CN110682319A - Automatic change and get a manipulator - Google Patents
Automatic change and get a manipulator Download PDFInfo
- Publication number
- CN110682319A CN110682319A CN201911040746.4A CN201911040746A CN110682319A CN 110682319 A CN110682319 A CN 110682319A CN 201911040746 A CN201911040746 A CN 201911040746A CN 110682319 A CN110682319 A CN 110682319A
- Authority
- CN
- China
- Prior art keywords
- fixed
- rod
- clamping
- plate
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
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
- B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic workpiece taking manipulator, which comprises: the clamping device comprises a driving assembly, a fixing plate and a clamping assembly; the driving assembly is fixedly connected with the tail end of the multi-axis robot; the fixed plates are connected to two sides of the driving assembly, and the plate surfaces of the fixed plates correspond to each other; under the drive of the drive assembly, the fixing plate can perform approaching and separating actions; the clamping components are fixed on the corresponding surfaces of the fixed plates; the clamping assembly comprises a fixed box and a telescopic rod; the fixed box is a box body with an opening at one end, and the bottom surface of the fixed box is fixedly connected with the fixed plate; one end of each telescopic rod is vertically fixed on the inner bottom surface of the fixing box, and the plurality of telescopic rods are compactly and uniformly distributed in the fixing box; the telescopic rods of the two clamping assemblies correspond to each other. The automatic clamping device can be suitable for automatically clamping products in different shapes, has strong universality, and has strong clamping stability, simple integral structure and convenient operation and control because the products are embedded into the telescopic rod group during clamping.
Description
Technical Field
The invention relates to the technical field of automatic production equipment, in particular to an automatic workpiece taking manipulator.
Background
Currently, in an automated production process, a large number of products and raw materials need to be grabbed and taken. The automatic production of the product is realized by utilizing the industrial robot, the labor and the cost can be greatly saved, and the generation efficiency is improved. The industrial robot has the advantages of compact structure, mature technology, convenient control, quick action and the like, and is widely applied to various automatic production processes. The workpiece taking manipulator is arranged at the tail end of the robot arm and finishes grabbing and placing of workpieces.
However, the manipulator with the corresponding shape is required to be arranged according to products with different shapes, the manipulator is required to be correspondingly debugged according to different shapes, the use is more complicated, the clamping stability of parts with irregular shapes is insufficient, the use effect of automatic workpiece taking is influenced, and a lot of inconvenience is brought to production.
Therefore, how to provide a pick-up manipulator with strong universality and stable pick-up is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of this, the present invention provides an automatic pick-up manipulator, which aims to solve the above technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automated part picking robot comprising: the clamping device comprises a driving assembly, a fixing plate and a clamping assembly;
the driving assembly is fixedly connected with the tail end of the multi-axis robot;
the fixed plates are connected to two sides of the driving assembly, and the plate surfaces of the fixed plates correspond to each other; the fixing plate can perform approaching and separating actions under the driving of the driving assembly;
the clamping assembly is fixed on the corresponding surface of the fixing plate; the clamping assembly comprises a fixed box and a telescopic rod; the fixed box is a box body with an opening at one end, and the bottom surface of the fixed box is fixedly connected with the fixed plate; one end of each telescopic rod is vertically fixed on the inner bottom surface of the fixed box, and the plurality of telescopic rods are compactly and uniformly distributed in the fixed box; the telescopic rods of the two clamping assemblies correspond to each other.
Through the technical scheme, the invention provides the workpiece taking robot hand capable of automatically clamping workpieces, the telescopic rod group capable of stretching and retracting is arranged in the clamping assembly, when the two groups of clamping assemblies clamp two sides of a product, the telescopic rod can be extruded along with the shape of the product to deform, so that the product is embedded into the telescopic rod group of the clamping assembly, the automatic clamping of the products in different shapes can be adapted, the universality is strong, and the product is embedded into the telescopic rod group when the clamping assembly clamps the products, so that the clamping stability is strong, the overall structure is simple, and the operation and the control are convenient.
Preferably, in the above automatic workpiece taking manipulator, the telescopic rod includes a fixed rod, a movable rod and a spring; one end of the fixed rod is vertically fixed on the bottom surface of the inner part of the fixed box; the movable rod is sleeved at the other end of the fixed rod in a sliding manner; the spring is fixed between the fixed rod and the movable rod and is positioned inside the movable rod. The telescopic motion of the telescopic rod can be smoother.
