CN110405801A - A kind of loading and unloading manipulator - Google Patents
A kind of loading and unloading manipulator Download PDFInfo
- Publication number
- CN110405801A CN110405801A CN201910730842.5A CN201910730842A CN110405801A CN 110405801 A CN110405801 A CN 110405801A CN 201910730842 A CN201910730842 A CN 201910730842A CN 110405801 A CN110405801 A CN 110405801A
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- China
- Prior art keywords
- cylinder
- loading
- hold assembly
- unloading manipulator
- grip block
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims abstract description 6
- 239000007787 solid Substances 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a kind of loading and unloading manipulators, including main frame, the clamping device for being clamped to material and for driving clamping device to complete the cylinder mechanism of holding action, the clamping device includes the first hold assembly and the second hold assembly, first hold assembly is fixedly installed on the right side of main frame, the cylinder mechanism is fixedly installed on the left side of main frame, and second hold assembly and cylinder mechanism are sequentially connected；The present invention provides a kind of loading and unloading manipulators, the activity of the second hold assembly is driven by cylinder mechanism, second hold assembly can stop three positions in motion process in left and right directions, solve the problems, such as existing three stepping cylinders can not stepping return, improve the practicability of loading and unloading manipulator；When needing to complete identical process, the actuation time of loading and unloading manipulator is shorter than the actuation time of existing stepping cylinder, improves work efficiency.
Description
Technical field
The present invention relates to manipulator field, in particular to a kind of loading and unloading manipulator.
Background technique
In the executive component of Pneumatic Transmission, the moving component for commonly using common cylinder drive mechanism makees linear reciprocation fortune
Dynamic: when cylinder piston rod retracts, moving component is in a position, and when cylinder piston rod stretches out, moving component is in another one
It sets；Portioned product realizes that moving component stops three positions using three stepping cylinders (being equivalent to two common cylinder series connection)
It stays.
However existing three stepping cylinders have the disadvantage in that when in use
1, it can be stopped in the position of some among total kilometres when cylinder piston rod stretches out, it can only when realizing stepping, but retracting
It is once fully retracted into, cannot achieve and retain a percentage of the total profits for the enterprise's own use in return course in middle position to realize stepping；
2, in the total kilometres of stretching, the power output and speed of two stepping strokes be it is identical, need in pneumatic system
The pressure and flow of middle control compressed air could change its power output and speed；
3, when the piston rod stop motion of exhaust hood, the piston of front air cylinder due to effect of inertia can one section of forward slip away from
From having an adverse effect to the higher system of positioning accuracy request；
4, the application range of stepping cylinder does not have common cylinder extensive, for the stepping gas of non-regular size or range demands
Cylinder needs producer's specific customization, production time length, high production cost.
As it can be seen that the prior art could be improved and improve.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of loading and unloading manipulators, move
It is short compared to the actuation time of stepping cylinder to make the time, and solves the problems, such as that existing three stepping cylinders can not stepping return.
In order to achieve the above object, this invention takes following technical schemes:
A kind of loading and unloading manipulator, including main frame, the clamping device for being clamped to material and for driving
Clamping device completes the cylinder mechanism of holding action, and the clamping device includes the first hold assembly and the second hold assembly, institute
The right side that the first hold assembly is fixedly installed on main frame is stated, the cylinder mechanism is fixedly installed on the left side of main frame,
Second hold assembly and cylinder mechanism are sequentially connected.
In the loading and unloading manipulator, the cylinder mechanism includes the first fixed supporting plate, air cylinder supporting structure, the first gas
Cylinder guiding axis, the second cylinder guidance axis, for drive movable first cylinder of air cylinder supporting structure and for drive the second clamping part
Movable second cylinder of part；The first fixed supporting plate is fixedly connected with main frame, and the first fixation supporting plate is from upper
It is respectively arranged with the first cylinder guidance axis, the first cylinder and the first cylinder guidance axis down；The air cylinder supporting structure and the first gas
Cylinder transmission connection, the bottom of the air cylinder supporting structure is respectively arranged with the second cylinder guidance axis and the second cylinder from top to bottom.
