CN113843817A - Manipulator structure convenient for grabbing and placing - Google Patents
Manipulator structure convenient for grabbing and placing Download PDFInfo
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- CN113843817A CN113843817A CN202111265098.XA CN202111265098A CN113843817A CN 113843817 A CN113843817 A CN 113843817A CN 202111265098 A CN202111265098 A CN 202111265098A CN 113843817 A CN113843817 A CN 113843817A
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- fixed mounting
- grabbing
- claw
- lower extreme
- piece
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Abstract
The invention belongs to the technical field of industrial robots, and discloses a manipulator structure convenient for grabbing and placing, which aims to solve the problems that materials are not easy to place by the existing manipulator, if a sucker is loosened in the placing process, the materials are easy to smash to the ground, the integrity of the materials cannot be ensured, and the materials are inconvenient to place; according to the invention, in the grabbing process, when the material suddenly drops, the side sucker does not loosen with the material, the material drops to stretch the elastic band wound on the outer surface of the annular spring piece, the elastic band and the annular spring piece can both play a buffering effect on the material, and after the material is separated from the side sucker, the elastic band and the annular spring piece recover to the original position, so that the protection effect is good.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a manipulator structure convenient to grab and place.
Background
A manipulator is an automatic operating device that can simulate some motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like.
Publication number CN113263517A discloses a manipulator sucker grabbing positioning assembly, which comprises a manipulator and an operation table; the operation table comprises an operation table top; materials are placed on the operation table top; the manipulator is used for grabbing materials placed on the operation table top; the operating platform is provided with a positioning mechanism; the positioning mechanism is used for positioning and adjusting the material when the manipulator moves above the operating platform, so that the manipulator can stably grab the material; the positioning mechanism comprises a pair of transverse positioning plates and a pair of longitudinal positioning plates; the two transverse positioning plates are transversely and symmetrically arranged relative to the operating table top in a sliding manner; the two longitudinal positioning plates are longitudinally and symmetrically arranged relative to the operating table top in a sliding manner; the transverse positioning plate and the transverse positioning plate are used for limiting and moving the materials on the operating table top to a position convenient for a manipulator to grab from the transverse direction and the longitudinal direction; the aspect ratio of horizontal locating plate and vertical locating plate is the same with the aspect ratio of the total of material, and the mode that this patent can utilize the sucking disc to hold the material plays the effect of snatching firmly, but sucking disc quantity is limited, and for the setting of folk prescription orientation, inconvenient carry out diversified absorption to the material and snatch, also difficult placing the material simultaneously, if the sucking disc is not hard up placing the in-process, the material then pounces to ground very easily, can't guarantee the integrality of material, and is inconvenient to place the material, and the result of use is unsatisfactory.
Disclosure of Invention
Aiming at the problems, the invention improves the prior device and provides a manipulator structure convenient for grabbing and placing, in the process of upwards pulling an electric push rod, the upper end of a material is contacted with a sucker piece, the electric push rod drives a connecting rod and an avoiding piece and a pulling rod at the lower end of the connecting rod to upwards move, negative pressure is formed inside an outer cover body, the outer cover body is communicated with the sucker piece, so that the suction force of the sucker piece is increased, the stability of the movement of the material in the grabbing process is ensured, the material is upwards extruded and is simultaneously adsorbed with a side sucker, so that the material with smooth top can be grabbed, the electric push rod reversely moves, a first claw piece and a second claw piece are separated, the sucker piece is loosened with the material, so that the material can be loosened, if the material suddenly drops in the grabbing process, the side sucker is not loosened with the material, the material drops, so that an elastic belt wound on the outer surface of an annular spring piece is stretched, the elastic belt and the annular spring piece can both play a buffering effect on the material, and after the material is separated from the side sucker, the elastic belt and the annular spring piece recover to the original position, so that the buffering effect is good, the protection effect is good, and the problem in the background art is solved.