Preferably, in the above automatic workpiece taking manipulator, the movable rod is made of steel or hard rubber. Different materials are used according to different conditions, and when the hardness of the product is higher and the outer wall is not easy to damage, the product can be made of steel, so that a high-stability clamping effect can be achieved; when the outer wall of the product is easy to damage, the product is made of hard rubber, and the protective effect can be achieved.
Preferably, in the above automatic workpiece taking manipulator, the end of the telescopic rod is exposed out of the fixed box. Can realize pressing from both sides the clamp of jumbo size product, when the product size is great for the final oppression telescopic link of product is close the limit, presss from both sides it through the clamp force and gets it, can not be because the border of fixed box produces the position interference.
Preferably, in the above automatic workpiece taking manipulator, the cross-sectional shape of the telescopic rod is circular, square or hexagonal. Different shapes can be used according to different use requirements.
Preferably, in the above automatic part taking manipulator, the fixed box is circular or rectangular. Different shapes can be used according to different use requirements.
Preferably, in the above automatic workpiece taking manipulator, the driving assembly includes an installation frame, a top plate, a stepping motor, a double-rotation-direction screw rod, a bottom plate, a side plate, a screw rod nut, a connecting rod and a guide rod; the mounting frame is of an inverted U-shaped structure, and the top of the mounting frame is fixedly connected with the tail end of the multi-axis robot; the top plate is fixed at the bottom of the mounting rack; the stepping motor is fixed on the top of the top plate; the double-rotation-direction screw rod is vertically arranged, and the top end of the double-rotation-direction screw rod is connected with a power output shaft of the stepping motor; the bottom plate is rotatably connected with the bottom end of the double-rotation-direction screw rod; the two side plates are respectively and fixedly connected with the top plate and the bottom plate and correspond to each other, and a through groove and a plurality of guide holes are vertically formed in each side plate; the two lead screw nuts are symmetrically connected to the upper part and the lower part of the double-rotation-direction lead screw, and the thread directions of the two lead screw nuts are opposite; one end of each of the two connecting rods is hinged with the two lead screw nuts, the other end of each of the two connecting rods is hinged with one of the fixing plates, and the connecting rods penetrate through the through grooves; and one end of each guide rod is vertically and fixedly connected with the fixed plate, and the other end of each guide rod is slidably connected with the guide hole. Can realize the even stable drive to the fixed plate, simple structure easily adjusts.
Preferably, in the above automatic workpiece taking manipulator, the stepping motor is connected to the double-rotation-direction screw rod through a coupling. The transmission effect is better.
Preferably, in the above automatic part taking manipulator, the number of the guide rods is two, and the guide rods are arranged diagonally on the side plate. The stability of the fixed plate motion can be improved.
Preferably, in the above automatic workpiece taking manipulator, a convex ring is arranged in the middle of the double-rotation-direction screw rod. Play spacing effect to the screw rod nut, prevent collision dislocation.
According to the technical scheme, compared with the prior art, the telescopic rod group capable of stretching and retracting is arranged in the clamping assemblies, when the two groups of clamping assemblies clamp two sides of a product, the telescopic rods can be extruded along with the shape of the product to deform, the product is embedded into the telescopic rod group of the clamping assemblies, the automatic clamping assembly can be suitable for automatically clamping products in different shapes, the universality is strong, and the product is embedded into the telescopic rod group when being clamped, so that the clamping stability is high, the overall structure is simple, and the operation and the control are convenient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the structure provided by the present invention;
FIG. 2 is a schematic structural diagram of a driving assembly provided by the present invention;
FIG. 3 is a schematic diagram of the gripping assembly of the present invention;
fig. 4 is a sectional view of the telescopic rod provided by the invention.
