molding technology and long fiber injection molding technology have been widely used to manufacture front-end brackets. Recently, more and more front-end brackets adopt plastic/metal composite structure, which makes full use of the performance advantages of plastic and metal, can make the best use of everything and integrate it cleverly, so as to realize the optimization of functions and the minimization of cost and weight .

At present, the sheet metal needs to be manually placed into the mold before the injection molding of the front-end bracket, and the product is manually taken out after the injection molding is completed. However, the manual handling efficiency is low and the labor cost is high, and the original manual operation method can no longer meet the needs of mechanization. , fast-paced production workshop, so in order to adapt to the modern production workshop, the automatic grasping of the front-end bracket injection molding process using the robot gripper has become a necessary research topic today.

After retrieval, Chinese patent application number: 2014200385673, application date: January 21, 2014, the name of the invention is: a screen printing automatic pick-and-place device, the application discloses a screen-printed automatic pick-and-place material The device belongs to the field of automatic pick-and-place devices. The device includes a tray conveying device and a manipulator, and the manipulator includes a tray manipulator and a printing manipulator; a first material level and a second material level are set on the side of the tray conveying device, and the first material picking part of the tray manipulator will put the tray in the tray The material on the first material level is taken out and placed on the first material level, and the printing material taking part of the printing manipulator takes out the material on the first material level and places it on the printing position, and takes out the printed material and transports it to the second material level. In this application, by setting the tray manipulator and the printing manipulator, the process of retrieving and discharging materials can be carried out automatically without manual operation, which can ensure the accuracy of material placement, save labor and reduce costs. The material can be carried out at the same time, and the front and rear coordination of the whole operation process is compact, which saves time and improves work efficiency. However, the structure of this pick-and-place device is complicated and the equipment investment cost is high.

Chinese patent application number: 201210327858X, application date: September 6, 2012, and the name of the invention is: a method for transporting and placing substrates. The application discloses a method for conveying and placing substrates, which includes the following steps: providing substrates A processing line, on which the substrate is placed for transmission; a first placement platform and a second placement platform arranged in parallel intervals are provided, and gaskets are placed on the first placement platform; a first placement platform arranged in parallel intervals is provided Robot arm, second robot arm, the first robot arm and the second robot arm move synchronously; the first robot arm moves the gasket from the first placement platform to the second placement platform; the second robot arm moves the substrate from the substrate processing line to the second placement platform. The method for conveying and picking substrates in this application is convenient, efficient and safe, but the structure of the manipulator is complex and difficult to manufacture.

Contents of the invention

The technical problem to be solved by the invention

The purpose of the present invention is to overcome the deficiencies in the prior art, such as low manual handling efficiency and high labor cost when the product is manually taken out during the injection molding process, and provides a manipulator gripper, which can improve workshop production by adopting this technical solution. Efficiency and the level of workshop mechanization, and simple structure, low cost.

Technical solutions

In order to achieve the above object, the technical scheme provided by the invention is:

A manipulator gripper of the present invention includes a first gripper, a second gripper, a fixed plate and a first connecting rod, and also includes a cylinder, a triangular rib and a connecting block, and the two ends of the fixed plate are symmetrically arranged Cylinder, the piston rod of the cylinder is fixedly connected with the fixed plate and it is perpendicular to the fixed plate, the fixed plate is fixedly connected with the first gripper through the first connecting rod, the cylinder barrel of the above-mentioned cylinder is fixedly connected with the triangular rib, The triangular rib is fixedly connected with the second gripper, the second gripper is provided with a connecting block, and the plane where the second gripper is located is parallel to the plane where the first gripper is located.

As a further improvement of the present invention, the first gripper includes a gripper body, the gripper body is a rectangular structure composed of four support rods, and the support rods are provided with guide rail grooves along the length direction, so The length of the guide rail groove is equal to the length of the support rod, and a suction cup is arranged on the guide rail groove.