In order to achieve the purpose, the invention provides the following technical scheme:
a manipulator structure convenient for grabbing and placing comprises a base and a supporting mechanism movably mounted at the upper end of the base, wherein a moving mechanism is arranged at the lower end of the supporting mechanism, a grabbing mechanism is arranged at the lower end of the moving mechanism, and a claw mechanism is arranged at the lower end of the grabbing mechanism;
the claw tooth mechanism comprises an outer sleeve piece and an electric push rod arranged in an inner cavity of the outer sleeve piece, limiting abutting blocks are fixedly arranged on two sides of the lower end of the electric push rod, tension springs are arranged at the upper ends of the limiting abutting blocks, push-pull rods are movably arranged on two sides of the limiting abutting blocks, two groups of push-pull rods are symmetrically arranged about the central line of the electric push rod, and a first claw tooth piece and a second claw tooth piece are movably arranged at one end, away from the limiting abutting blocks, of each push-pull rod.
Further, the base includes curb plate and fixed mounting at the bottom plate of curb plate inner wall to and the embedded conveyer belt subassembly in the bottom plate upper surface, the spout has been seted up to the upper surface of curb plate.
Further, the supporting mechanism comprises a supporting rod arranged at the upper end of the side plate and a bearing transverse rod fixedly installed at the upper end of the supporting rod, a hydraulic cylinder is arranged at the middle part of the bearing transverse rod, a vertical groove body is formed in the inner wall of the bearing transverse rod, and a sliding block matched with the sliding groove is fixedly installed at the lower end of the supporting rod.
Further, the moving mechanism comprises an extension plate fixedly installed at the lower end of the hydraulic cylinder and a limiting plate fixedly installed at the lower end of the extension plate, sliding screw rods are arranged on the inner wall of the limiting plate, and sliding rods matched with the vertical groove bodies are fixedly installed at the two ends of the extension plate.
Further, snatch the mechanism and include the slip subassembly and the pivot of fixed mounting at the slip subassembly lower extreme that run through mutually with the sliding screw, the lower extreme movable mounting of pivot has the connecting block, the lower extreme movable mounting of connecting block has the connecting piece, the lower extreme fixed mounting of connecting piece has the piece of cup jointing.
Further, first claw tooth spare and second claw tooth spare are the setting of handing over, and both structures are unanimous, and electric putter's lower extreme fixed mounting has adsorption apparatus to construct.
Further, the lower extreme of first claw tooth spare is provided with outer kink, kink in the lower extreme fixed mounting of first claw tooth spare, be provided with air bag portion in the inner chamber of first claw tooth spare, the upper end fixed mounting of air bag portion has the telescopic splenium of running through with the activity of first claw tooth spare, the upper end fixed mounting of air bag portion has the telescopic bulge that runs through with first claw tooth spare activity, the inner wall fixed mounting of outer kink has anti-skidding claw, adsorption apparatus fixed mounting is at the inner wall of first claw tooth spare and second claw tooth spare.
Further, adsorption apparatus constructs including fixed mounting at electric putter's connecting rod and the dodge piece of fixed mounting at the connecting rod lower extreme, the lower extreme fixed mounting who dodges the piece has the pulling pole, the lower extreme activity of pulling pole runs through there is the dustcoat body, the lower extreme fixed mounting of the dustcoat body has the fixed plate, the both sides fixed mounting of fixed plate has the sleeve, telescopic one side activity has been cup jointed the telescopic link, the inner wall swing joint of telescopic link and first claw tooth spare and second claw tooth spare, the lower extreme fixed mounting of fixed plate has sucking disc spare, the both sides fixed mounting of sucking disc spare lower extreme has places the buffering subassembly.
Furthermore, the lower end of the pulling rod is fixedly provided with a piston part which is movably connected with the inner cavity wall of the outer cover body.