Wherein:
1-a drive assembly;
11-a mounting frame;
12-a top plate;
13-a stepper motor;
14-double-rotation-direction screw rod;
141-convex ring;
15-a base plate;
16-side plate;
161-through groove;
162-a pilot hole;
17-a feed screw nut;
18-a connecting rod;
19-a guide bar;
2, fixing a plate;
3-a gripping assembly;
31-a stationary box;
32-a telescopic rod;
321-a fixing rod;
322-a movable rod;
323-spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 3, an embodiment of the present invention discloses an automatic workpiece picking manipulator, including: the clamping device comprises a driving assembly 1, a fixed plate 2 and a clamping assembly 3;
the driving assembly 1 is fixedly connected with the tail end of the multi-axis robot;
the fixed plates 2 are connected to two sides of the driving assembly 1, and the plate surfaces of the fixed plates 2 correspond to each other; under the drive of the drive assembly 1, the fixed plate 2 can perform approaching and separating actions;
the clamping components 3 are fixed on the corresponding surfaces of the fixed plates 2; the clamping assembly 3 comprises a fixed box 31 and a telescopic rod 32; the fixed box is a box body with an opening at one end 31, and the bottom surface of the fixed box is fixedly connected with the fixed plate 2; one end of the telescopic rod 32 is vertically fixed on the inner bottom surface of the fixed box 31, and the plurality of telescopic rods 3 are compactly and uniformly distributed and are fully distributed in the fixed box 31; the telescopic rods 32 of the two gripping assemblies 3 correspond to each other.
Referring to fig. 4, the telescopic bar 32 includes a fixed bar 321, a movable bar 322, and a spring 323; one end of the fixing rod 321 is vertically fixed on the inner bottom surface of the fixing box 31; the movable rod 322 is sleeved on the other end of the fixed rod 31 in a sliding manner; the spring 323 is fixed between the fixed bar 321 and the movable bar 322 and is located inside the movable bar 322.
It should be noted that the fixing rod 321 can be fixed by passing through the bottom of the outer wall of the fixing box 31 and connecting with the end thereof through a screw. The fixing box 31 may be connected to the fixing plate 2 by means of a screw connection or a welding fixation.
In order to further optimize the above technical solution, the movable rod 322 is made of steel or hard rubber.
In order to further optimize the above technical solution, the end of the telescopic rod 32 is exposed out of the fixing box 31.
In order to further optimize the technical scheme, the cross section of the telescopic rod 32 is circular, square or hexagonal.
In order to further optimize the above solution, the fixing box 31 is circular or rectangular.
Referring to fig. 2, the driving assembly 1 includes a mounting frame 11, a top plate 12, a stepping motor 13, a double-rotation-direction screw 14, a bottom plate 15, a side plate 16, a screw nut 17, a connecting rod 18 and a guide rod 19; the mounting rack 11 is of an inverted U-shaped structure, and the top of the mounting rack is fixedly connected with the tail end of the multi-axis robot; the top plate 12 is fixed at the bottom of the mounting frame 11; the stepping motor 13 is fixed on the top of the top plate 12; the double-rotation-direction screw rod 14 is vertically arranged, and the top end of the double-rotation-direction screw rod is connected with a power output shaft of the stepping motor 13; the bottom plate 15 is rotatably connected with the bottom end of the double-rotation-direction screw rod 14; the two side plates 16 are respectively and fixedly connected with the top plate 12 and the bottom plate 15 and correspond to each other, and the side plates 16 are vertically provided with a through groove 161 and a plurality of guide holes 162; the two feed screw nuts 17 are symmetrically connected to the upper part and the lower part of the double-rotation-direction feed screw 14, and the thread directions of the two feed screw nuts 17 are opposite; one end of each of the two connecting rods 18 is hinged with the two lead screw nuts 17, the other end of each of the two connecting rods 18 is hinged with one of the fixed plates 2, and the connecting rod 18 penetrates through the through groove 161; one end of each of the guide rods 19 is vertically and fixedly connected to the fixed plate 2, and the other end is slidably connected to the guide hole 162.
In order to further optimize the technical scheme, the stepping motor 13 is connected with the double-rotation-direction screw rod 14 through a coupler.
In order to further optimize the above solution, the number of the guide rods 19 is two, and the guide rods are arranged diagonally on the side plate 16.
In order to further optimize the technical scheme, the middle part of the double-screwing-direction screw rod 14 is provided with a convex ring 141.