In the loading and unloading manipulator, first hold assembly includes the second fixed supporting plate, third cylinder guidance
Axis, third cylinder and the first grip block；Described second fixed supporting plate is fixedly connected with main frame, the described second fixed bracket
The bottom of plate is disposed with third cylinder guidance axis and third cylinder from top to bottom, and first grip block is set to third gas
The left side of cylinder is connect with third cylinder-driven.
In the loading and unloading manipulator, second hold assembly includes support plate, the second grip block and compressed spring；
The support plate is connect with the second cylinder-driven, and second grip block is flexibly connected with support plate, the compressed spring setting
Between support plate and the second grip block.
In the loading and unloading manipulator, first cylinder is two-way double action cylinder.
In the loading and unloading manipulator, second hold assembly further includes the bottom for being fixedly installed on support plate bottom
Bracket, the bottom bracket are L-shaped.
In the loading and unloading manipulator, second hold assembly further includes proximity sensor, the proximity sensor
It is fixedly installed on the left side of support plate.
In the loading and unloading manipulator, the upper surface of first grip block is provided with neonychium.
In the loading and unloading manipulator, the upper surface of second grip block is provided with neonychium.
Beneficial effect
Compared with prior art, the present invention provides a kind of loading and unloading manipulators, when needing to complete same process, move
It is shorter than the actuation time of existing stepping cylinder to make the time, in addition, it also has the advantage that
(1) cylinder mechanism and the second hold assembly are sequentially connected, and the second hold assembly can motion process in left and right directions
Three positions of middle stop solve the problems, such as that existing three stepping cylinders can not stepping return；
(2) the first cylinder of setting drives air cylinder supporting structure to be moved to the left or right, and solves due to material frame dimensional problem, on
The limited problem of blanking mechanical hand activity space；
It is provided with compressed spring on (3) second hold assemblies, is avoided the occurrence of since stress is big when the second cylinder stepping returns
The problem of leading to rapid wear workpiece damage；
(4) second hold assemblies include proximity sensor, and loading and unloading manipulator can be made to adapt to grab different dimensions
Workpiece greatly improves the practicability of loading and unloading manipulator.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of loading and unloading manipulator provided by the invention；
Fig. 2 is the structural schematic diagram of cylinder mechanism provided by the invention；
Fig. 3 provides the structural schematic diagram of the first hold assembly for the present invention；
Fig. 4 is the structural schematic diagram of the second hold assembly provided by the invention.
Specific embodiment
The present invention provides a kind of loading and unloading manipulator, for make the purpose of the present invention, technical solution and effect it is clearer,
Clear, invention is further described in detail as follows in conjunction with drawings and embodiments.It should be understood that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
In the description of the present invention, it is to be understood that, the side of the instructions such as term " left side ", " right side ", " preceding ", " bottom "
Position or positional relationship are to be merely for convenience of the description present invention the present invention is based on the orientation or positional relationship of attached drawing and simplification is retouched
It states.In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.
Referring to Fig. 1, the present invention provides a kind of loading and unloading manipulator, including main frame 1, for being pressed from both sides to material
The clamping device held and the cylinder mechanism 2 for driving clamping device completion holding action, the clamping device include the first folder
Component 3 and the second hold assembly 4 are held, the first hold assembly 3 is fixedly installed on the right side of main frame 1, and the fixation of cylinder mechanism 2 is set
It is placed in the left side of main frame 1, the second hold assembly 4 is sequentially connected with cylinder mechanism 2.
Further, Fig. 1 and Fig. 2 are please referred to, cylinder mechanism 2 includes the first fixed supporting plate 21, air cylinder supporting structure 22, the
One cylinder guidance axis 23, the second cylinder guidance axis 24, for driving movable first cylinder 25 of air cylinder supporting structure and for driving
Movable second cylinder 26 of second hold assembly；First fixed supporting plate 21 is fixedly connected by bolt with main frame 1, and first
Fixed 21 plate of bracket is respectively arranged with the first cylinder guidance axis 23, the first cylinder 25 and the first cylinder guidance axis 23 from top to bottom,
First cylinder 25 is fixedly connected by bolt with the first fixed supporting plate；First cylinder guidance axis 23 by first bearing 231 with
First fixed supporting plate 21 connects, and the first cylinder guidance axis 23 is for ensuring that it is axial past that loading and unloading manipulator is done on certain position
Multiple movement；Air cylinder supporting structure 22 and the first cylinder 25 are sequentially connected, and the bottom of air cylinder supporting structure 22 is respectively arranged with from top to bottom
Second cylinder guidance axis 24 and the second cylinder 26；Second cylinder guidance axis 24 is connect by second bearing with air cylinder supporting structure 22,
Second cylinder guidance axis 24 is consistent with the axial direction of the second cylinder during the motion for limiting the second hold assembly；Second
Cylinder 26 is fixedly connected by bolt with air cylinder supporting structure 22；In the present embodiment, second cylinder can be, but not limited to be
50 × 150 standard SC cylinders, the second cylinder guidance axis include two second cylinder guidance axis disposed in parallel.