Furthermore, the placing buffer assembly comprises a side sucker and an elastic band fixedly installed at the upper end of the side sucker, a movable roller shaft is fixedly installed at the lower end of the sleeve, an annular spring piece is arranged at the circle center of the movable roller shaft, and the annular spring piece is fixedly connected with the upper end of the elastic band.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a manipulator structure convenient for grabbing and placing, wherein the lower end of a first claw tooth piece is provided with an outer bending part, the lower end of the first claw tooth piece is fixedly provided with an inner bending part, an air bag part is arranged in an inner cavity of the first claw tooth piece, the upper end of the air bag part is fixedly provided with a telescopic pressing part movably penetrating through the first claw tooth piece, the upper end of the air bag part is fixedly provided with a telescopic protruding part movably penetrating through the first claw tooth piece, the inner wall of the outer bending part is fixedly provided with an anti-skidding claw, an adsorption mechanism is fixedly arranged on the inner walls of the first claw tooth piece and the second claw tooth piece, a claw mechanism is moved to the position of the upper end of a material and drives an electric push rod to shorten to drive the upper ends of two groups of push-pull rods to move upwards, the lower ends of the push-pull rods are close to each other, namely the first claw tooth piece and the second claw tooth piece are close to each other to facilitate clamping of the material, and the inner bending part limits the lower end of the material, avoid dropping, the material is blocked between outer bending portion, all being wrapped all around, and the protection nature is better, and outer bending portion's inner wall fixed mounting has the antiskid claw, avoids the material landing, and the upper end extrusion of material is telescopic presses the splenium, and telescopic pressing splenium is compressed, and inside gas passes through gasbag portion transmission to telescopic bulge, and telescopic bulge is protruding, protects the lower extreme of material once more, conveniently snatchs, is difficult for dropping.
2. The invention provides a manipulator structure convenient for grabbing and placing, the lower end of a sliding component is fixedly provided with a rotating shaft, the lower end of the rotating shaft is movably provided with a connecting block, the lower end of the connecting block is movably provided with a connecting piece, the lower end of the connecting piece is fixedly provided with a sleeve piece, an extension plate can descend by the extension of a hydraulic cylinder, namely, a claw tooth mechanism also moves downwards, so that the claw tooth mechanism is convenient to lift, in the lifting process, sliding rods on two sides of the extension plate move upwards and downwards along a vertical groove body, so that the stability of the claw tooth mechanism in the lifting process is convenient to ensure, meanwhile, the sliding component can move along a sliding screw rod, so that the transverse horizontal movement of the claw tooth mechanism is convenient to ensure, the sliding component is connected with the connecting block through the rotating shaft, the rotating shaft is externally connected with a motor, the claw tooth mechanism at the lower end of the connecting block can be driven by the rotating shaft to rotate, so that the multidirectional regulation and control are convenient, and a conveying belt component is started to work, the material is placed on the conveyor belt subassembly, the transportation of being convenient for, excellent in use effect.