As a further improvement of the present invention, the second gripper includes a first extension beam, a second extension beam, a first crossbeam, a longitudinal beam and an oil cylinder, and the first extension beam and the second extension beam The beams are parallel, one end of the first protruding beam and the second protruding beam are fixedly connected with the triangular reinforcement, and two longitudinal beams are arranged on the other end, and the longitudinal beam is perpendicular to the protruding beam where it is located. On the end face, the two longitudinal beams on the first protruding beam and the two longitudinal beams of the second protruding beam are connected one by one through the first beam, and the first beam is perpendicular to the first protruding beam. Oil cylinders are arranged symmetrically on the outer surfaces of both ends of a beam, and a limiting device is provided on the first beam.

As a further improvement of the present invention, a first reinforcing rib is provided between the first protruding beam and the second protruding beam, and the two longitudinal beams on the first protruding beam pass through the second The reinforcement ribs are connected, and the two longitudinal beams on the second protruding beam are also connected through the second reinforcement ribs.

As a further improvement of the present invention, the limiting device includes a second beam, a second connecting rod and a limiting block, the second beam is located on the first beam, and the second beam is connected to the first beam Parallel, there are two second cross beams, both ends of the two second cross beams are connected by second connecting rods, and limit blocks are provided at both ends of the second connecting rods.

Beneficial effect

Compared with the prior art, the technical solution provided by the invention has the following beneficial effects:

(1) A manipulator gripper of the present invention, wherein a guide rail groove equal in length is provided on the support rod of the first gripper, so that when the suction cup is fixed on the guide rail groove, only a "T"-shaped structure is needed Just adjust the suction cup along the guide rail groove to fix it. The function of the guide rail groove can make the suction cup on it be easily adjusted to any position of the first gripper, avoiding the suction cup when absorbing the sheet metal parts due to the The difference in shape of the metal parts or the fact that the sheet metal parts are easily affected by factors such as uneven force during suction ensures the stability of the suction cup of the first gripper, thereby improving the gripping quality of the first gripper.

(2) A manipulator gripper of the present invention, wherein the second gripper is used to grab the injection-molded front-end module of the automobile. The front-end module is a quadrilateral frame structure composed of an upper beam, a lower beam and two longitudinal beams. When the second grabber grabs the front-end module, a total of four oil cylinders arranged on the two first beams are pressed between the upper beam and the lower beam, thereby grabbing the front-end module. The oil cylinders here can be tightly The second gripper grabs the front-end module, avoiding the risk of the second gripper accidentally falling during the grabbing process due to the weight of the front-end module. In addition, the force output of the oil cylinder is stable and easy to control, making the front-end module a quadrilateral frame structure Under the joint action of the four oil cylinders, deformation is not easy to occur, so that the quality of the front-end module will not be affected.

(3) A manipulator gripper of the present invention has reasonable structural design, simple principle, and is easy to popularize and use.

Description of drawings

Fig. 1 is the structural representation of a kind of manipulator gripper of the present invention;

Fig. 2 is the front view of a kind of manipulator gripper of the present invention;

Fig. 3 is a left view of a manipulator gripper of the present invention.

Explanation of the labels in the schematic diagram:

1. Cylinder; 2. Triangular rib; 3. Connecting block; 4. Fixed plate; 5. First connecting rod; 61. Support rod; 62. Suction cup; 71. First extending beam; 72. Second extending beam 73, the first rib; 74, the second rib, 75, the first beam; 76, the longitudinal beam; 77, the oil cylinder; 81, the second beam; 82, the second connecting rod; 83, the limit block.

Detailed ways

In order to further understand the content of the present invention, the present invention will be described in detail in conjunction with the accompanying drawings and embodiments.