The working principle of the invention is as follows:
When the fixed plate 2 clamps the product, two cases are divided:
first, when the size of the product is smaller than that of the fixed box 31, the product extrudes the telescopic rod 32 to deform along with the clamping of the fixed plate 2, and stops when the two end portions of the product are embedded in the telescopic rod 32, at this time, the spring 323 does not reach the limit of compression, and the clamping is realized only by compressing and deforming the product by the telescopic rod 32 according to the shape of the product.
Secondly, when the size of the product is larger than that of the fixed box 31, the product extrudes the telescopic rod 32 to deform along with the clamping of the fixed plate 2, and stops before the two ends of the product tightly push the spring 323 in the telescopic rod 32 to reach the elastic limit, at this time, the spring 323 is close to the compression limit, and the product is clamped through the pressing force of the telescopic rod 32.
Before the product of different shapes and sizes is got, carry out the rotation angle to step motor 13 in advance adjust can, adjust simply, control the convenience.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic workpiece taking manipulator is characterized by comprising: the clamping device comprises a driving assembly (1), a fixing plate (2) and a clamping assembly (3);
the driving assembly (1) is fixedly connected with the tail end of the multi-axis robot;
the fixed plates (2) are connected to two sides of the driving assembly (1), and the plate surfaces of the fixed plates (2) correspond to each other; the fixing plate (2) can perform approaching and separating actions under the driving of the driving assembly (1);
the clamping assembly (3) is fixed on the corresponding surface of the fixing plate (2); the clamping assembly (3) comprises a fixed box (31) and a telescopic rod (32); the fixed box is a box body (31) with an opening at one end, and the bottom surface of the fixed box is fixedly connected with the fixed plate (2); one end of each telescopic rod (32) is vertically fixed on the inner bottom surface of the corresponding fixed box (31), and the plurality of telescopic rods (3) are compactly and uniformly distributed and are fully distributed in the corresponding fixed box (31); the telescopic rods (32) of the two clamping assemblies (3) correspond to each other.
2. The automated part picking manipulator according to claim 1, wherein the telescopic rod (32) comprises a fixed rod (321), a movable rod (322) and a spring (323); one end of the fixed rod (321) is vertically fixed on the inner bottom surface of the fixed box (31); the movable rod (322) is sleeved at the other end of the fixed rod (31) in a sliding manner; the spring (323) is fixed between the fixed rod (321) and the movable rod (322) and is positioned inside the movable rod (322).
3. The automated part picking robot as claimed in claim 2, wherein the movable rod (322) is made of steel or hard rubber.
4. An automated part picking manipulator according to claim 1, characterised in that the end of the telescopic rod (32) is exposed from the fixed box (31).
5. The automated part picking manipulator according to any one of claims 1 to 4, wherein the cross-sectional profile of the telescopic rod (32) is circular, square or hexagonal.
6. An automated pick-up robot according to any of claims 1 to 4, characterized in that the fixed box (31) is circular or rectangular.
7. The automated part picking manipulator according to claim 1, wherein the drive assembly (1) comprises a mounting frame (11), a top plate (12), a stepping motor (13), a double-handed lead screw (14), a bottom plate (15), side plates (16), a lead screw nut (17), a connecting rod (18) and a guide rod (19); the mounting rack (11) is of an inverted U-shaped structure, and the top of the mounting rack is fixedly connected with the tail end of the multi-axis robot; the top plate (12) is fixed at the bottom of the mounting rack (11); the stepping motor (13) is fixed on the top of the top plate (12); the double-rotation-direction screw rod (14) is vertically arranged, and the top end of the double-rotation-direction screw rod is connected with a power output shaft of the stepping motor (13); the bottom plate (15) is rotatably connected with the bottom end of the double-rotation-direction screw rod (14); the two side plates (16) are respectively and fixedly connected with the top plate (12) and the bottom plate (15) and correspond to each other, and a through groove (161) and a plurality of guide holes (162) are vertically formed in each side plate (16); the two feed screw nuts (17) are symmetrically connected to the upper part and the lower part of the double-rotation-direction feed screw (14), and the thread directions of the two feed screw nuts (17) are opposite; one end of each of the two connecting rods (18) is hinged with the two lead screw nuts (17), the other end of each of the two connecting rods is hinged with one of the fixing plates (2), and the connecting rods (18) penetrate through the through grooves (161); one end of each guide rod (19) is vertically and fixedly connected with the fixing plate (2), and the other end of each guide rod is slidably connected with the corresponding guide hole (162).