3. The invention provides a manipulator structure convenient for grabbing and placing, wherein the lower end of a pulling rod movably penetrates through an outer cover body, the lower end of the outer cover body is fixedly provided with a fixed plate, two sides of the fixed plate are fixedly provided with sleeves, one side of each sleeve is movably sleeved with a telescopic rod, each telescopic rod is movably connected with the inner walls of a first jaw piece and a second jaw piece, the lower end of each fixed plate is fixedly provided with a sucker piece, the lower end of the pulling rod is fixedly provided with a piston part movably connected with the inner cavity wall of the outer cover body, the upper end of a side sucker is fixedly provided with an elastic belt, the lower end of each sleeve is fixedly provided with a movable roll shaft, the circle center of each movable roll shaft is provided with an annular spring piece, the annular spring piece and the upper end of each elastic belt are fixedly connected in the upward pulling process of an electric push rod, the upper end of a material is contacted with the sucker pieces, and the electric push rod drives a connecting rod and an avoiding piece and the pulling rod at the lower end of the connecting rod to move upwards, the internal negative pressure that forms of dustcoat, the dustcoat communicates with each other with sucking disc spare, make the suction of sucking disc spare increase, the in-process of snatching has been ensured, the stability of material motion, the material upwards extrudees, adsorb with the side sucking disc simultaneously, be convenient for snatch the comparatively slick and sly material in top, electric putter reverse motion, first claw tooth spare and second claw tooth spare part separate, sucking disc spare relaxes with the material promptly, the relaxation of the material of being convenient for, if drop suddenly at the in-process material of snatching, the side sucking disc does not relax with the material, the material drops and makes the stretch at the elastic webbing of cyclic annular spring leaf surface, elastic webbing and cyclic annular spring leaf all can play the effect of buffering to the material, after the material breaks away from the side sucking disc, elastic webbing and cyclic annular spring leaf resume the normal position, the buffering is effectual, the protecting effect is good.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a moving state diagram of the grasping mechanism of the present invention;
FIG. 3 is a schematic structural view of a grasping mechanism according to the present invention;
FIG. 4 is a plan cross-sectional view of the jaw mechanism of the present invention;
FIG. 5 is a view of the first jaw member and the second jaw member of the present invention after they are clamped together;
FIG. 6 is a schematic view of the adsorption mechanism of the present invention;
fig. 7 is an enlarged view of the invention at a in fig. 4.
In the figure: 1. a base; 11. a side plate; 12. a base plate; 13. a conveyor belt assembly; 14. a chute; 2. a support mechanism; 21. a support bar; 22. a load-bearing rail; 23. a hydraulic cylinder; 24. a vertical trough body; 25. a slider; 3. a moving mechanism; 31. an extension plate; 32. a limiting plate; 33. a sliding screw; 34. a slide bar; 4. a grabbing mechanism; 41. a sliding assembly; 42. a rotating shaft; 43. connecting blocks; 44. a connecting member; 45. a socket; 5. a pawl mechanism; 51. an outer sleeve member; 52. an electric push rod; 53. a limiting abutting block; 54. a tension spring; 55. a push-pull rod; 56. a first jaw member; 561. an outer fold; 562. an inner bend section; 563. an air bag portion; 564. a telescopic pressing part; 565. a telescoping projection; 566. an anti-slip claw; 57. a second jaw member; 6. an adsorption mechanism; 61. a connecting rod; 62. an avoidance member; 63. pulling a rod; 631. a piston portion; 64. an outer cover body; 65. a fixing plate; 66. a sleeve; 67. a telescopic rod; 68. a chuck member; 69. placing a buffer component; 691. side suction cups; 692. an elastic band; 693. a movable roll shaft; 694. an annular spring plate.
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.
In order to solve the technical problem of how to conveniently and quickly grasp materials, in a first embodiment shown in fig. 1, 4 and 5, the following preferred technical solutions are provided:
the utility model provides a conveniently snatch manipulator structure of placing, includes base 1 and movable mounting at the supporting mechanism 2 of base 1 upper end, and the lower extreme of supporting mechanism 2 is provided with moving mechanism 3, and the lower extreme of moving mechanism 3 is provided with snatchs mechanism 4, and the lower extreme of snatching mechanism 4 is provided with claw tooth mechanism 5.
The claw mechanism 5 comprises an outer sleeve part 51 and an electric push rod 52 arranged in an inner cavity of the outer sleeve part 51, two limiting abutting blocks 53 are fixedly arranged on two sides of the lower end of the electric push rod 52, a tension spring 54 is arranged at the upper end of each limiting abutting block 53, push-pull rods 55 are movably arranged on two sides of each limiting abutting block 53, two groups of push-pull rods 55 are arranged, the two groups of push-pull rods 55 are symmetrically arranged about the central line of the electric push rod 52, and a first claw part 56 and a second claw part 57 are movably arranged at one end, far away from the limiting abutting block 53, of each push-pull rod 55.