Further, referring to Fig. 3, the first hold assembly 3 includes the second fixed supporting plate 31, third cylinder guidance axis
32, third cylinder 33 and the first grip block 34；Second fixed supporting plate 31 is fixedly connected by bolt with main frame 1, and second
The bottom of fixed supporting plate 31 is disposed with third cylinder guidance axis 32 and third cylinder 33 from top to bottom, and third cylinder 33 is logical
Bolt is crossed to connect with the second fixed supporting plate 31；Third cylinder guidance axis 32 is connected by 3rd bearing and the second fixed supporting plate 31
It connects, third cylinder guidance axis 32 is consistent with the axial direction of third cylinder during the motion for limiting the first hold assembly；
First grip block 34 is located at 33 left sides of third cylinder, and the extension bar of third cylinder 33 is fixed on the first grip block 34 by nut
On, third cylinder 33 drives the first grip block 34 to be moved to the left；In the present embodiment, the third cylinder can be, but not limited to be
50 × 25 standard SC cylinders, the third cylinder guidance axis include two thirds cylinder guidance axis disposed in parallel.
Further, referring to Fig. 4, the second hold assembly 4 includes support plate 41, the second grip block 42 and compressed spring
43；Support plate 41 is located at the left side of the second cylinder 26, and the extension bar of the second cylinder 26 is secured with nuts in support plate 41, and second
Support plate 41 is driven to open certain distance when cylinder 26 stretches out；Second grip block 42 is living by boss straight pin and support plate 41
Dynamic connection, compressed spring 43 are set between support plate 41 and the second grip block 42, and the left end of compressed spring 43 is fixed on M30 spiral shell
The bottom of bolt, right end are fixed in the groove of the second support plate 42.
Further, the bottom of the second grip block 42 is provided with is defined for the moving position to the second grip block 42
Limited block 421, limited block 421 and the second grip block 42 are integrally formed；The compressed spring flicks the second grip block, makes
Certain angle is kept between two grip blocks and support plate, when the second grip block is close to workpiece, compressed spring is compressed, until the
Limited block on two grip blocks is contacted with support plate, completes holding action, and compressed spring is arranged, buffers to clamping process,
Rapid wear workpiece can be protected, what rapid wear workpiece occurred damaging since stress is excessive when the second cylinder stepping being avoided to return asks
Topic；In actual use, it can control the initial position of compressed spring by adjusting the position of bolt, reduce due to spring
Adverse effect caused by deformation.
Further, the first cylinder 25 is two-way double action cylinder, the left extension bar of the first cylinder 25 and right extension bar difference
It is secured with nuts in air cylinder supporting structure 22, when left stretching of the first cylinder 25 or right stretching drives air cylinder supporting structure 22 to turn left or past
Certain distance is moved right, the first cylinder 25 is for solving the problems, such as loading and unloading manipulator limited space；In the present embodiment, described
First cylinder can be, but not limited to be 50 × 25 standard SCD double action cylinders.
Further, referring to Fig. 4, the second hold assembly 4 further includes being bolted to be set to 21 bottom of support plate
Bottom bracket 44, bottom bracket 44 is L-shaped, and the horizontal part of bottom bracket 44 is separated by a certain distance with the second grip block 42；Institute
Bottom bracket is stated for preventing accident of workpiece during loading and unloading from falling off.
