CN111169997A

CN111169997A - Material grabbing manipulator with automatic material pushing function

Info

Publication number: CN111169997A
Application number: CN202010011096.7A
Authority: CN
Inventors: 付小东
Original assignee: Huzhou Xinbeilian Network Technology Co Ltd
Current assignee: Huzhou Xinbeilian Network Technology Co Ltd
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2020-05-19

Abstract

The invention discloses a material grabbing manipulator with automatic material pushing function, which comprises a main connecting plate, wherein vertical plates are fixed on the left part and the right part of the bottom surface of the main connecting plate, clamping cylinders are fixed on the outer side walls of the two vertical plates, push rods of the clamping cylinders penetrate through the vertical plates and are fixed with clamping blocks, arc-shaped grooves are formed in the opposite wall surfaces of the two clamping blocks, and a circular sleeve to be clamped is clamped between the inner wall surfaces of the arc-shaped grooves of the two clamping blocks; the bottom lateral wall middle part of two grip blocks all is fixed with the connecting block, and the bottom lateral wall of connecting block articulates through the articulated shaft has the bottom sprag piece, and the bottom sprag piece presses and treats centre gripping circular telescopic bottom surface limit portion, and the plug bush has the torsional spring on the articulated shaft, and the one end pole portion of torsional spring is fixed on the bottom sprag piece. It can push circular sleeve downwards under clamping state for circular sleeve's bottom surface slowly presses on the blowing board, and its damaged probability of greatly reduced guarantees the transport effect.

Description

Material grabbing manipulator with automatic material pushing function

Technical Field

The invention relates to the technical field of industrial robot equipment, in particular to a material grabbing manipulator capable of automatically pushing materials.

Background

The end of the mechanical arm of the existing six-axis robot is generally fixed with a grabbing mechanical arm for grabbing materials, then the materials such as a circular sleeve are placed at the corresponding position, the bottom of the existing clamping block for grabbing the materials is generally provided with a protective block, the circular sleeve is generally required to be placed on the middle block, when the two clamping blocks are clamped, the protective block can be positioned at the edge of the middle block, the circular sleeve is clamped by the two clamping blocks, the protective block is pressed against the bottom surface of the circular sleeve to prevent the circular sleeve from falling off, however, when the robot is carried to another place, the robot does not generally have the middle block, namely the whole plane plate, because the protective block is positioned at the bottom surface, when the two clamping blocks are loosened, the protective block can be relatively separated, when the robot is separated, the circular sleeve can not be directly placed on the whole plane plate, and the robot also has the height difference of the protective block, therefore, when the circular sleeve is put down, the circular sleeve directly collides with the integral plane plate without resistance, and the bottom edges of the circular sleeve are easily damaged.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a material grabbing manipulator with automatic material pushing function, which can push a circular sleeve downwards in a clamping state, so that the bottom surface of the circular sleeve is slowly pressed on a material discharging plate, the breakage probability of the circular sleeve is greatly reduced, and the carrying effect is ensured.

The technical solution of the invention is as follows:

a material grabbing manipulator with automatic material pushing function comprises a main connecting plate, wherein vertical plates are fixed to the left portion and the right portion of the bottom surface of the main connecting plate, clamping cylinders are fixed to the outer side walls of the two vertical plates, push rods of the clamping cylinders penetrate through the vertical plates and are fixed with clamping blocks, arc-shaped grooves are formed in the opposite wall surfaces of the two clamping blocks, and a circular sleeve to be clamped is clamped between the inner wall surfaces of the arc-shaped grooves of the two clamping blocks;

the bottom lateral wall middle part of two grip blocks all is fixed with the connecting block, and the bottom lateral wall of connecting block articulates through the articulated shaft has the bottom sprag piece, and the bottom sprag piece presses and treats centre gripping circular telescopic bottom surface limit portion, and the plug bush has the torsional spring on the articulated shaft, and the one end pole portion of torsional spring is fixed on the bottom sprag piece, and the other end pole portion of torsional spring is fixed on the connecting block.

An elastic anti-slip layer is fixed on the inner wall surface of the arc-shaped groove and abuts against the outer side wall of the round sleeve to be clamped.