The lower extreme of first claw spare 56 is provided with outer bending portion 561, kink 562 in the lower extreme fixed mounting of first claw spare 56, be provided with gasbag portion 563 in the inner chamber of first claw spare 56, the upper end fixed mounting of gasbag portion 563 has the telescopic pressing portion 564 that runs through with the activity of first claw spare 56, the upper end fixed mounting of gasbag portion 563 has the telescopic bulge 565 that runs through with the activity of first claw spare 56, the inner wall fixed mounting of outer bending portion 566 has anti-skidding claw, adsorption apparatus 6 fixed mounting is at the inner wall of first claw spare 56 and second claw spare 57.
Specifically, move claw tooth mechanism 5 to the position of material upper end, and drive electric putter 52 shortens, the upper end that drives two sets of push-and-pull rods 55 up moves, the lower extreme of push-and-pull rods 55 is close to each other, first claw tooth spare 56 and second claw tooth spare 57 are close to each other, be convenient for carry out the centre gripping to the material, interior buckling part 562 is spacing to the lower extreme of material, avoid dropping, the material is blocked between outer buckling part 561, all being cladded all around, protectiveness is better, outer buckling part 561's inner wall fixed mounting has antiskid claw 566, avoid the material landing, the telescopic splenium 564 of upper end extrusion of material, telescopic splenium 564 is compressed, inside gas passes through gasbag portion 563 and transmits to telescopic bulge 565, telescopic bulge 565 is protruding, protect the lower extreme of material once more, conveniently snatch, be difficult for dropping.
In order to solve the technical problem of how to adjust the position of the jaw mechanism 5 and how to facilitate the positioning of the material, as shown in the first embodiment shown in fig. 1, 2 and 3, the following preferred technical solutions are provided:
the base 1 comprises a side plate 11, a bottom plate 12 fixedly installed on the inner wall of the side plate 11 and a conveyor belt assembly 13 embedded in the upper surface of the bottom plate 12, and a sliding groove 14 is formed in the upper surface of the side plate 11.
The supporting mechanism 2 comprises a supporting rod 21 arranged at the upper end of the side plate 11 and a bearing cross rod 22 fixedly arranged at the upper end of the supporting rod 21, a hydraulic cylinder 23 is arranged at the middle part of the bearing cross rod 22, a vertical groove body 24 is formed in the inner wall of the bearing cross rod 22, and a sliding block 25 matched with the sliding groove 14 is fixedly arranged at the lower end of the supporting rod 21, so that the whole position of the supporting mechanism 2 can be conveniently adjusted.
The moving mechanism 3 comprises an extension plate 31 fixedly installed at the lower end of the hydraulic cylinder 23 and a limiting plate 32 fixedly installed at the lower end of the extension plate 31, a sliding screw 33 is arranged on the inner wall of the limiting plate 32, and sliding rods 34 matched with the vertical groove bodies 24 are fixedly installed at the two ends of the extension plate 31.
The grabbing mechanism 4 comprises a sliding assembly 41 penetrating through the sliding screw 33 and a rotating shaft 42 fixedly installed at the lower end of the sliding assembly 41, a connecting block 43 is movably installed at the lower end of the rotating shaft 42, a connecting piece 44 is movably installed at the lower end of the connecting block 43, and a sleeving piece 45 is fixedly installed at the lower end of the connecting piece 44.
Specifically, extension of hydraulic cylinder 23 can make extension plate 31 descend, claw tooth mechanism 5 also down moves promptly, be convenient for the lift of claw tooth mechanism 5, in the lift in-process, slide bar 34 of extension plate 31 both sides reciprocates along vertical cell body 24, be convenient for ensure the stability of claw tooth mechanism 5 in the lift in-process, sliding assembly 41 can remove along sliding screw 33 simultaneously, be convenient for ensure the horizontal migration of claw tooth mechanism 5, sliding assembly 41 is connected with connecting block 43 through pivot 42, the external motor of pivot 42, the claw tooth mechanism 5 that can drive connecting block 43 lower extreme of pivot 42 is rotatory, be convenient for diversified regulation and control, open conveyer belt assembly 13 work, the material is placed on conveyer belt assembly 13, be convenient for transport, excellent in use effect.