Further, referring to Fig. 4, the second hold assembly 4 further includes proximity sensor 45, the fixation of proximity sensor 45 is set
It is placed in the left side of support plate 41, the proximity sensor is for detecting whether the second grip block has touched workpiece；Spring with connect
Nearly sensor cooperation, spring flick the second grip block, are conveniently accessible to whether sensor detection self-clamping module clamps work completely
Part；If the second cylinder can fast retractile not in contact with workpiece is arrived；If proximity sensor senses that workpiece, contact sensor issue letter
Number, the second cylinder extension bar slowly retracts, and carries out retraction protection to workpiece, and it avoids the problem that workpiece stress is excessive and damages,
It is considered as complete clamping when the second cylinder pressure reaches predetermined value；It is positioned proximate to the transmission that sensor realizes live signal, it can be with
So that loading and unloading manipulator is adapted to grab the workpiece of different dimensions, substantially increases the practicability of loading and unloading manipulator.
Preferably, referring to Fig. 3, the upper surface of the first grip block 34 is provided with neonychium 341, neonychium can be in loading and unloading
Increase the frictional force between the first grip block and workpiece in the clamping process of manipulator, improves clamping effect, and first can be reduced
Contact wear between grip block and workpiece shields to the first grip block and workpiece.
Preferably, referring to Fig. 4, the upper surface of second grip block is provided with neonychium 422；Protection paves raising folder
Holding effect fruit reduces the effect of contact wear.
Working principle of the present invention is as follows: in actual use, loading and unloading manipulator is connect with lifting device；Due to material
The dimensional problem of frame needs to consider the problem whether activity space of loading and unloading manipulator is limited during loading and unloading；In machine
During tool is expected on hand, first start the first cylinder, the extension bar of the first cylinder stretches out to the right, drives air cylinder supporting structure movable to the right
Certain distance, the second cylinder and third cylinder stretch out to the left, drive the second hold assembly and the first hold assembly to moving to left respectively
Dynamic certain distance；When whole device moves to above workpiece, lifting device control loading and unloading manipulator drops to designated position,
The extension bar of second cylinder retracts, and is grabbed and is clamped to workpiece, during the retraction of the extension bar of the second cylinder, if the
Two grip blocks are contacted with workpiece, and proximity sensor, which issues signal, allows the extension bar of the second cylinder slowly to retract, until the second cylinder
Pressure reach predetermined value and be considered as complete clamping；In feeding process, it is contemplated that, can be first by the first cylinder the problem of limited space
The second cylinder and third cylinder are stretched out in right stretching, the position no longer limited to space to be moved again；In manipulator blanking process,
Second cylinder remains stationary, and the extension bar of the first cylinder stretches out to the left, and air cylinder supporting structure is driven to be moved to the left certain distance, third
The extension bar of cylinder retracts, and the first hold assembly is driven to move right, and workpiece falls off from loading and unloading manipulator, is correctly positioned,
Then loading and unloading manipulator is lifted up, and the first cylinder, the second cylinder and third cylinder are restored to initially after reaching home
Position, the initial position refer to that the second cylinder is fully extended, and the first cylinder stretches out to the right, and third cylinder is in and is fully retracted shape
State；In blanking process, it is contemplated that limited space problem, it can be to be moved no longer limited to space first by the left stretching of the first cylinder
Position retract third cylinder again.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these replacements or change all should belong to claims appended hereto
Protection scope in.
Claims (9)
1. a kind of loading and unloading manipulator, which is characterized in that including main frame, the clamping device for being clamped to material and
For driving clamping device to complete the cylinder mechanism of holding action, the clamping device includes the first hold assembly and the second clamping
Component, first hold assembly are fixedly installed on the right side of main frame, and the cylinder mechanism is fixedly installed on main frame
Left side, second hold assembly and cylinder mechanism are sequentially connected.
2. a kind of loading and unloading manipulator according to claim 1, which is characterized in that the cylinder mechanism includes first fixed
Supporting plate, air cylinder supporting structure, the first cylinder guidance axis, the second cylinder guidance axis, for driving air cylinder supporting structure movable first
Cylinder and for drive movable second cylinder of the second hold assembly；Described first fixed supporting plate and the fixed company of main frame
It connects, the described first fixed supporting plate is respectively arranged with the first cylinder guidance axis, the first cylinder and the first cylinder guidance from top to bottom
Axis；The air cylinder supporting structure is connect with the first cylinder-driven, and the bottom of the air cylinder supporting structure is respectively arranged with from top to bottom
Two cylinder guidance axis and the second cylinder.