Example 1

With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of manipulator gripper of this embodiment includes a first gripper, a second gripper, a fixed plate 4 and a first connecting rod 5, and it also includes a cylinder 1, a triangular rib 2 And the connection block 3, the two ends of the fixed plate 4 are symmetrically provided with the cylinder 1, the piston rod of the cylinder 1 is fixedly connected with the fixed plate 4 and it is perpendicular to the fixed plate 4, the fixed plate 4 is connected with the first gripper through the first connecting rod 5 Fixed connection, the cylinder barrel of the above-mentioned cylinder 1 is fixedly connected with the triangular rib 2, the triangular rib 2 is fixedly connected with the second gripper, the second gripper is provided with a connecting block 3, and the plane where the second gripper is located is the same as the plane where the first gripper is located. plane parallel.

The first gripper comprises a gripper body, and the gripper body is a rectangular structure formed by four support rods 61. The support rod 61 is provided with a guide rail groove along the length direction, and the length of the guide rail groove is equal to the length of the support rod 61. There is a suction cup 62. In the present embodiment, a guide rail groove equal to its length is provided on the bracket rod 61 of the first gripper, so that when the suction cup 62 is fixed on the guide rail groove, only a "T" shaped structure is needed to make the suction cup 62 Just adjust along the guide rail groove to fix it, because when the suction cup 62 absorbs the sheet metal, due to the different shapes of the sheet metal or the factors such as the uneven force of the sheet metal when absorbing, the suction cup 62 needs to be adjusted. The position of the first gripper is properly adjusted, and the function of the guide rail groove can make the suction cup 62 on it easily adjusted to any position of the first gripper, ensuring the stability of the suction cup 62 of the first gripper, thereby improving the first gripper. gripping quality of the tool.

The second gripper comprises a first extension beam 71, a second extension beam 72, a first beam 75, a longitudinal beam 76 and an oil cylinder 77, the first extension beam 71 is parallel to the second extension beam 72, and the first extension beam 71 is parallel to the second extension beam 72. One end of the beam 71 and the second protruding beam 72 are all fixedly connected with the triangular rib 2, and two longitudinal beams 76 are arranged on the other end, and the longitudinal beam 76 is perpendicular to the end face of the protruding beam where it is located. The two longitudinal beams 76 on the 71 and the two longitudinal beams 76 of the second extension beam 72 are connected by the first cross beam 75 one by one, and the first cross beam 75 is perpendicular to the first extension beam 71, and the first cross beam 75 is two Oil cylinder 77 is arranged symmetrically on the outer side of the end. In this embodiment, the second gripper is used to grab the injection-molded automobile front-end module. When the gripper grabs the front-end module, a total of four oil cylinders 77 arranged on the two first beams 75 are pressed between the upper beam and the lower beam, thereby grabbing the front-end module. The oil cylinders 77 here can be tightly Make the second gripper grab the front-end module, avoiding the risk of the second gripper accidentally falling during the grabbing process due to the weight of the front-end module. The force output of the oil cylinder 77 is stable and easy to control, so that the quadrilateral frame of the front-end module Under the combined action of the four oil cylinders 77, the structure is not easily deformed, thus not affecting the quality of the front-end module.

A first reinforcing rib 73 is arranged between the first extending beam 71 and the second extending beam 72, and the two longitudinal beams 76 on the first extending beam 71 are connected by a second reinforcing rib 74, and the second extending The two longitudinal beams 76 on the beam 72 are also connected by the second reinforcing rib 74, which improves the strength of the second gripper and ensures the working quality of the second gripper.

The first beam 75 is provided with a limiting device, which includes a second beam 81, a second connecting rod 82 and a limit block 83, the second beam 81 is located on the first beam 75, and the second beam 81 is connected to the first beam. 75 parallel, there are two second beams 81, the two ends of the two second beams 81 are connected by the second connecting rod 82, and the two ends of the second connecting rod 82 are provided with a limit block 83, in the present embodiment, the first A limit device is provided on the beam 75, so that when the second gripper grabs the front-end module, the limit block 83 of the limit device on the first beam 75 can be against the opening of the injection mold, allowing the second grabber to grab the front-end module. A rough guide for the module makes it easier for the second gripper to grab the front-end module; a limit block 83 is provided at both ends of the second connecting rod 82 of the limit device, and the limit block 83 can be adjusted according to requirements.