In order to solve the technical problems of ensuring the stability of the materials in the placing process and avoiding the materials from falling off in the transportation process, the following preferred technical solutions are provided in the second embodiment as shown in fig. 6 and 7: the first jaw piece 56 and the second jaw piece 57 are arranged in a crossed manner, the structures of the first jaw piece and the second jaw piece are consistent, and the adsorption mechanism 6 is fixedly installed at the lower end of the electric push rod 52.
Adsorption mechanism 6 includes connecting rod 61 of fixed mounting at electric putter 52 and the piece 62 of dodging of fixed mounting at connecting rod 61 lower extreme, the lower extreme fixed mounting of dodging piece 62 has pulling rod 63, the lower extreme activity of pulling rod 63 has run through the dustcoat body 64, the lower extreme fixed mounting of dustcoat body 64 has fixed plate 65, the both sides fixed mounting of fixed plate 65 has sleeve 66, telescopic link 67 has been cup jointed in one side activity of sleeve 66, telescopic link 67 and the inner wall swing joint of first claw spare 56 and second claw spare 57, the lower extreme fixed mounting of fixed plate 65 has sucking disc spare 68, the both sides fixed mounting of sucking disc spare 68 lower extreme has places buffer assembly 69.
The lower end of the pulling rod 63 is fixedly provided with a piston part 631 movably connected with the inner cavity wall of the outer cover 64.
The placing buffer assembly 69 comprises a side suction disc 691 and an elastic belt 692 fixedly installed at the upper end of the side suction disc 691, a movable roller shaft 693 is fixedly installed at the lower end of the sleeve 66, an annular spring sheet 694 is arranged at the circle center of the movable roller shaft 693, and the annular spring sheet 694 is fixedly connected with the upper end of the elastic belt 692.
Specifically, in the process of pulling the electric push rod 52 upwards, the upper end of the material is in contact with the sucking disc part 68, the electric push rod 52 drives the connecting rod 61 and the avoiding part 62 and the pulling rod 63 at the lower end thereof to move upwards, negative pressure is formed inside the outer cover 64, the outer cover 64 is communicated with the sucking disc part 68, so that the suction force of the sucking disc part 68 is increased, the stability of the movement of the material is ensured in the grabbing process, the material is extruded upwards and is adsorbed by the side sucking disc 691, so that smooth materials at the top can be grabbed conveniently, the electric push rod 52 moves in the reverse direction, the first jaw part 56 is separated from the second jaw part 57, the sucking disc part 68 is loosened from the material, so that the material is loosened, if the material drops suddenly in the grabbing process, the side sucking disc 691 is not loosened from the material, the material drops, so that the elastic belt 692 wound on the outer surface of the annular spring piece 694 is stretched, and both the elastic belt and the annular spring piece 694 can play a role of buffering for the material, after the material is separated from the side sucker 691, the elastic band 692 and the annular spring piece 694 are restored to the original position, the buffering effect is good, and the protection effect is good.