3. a kind of loading and unloading manipulator according to claim 1, which is characterized in that first hold assembly includes second
Fixed supporting plate, third cylinder guidance axis, third cylinder and the first grip block；Described second fixed supporting plate and main frame are solid
The bottom of fixed connection, the described second fixed supporting plate is disposed with third cylinder guidance axis and third cylinder, institute from top to bottom
The left side that the first grip block is set to third cylinder is stated, is connect with third cylinder-driven.
4. a kind of loading and unloading manipulator according to claim 2, which is characterized in that second hold assembly includes support
Plate, the second grip block and compressed spring；The support plate is connect with the second cylinder-driven, and second grip block and support plate are living
Dynamic connection, the compressed spring are set between support plate and the second grip block.
5. a kind of loading and unloading manipulator according to claim 2, which is characterized in that first cylinder is two-way double action gas
Cylinder.
6. a kind of loading and unloading manipulator according to claim 4, which is characterized in that second hold assembly further includes solid
Surely it is set to the bottom bracket of support plate bottom, the bottom bracket is L-shaped.
7. a kind of loading and unloading manipulator according to claim 4, which is characterized in that second hold assembly further includes connecing
Nearly sensor, the proximity sensor are fixedly installed on the left side of support plate.
8. a kind of loading and unloading manipulator according to claim 3, which is characterized in that the upper surface of first grip block is set
It is equipped with neonychium.
9. a kind of loading and unloading manipulator according to claim 4, which is characterized in that the upper surface of second grip block is set
It is equipped with neonychium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910730842.5A CN110405801A (en) | 2019-08-08 | 2019-08-08 | A kind of loading and unloading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910730842.5A CN110405801A (en) | 2019-08-08 | 2019-08-08 | A kind of loading and unloading manipulator |
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| Publication Number | Publication Date |
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| CN110405801A true CN110405801A (en) | 2019-11-05 |
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| CN201910730842.5A Pending CN110405801A (en) | 2019-08-08 | 2019-08-08 | A kind of loading and unloading manipulator |
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|---|---|---|---|---|
| JP2002200582A (en) * | 2000-12-27 | 2002-07-16 | Nec Saitama Ltd | Pick and place unit |
| CN201058431Y (en) * | 2007-07-31 | 2008-05-14 | 华联机械有限公司 | Palletised carry grasper |
| CN201253847Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN203229216U (en) * | 2013-05-08 | 2013-10-09 | 山东省科学院自动化研究所 | Box body stacking tongs |
| CN104085569A (en) * | 2014-07-18 | 2014-10-08 | 江苏中科机器人科技有限公司 | Bag shifting device for full-automatic bagging machine |
| CN104795234A (en) * | 2015-04-16 | 2015-07-22 | 珠海市恒诺科技有限公司 | Feeding mechanism of network transformer T1 ring and T2 ring wire-winding machine |
| CN105129418A (en) * | 2015-09-09 | 2015-12-09 | 苏州博众精工科技有限公司 | Dual-purpose feeding clamping claw |
| CN108237518A (en) * | 2018-03-08 | 2018-07-03 | 安徽安凯汽车股份有限公司 | A kind of electronic multi-faceted general-purpose manipulator |
| CN108818598A (en) * | 2018-08-30 | 2018-11-16 | 深圳市德业智能股份有限公司 | A kind of feed device |
| CN208358837U (en) * | 2018-05-31 | 2019-01-11 | 南通伯克机器人有限公司 | A kind of multistage aerodynamic clamping jaw of industrial robot |
| CN210414580U (en) * | 2019-08-08 | 2020-04-28 | 佛山科学技术学院 | Feeding and discharging mechanical arm |
-
2019
- 2019-08-08 CN CN201910730842.5A patent/CN110405801A/en active Pending
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|---|---|---|---|---|
| JP2002200582A (en) * | 2000-12-27 | 2002-07-16 | Nec Saitama Ltd | Pick and place unit |
| CN201058431Y (en) * | 2007-07-31 | 2008-05-14 | 华联机械有限公司 | Palletised carry grasper |
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| CN105129418A (en) * | 2015-09-09 | 2015-12-09 | 苏州博众精工科技有限公司 | Dual-purpose feeding clamping claw |
| CN108237518A (en) * | 2018-03-08 | 2018-07-03 | 安徽安凯汽车股份有限公司 | A kind of electronic multi-faceted general-purpose manipulator |
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