The manipulator gripper in this embodiment rotates the manipulator gripper in the vertical state by 90° by controlling the connection block 3 (the manipulator gripper as shown in Figure 3 rotates 90° according to the arrow in the figure), and utilizes the first The suction cup 62 on the gripper absorbs the sheet metal parts on the workbench; then rotates the gripper of the manipulator that obtained the sheet metal parts by 90° to reset, and then transfers the gripper of the manipulator to the injection mold of the front-end module so that the second gripper is aligned Mold opening, make the limit block 83 of the limit device against the mold; adjust so that the base of the oil cylinder 77 of the second gripper is aligned with the upper beam and the lower beam of the front-end module after the mold is opened, and start the oil cylinder 77, so that the second The second gripper is against the position between the upper beam and the lower beam, and grabs the injection-molded front-end module; then move the manipulator gripper upwards, so that the first gripper is aligned with the mold mouth, and at this time, start the cylinder 1 to make it Push the first gripper forward and put the grabbed sheet metal parts into the mold; finally move the gripper to the workbench to complete the process of automatically grabbing the front-end module by the gripper. This process can make the front-end module grab After being picked up, the sheet metal parts are then put into the mold, which avoids the process of picking up the sheet metal parts after the front-end module is sent to the workbench, saves the time for the front-end module to pick and place parts during the injection molding process, and improves the workshop efficiency. Productivity.

The above schematically describes the present invention and its implementation, which is not restrictive, and what is shown in the drawings is only one of the implementations of the present invention, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the inventive concept of the present invention, without creatively designing a structural mode and embodiment similar to the technical solution, it shall all belong to the protection scope of the present invention .

Claims (4)

1. a kind of manipulator gripping apparatus, including the first gripping apparatus, the second gripping apparatus, fixed plate (4) and head rod (5), its feature exist In, it also includes cylinder (1), triangle muscle (2) and contiguous block (3), and the both ends of described fixed plate (4) are arranged with cylinder (1), The piston rod of described cylinder (1) is connected with fixed plate (4) and it is perpendicular to fixed plate (4), and described fixed plate (4) passes through the One connecting rod (5) is connected with the first gripping apparatus, and the cylinder barrel of above-mentioned cylinder (1) is connected with triangle muscle (2), described triangle muscle (2) with Second gripping apparatus is connected, and the second described gripping apparatus is provided with contiguous block (3), plane where the second described gripping apparatus and the first gripping apparatus institute It is parallel in plane；

Wherein：The second described 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), described longeron are equipped with 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 by first crossbeam (75), and first crossbeam (75) stretches out beam perpendicular to first (71), the lateral surface at described first crossbeam (75) both ends is arranged with oil cylinder (77), and described first crossbeam (75) is provided with Stopping means.

A kind of 2. manipulator gripping apparatus according to claim 1, it is characterised in that：The first described gripping apparatus includes gripping apparatus sheet Body, described gripping apparatus body are the rectangular configuration of four cradling piece (61) compositions, and described cradling piece (61) is opened along its length Provided with guide groove, the length of described guide groove and the equal length of cradling piece (61), described guide groove are provided with sucker (62)。

A kind of 3. manipulator gripping apparatus according to claim 1, it is characterised in that：Described first stretches out beam (71) and second The first reinforcement (73) is provided between stretching beam (72), is passed through between the described first two longerons (76) stretched out on beam (71) Second reinforcement (74) connects, and described second stretches out between two longerons (76) on beam (72) also by the second reinforcement (74) connect.

A kind of 4. manipulator gripping apparatus according to claim 1, it is characterised in that：Described stopping means includes second cross beam (81), the second connecting rod (82) and limited block (83), described second cross beam (81) are located on first crossbeam (75), and described Two crossbeams (81) are parallel with first crossbeam (75), and described second cross beam (81) is two, the both ends of two second cross beams (81) Connected by the second connecting rod (82), the both ends of described the second connecting rod (82) are provided with limited block (83).