8. The automated part picking manipulator according to claim 7, wherein the stepper motor (13) is connected to the double-handed screw (14) by a coupling.
9. An automated pick-off robot according to claim 7, characterized in that said guide bars (19) are two in number and are arranged diagonally on said side plates (16).
10. The automated part picking manipulator according to claim 7, wherein the double-handed screw (14) has a raised ring (141) in the middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911040746.4A CN110682319A (en) | 2019-10-29 | 2019-10-29 | Automatic change and get a manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911040746.4A CN110682319A (en) | 2019-10-29 | 2019-10-29 | Automatic change and get a manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110682319A true CN110682319A (en) | 2020-01-14 |
Family
ID=69114593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911040746.4A Withdrawn CN110682319A (en) | 2019-10-29 | 2019-10-29 | Automatic change and get a manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110682319A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348425A (en) * | 2020-03-10 | 2020-06-30 | 荆门怡盛源环保科技有限公司 | Grabbing device for roller conveying |
| CN111975806A (en) * | 2020-07-08 | 2020-11-24 | 南京工业职业技术学院 | Automatic change and get a manipulator |
| CN112828661A (en) * | 2020-12-31 | 2021-05-25 | 江苏南高智能装备创新中心有限公司 | Feeding and discharging machine tool based on automatic manipulator |
| CN113511551A (en) * | 2021-04-25 | 2021-10-19 | 深圳技术大学 | Manipulator for packaging and assembling linear flexible body |
-
2019
- 2019-10-29 CN CN201911040746.4A patent/CN110682319A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348425A (en) * | 2020-03-10 | 2020-06-30 | 荆门怡盛源环保科技有限公司 | Grabbing device for roller conveying |
| CN111975806A (en) * | 2020-07-08 | 2020-11-24 | 南京工业职业技术学院 | Automatic change and get a manipulator |
| CN112828661A (en) * | 2020-12-31 | 2021-05-25 | 江苏南高智能装备创新中心有限公司 | Feeding and discharging machine tool based on automatic manipulator |
| CN113511551A (en) * | 2021-04-25 | 2021-10-19 | 深圳技术大学 | Manipulator for packaging and assembling linear flexible body |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110682319A (en) | Automatic change and get a manipulator | |
| CN109623859A (en) | A kind of novel mechanical gripper with pressure buffer structure | |
| CN209520902U (en) | A kind of novel mechanical gripper with pressure buffer structure | |
| CN211466444U (en) | Robot tail end execution paw | |
| CN211137151U (en) | Mechanical arm | |
| CN215848284U (en) | Six-shaft grabbing mechanical arm with intelligent force control | |
| CN211682127U (en) | Novel robotic arm for robot | |
| CN211662078U (en) | Automatic change and get a manipulator | |
| CN219925279U (en) | Special-shaped piece clamping device | |
| CN218984793U (en) | Industrial robot transport centre gripping arm | |
| CN111633682A (en) | Automatic change and get a manipulator | |
| CN108422252B (en) | Industrial robot clamp for machining | |
| CN110586729A (en) | Automatic stamping device of complicated stamping workpiece of major axis class | |
| CN114055446A (en) | Precision machinery part snatchs structure with diversified regulation | |
| CN212371567U (en) | Automatic assembling system for connector joint | |
| CN210061133U (en) | Small-size mechanical clamping jaw of big stroke | |
| CN113084859A (en) | Clamping head structure for industrial robot | |
| CN110900086B (en) | Clamping tool for processing head and tail of crane arm | |
| CN107030462B (en) | Overturning and moving assembly tool and overturning and moving assembly method thereof | |
| CN212682331U (en) | High-safety auxiliary machining device for hot pier of bolt | |
| CN216801442U (en) | Automatic discharging manipulator for copper foil stamping | |
| CN214136092U (en) | Industrial robot is with tongs that has self-locking function | |
| CN217195392U (en) | Automatic transfer robot for production line | |
| CN213197588U (en) | Flexible manipulator for industrial robot | |
| CN215318534U (en) | Product maintenance workbench in mold maintenance workshop |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200114 |
|
| WW01 | Invention patent application withdrawn after publication |