And a transverse rod is fixed on the outer side wall of the clamping block and is inserted in a through hole formed in the vertical plate.

And a guide sleeve is fixed on the inner side wall of the through hole, and the transverse rod is inserted in the guide sleeve.

The top surface of the middle part of the main connecting plate is fixedly provided with a material pushing cylinder, a push rod of the material pushing cylinder penetrates through the bottom surface of the main connecting plate and is fixedly provided with a material pushing plate, the bottom surface of the material pushing plate is fixedly provided with an elastic protective layer, and the elastic protective layer is pressed against the top surface of a top plate to be clamped with the circular sleeve.

The top surface of the middle part of the main connecting plate is fixedly provided with a protective sleeve, the material pushing cylinder is inserted and sleeved in the protective sleeve, and a through groove is formed in the side wall of the upper part of the protective sleeve.

And an upper fixed connecting plate is fixed on the top surface of the protective sleeve.

The invention has the beneficial effects that:

it can push circular sleeve downwards under clamping state for circular sleeve's bottom surface slowly presses on the blowing board, and its damaged probability of greatly reduced guarantees the transport effect.

Drawings

FIG. 1 is a schematic view of a partial structure of the present invention;

fig. 2 is a partial bottom view of the present invention.

Detailed Description

Example (b): as shown in fig. 1 to 2, the material grabbing manipulator with automatic material pushing function comprises a main connecting plate 10, wherein vertical plates 11 are fixed to the left part and the right part of the bottom surface of the main connecting plate 10, clamping cylinders 12 are fixed to the outer side walls of the two vertical plates 11, push rods of the clamping cylinders 12 penetrate through the vertical plates 11 and are fixed with clamping blocks 13, arc-shaped grooves 131 are formed in the opposite wall surfaces of the two clamping blocks 13, and a circular sleeve 100 to be clamped is clamped between the inner wall surfaces of the arc-shaped grooves 131 of the two clamping blocks 13;

the middle parts of the outer side walls of the bottoms of the two clamping blocks 13 are respectively fixed with a connecting block 14, the side wall of the bottom end of the connecting block 14 is hinged with a bottom supporting block 15 through a hinged shaft, the bottom supporting block 15 is pressed against the edge part of the bottom surface of the round sleeve 100 to be clamped, a torsion spring 1 is inserted and sleeved on the hinged shaft, one end rod part of the torsion spring 1 is fixed on the bottom supporting block 15, and the other end rod part of the torsion spring 1 is fixed. The torsion spring 1 can ensure that the bottom support block 15 is always in a horizontal state.

Further, an elastic anti-slip layer 132 is fixed on the inner wall surface of the arc-shaped groove 131, and the elastic anti-slip layer 132 is pressed against the outer side wall of the circular sleeve 100 to be clamped.

Further, a transverse rod 133 is fixed to an outer side wall of the clamping block 13, and the transverse rod 133 is inserted into the through hole 111 formed in the vertical plate 11.

Further, a guide sleeve 112 is fixed on the inner side wall of the through hole 111, and the transverse rod 133 is inserted into the guide sleeve 112.

Further, a material pushing cylinder 20 is fixed on the top surface of the middle portion of the main connecting plate 10, a push rod of the material pushing cylinder 20 penetrates through the bottom surface of the main connecting plate 10 and is fixed with a material pushing plate 21, an elastic protection layer 22 is fixed on the bottom surface of the material pushing plate 21, and the elastic protection layer 22 presses against the top surface of a top plate of the circular sleeve 100 to be clamped.

Further, a protection sleeve 23 is fixed on the top surface of the middle portion of the main connecting plate 10, the material pushing cylinder 24 is inserted into the protection sleeve 23, and a through groove 231 is formed in the side wall of the upper portion of the protection sleeve 23.

Further, an upper fixing connection plate 232 is fixed on the top surface of the protecting sleeve 23.

In this embodiment, the upper fixing connection plate 232 is fixed at the end of the mechanical arm of the six-axis robot, when in use, the push rod of the two clamping cylinders 12 is used to push the circular sleeve 100 to be clamped placed on the middle support block to be clamped between the inner wall surfaces of the elastic anti-slip layers 132 of the two clamping blocks 13, the diameter of the middle support block is smaller than the diameter of the bottom surface of the circular sleeve 100 to be clamped, when the two clamping blocks 13 are closed and clamped, the two bottom support blocks 15 are close to the middle support block, then one end of the mechanical arm of the six-axis robot is moved to take out the circular sleeve 100 to be clamped and move, then the mechanical arm is moved to the plate placing position to make the bottom surface of the bottom support block 15 lean against the plate placing body, then the mechanical arm of the six-axis robot is slowly lifted, and at the same time, the elastic protection layer 22 is pushed by the push rod of the, and push it out downwards, make wait to centre gripping circular sleeve 100 push out downwards slowly under the circumstances of centre gripping state, overturn two bottom supporting shoe 15 downwards, and at this moment because the arm of six axis robot promotes, make the distance between the bottom surface of clamp block 13 and the placing plate body increase, just can guarantee bottom supporting shoe 15 normal upset downwards, and wait to centre gripping circular sleeve 100 and continue to push out and press and place on the plate body, until it breaks away from two grip blocks 13, it is placed slowly, effectual, efficient.

Claims

1. The utility model provides a grab material manipulator with automatic material pushing, includes the main connecting plate (10), its characterized in that: vertical plates (11) are fixed to the left portion and the right portion of the bottom face of the main connecting plate (10), clamping cylinders (12) are fixed to the outer side walls of the two vertical plates (11), push rods of the clamping cylinders (12) penetrate through the vertical plates (11) and are fixed with clamping blocks (13), arc-shaped grooves (131) are formed in the opposite wall faces of the two clamping blocks (13), and the circular sleeve (100) to be clamped is clamped between the inner wall faces of the arc-shaped grooves (131) of the two clamping blocks (13);

the bottom lateral wall middle part of two grip blocks (13) all is fixed with connecting block (14), and the bottom lateral wall of connecting block (14) articulates through the articulated shaft has bottom sprag piece (15), and bottom sprag piece (15) press the bottom surface limit portion of treating centre gripping circular sleeve (100), and the plug bush has torsional spring (1) on the articulated shaft, and the one end pole portion of torsional spring (1) is fixed on bottom sprag piece (15), and the other end pole portion of torsional spring (1) is fixed on connecting block (14).

2. The material grabbing manipulator with automatic pushing function as claimed in claim 1, wherein: an elastic anti-slip layer (132) is fixed on the inner wall surface of the arc-shaped groove (131), and the elastic anti-slip layer (132) is pressed on the outer side wall of the round sleeve (100) to be clamped.

3. The material grabbing manipulator with automatic pushing function as claimed in claim 1, wherein: and a transverse rod (133) is fixed on the outer side wall of the clamping block (13), and the transverse rod (133) is inserted and sleeved in a through hole (111) formed in the vertical plate (11).

4. The material grabbing manipulator with automatic pushing function as claimed in claim 3, wherein: a guide sleeve (112) is fixed on the inner side wall of the through hole (111), and the transverse rod (133) is inserted in the guide sleeve (112).

5. The material grabbing manipulator with automatic pushing function as claimed in claim 1, wherein: the top surface of the middle part of the main connecting plate (10) is fixedly provided with a material pushing cylinder (20), a push rod of the material pushing cylinder (20) penetrates through the bottom surface of the main connecting plate (10) and is fixedly provided with a material pushing plate (21), the bottom surface of the material pushing plate (21) is fixedly provided with an elastic protective layer (22), and the elastic protective layer (22) is pressed against the top surface of a top plate of the circular sleeve (100) to be clamped.

6. The material grabbing manipulator with automatic pushing function as claimed in claim 5, wherein: the top surface of the middle part of the main connecting plate (10) is fixedly provided with a protective sleeve (23), the material pushing cylinder (24) is inserted in the protective sleeve (23), and the side wall of the upper part of the protective sleeve (23) is formed with a through groove (231).

7. The material grabbing manipulator with automatic pushing function as claimed in claim 6, wherein: an upper fixed connecting plate (232) is fixed on the top surface of the protective sleeve (23).