The working principle is as follows: the extension of the hydraulic cylinder can make the extension plate descend, namely the claw tooth mechanism also moves downwards, so that the lifting control of the claw tooth mechanism can be conveniently completed, in the lifting process, the sliding rods on two sides of the extension plate move up and down along the vertical groove body, meanwhile, the sliding assembly can move along the sliding screw rod, the sliding assembly is connected with the connecting block through the rotating shaft, the rotating shaft is externally connected with a motor, the rotating shaft can drive the claw tooth mechanism at the lower end of the connecting block to rotate, so that the multidirectional adjustment and control of the tooth decay mechanism can be completed, the conveying belt assembly is opened to work, the material is placed on the conveying belt assembly, the claw tooth mechanism is moved to the position at the upper end of the material, and the electric push rod is driven to shorten, so that the upper ends of the two groups of push-pull rods are driven to move upwards, the lower ends of the push-pull rods are mutually close, namely the first claw tooth piece and the second claw tooth piece are mutually close, so that the clamping of the material can be completed, and the lower end of the material is limited by the inner bending part, the material is clamped between the outer bending parts, the periphery of the material is coated, the upper end of the material extrudes the telescopic pressing part, the telescopic pressing part is compressed, the internal gas is transmitted to the telescopic protruding part through the air bag part, the telescopic protruding part protrudes, the lower end of the material is limited again, the electric push rod drives the connecting rod and the avoiding part and the pulling rod at the lower end of the connecting rod to move upwards, negative pressure is formed inside the outer cover body, the outer cover body is communicated with the sucker part, the suction force of the sucker part is increased, the fixing work of the upper end of the material can be completed, the material is extruded upwards and is adsorbed by the side sucker, the electric push rod moves reversely, the first claw part and the second claw part are separated, the sucker part is loosened with the material, the material can be detached, if the material drops suddenly in the grabbing process, the side sucker is not loosened with the material, the material drops, so that the elastic belt wound on the outer surface of the annular spring piece is stretched, the buffering work of the elastic band and the annular spring piece on the materials can be finished.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (10)
1. The utility model provides a conveniently snatch manipulator structure of placing, includes base (1) and movable mounting supporting mechanism (2) on base (1), its characterized in that: the lower end of the supporting mechanism (2) is provided with a moving mechanism (3), the lower end of the moving mechanism (3) is provided with a grabbing mechanism (4), and the lower end of the grabbing mechanism (4) is provided with a claw mechanism (5);
the claw mechanism (5) comprises an outer sleeve part (51) and an electric push rod (52) arranged in an inner cavity of the outer sleeve part (51), wherein limiting abutting blocks (53) are fixedly arranged on two sides of the lower end of the electric push rod (52), a tension spring (54) is arranged at the upper end of each limiting abutting block (53), push-pull rods (55) are movably arranged on two sides of each limiting abutting block (53), two groups of push-pull rods (55) are arranged, the push-pull rods (55) are symmetrically arranged about the central line of the electric push rod (52), and a first claw part (56) and a second claw part (57) are movably arranged at one end, far away from the limiting abutting blocks (53), of each push-pull rod (55).
2. A manipulator structure convenient for grabbing and placing according to claim 1, wherein: the base (1) comprises side plates (11), a bottom plate (12) fixedly installed on the inner walls of the side plates (11) and a conveying belt assembly (13) embedded in the upper surface of the bottom plate (12), and sliding grooves (14) are formed in the upper surface of the side plates (11).
3. A manipulator structure convenient for grabbing and placing according to claim 2, wherein: the supporting mechanism (2) comprises a supporting rod (21) arranged at the upper end of the side plate (11) and a bearing cross rod (22) fixedly installed at the upper end of the supporting rod (21), a hydraulic cylinder (23) is arranged at the middle part of the bearing cross rod (22), a vertical groove body (24) is formed in the inner wall of the bearing cross rod (22), and a sliding block (25) matched with the sliding groove (14) is fixedly installed at the lower end of the supporting rod (21).
4. A manipulator structure convenient for grabbing and placing according to claim 3, wherein: the moving mechanism (3) comprises an extension plate (31) fixedly mounted at the lower end of the hydraulic cylinder (23) and a limiting plate (32) fixedly mounted at the lower end of the extension plate (31), a sliding screw (33) is arranged on the inner wall of the limiting plate (32), and sliding rods (34) matched with the vertical groove bodies (24) are fixedly mounted at two ends of the extension plate (31).
5. A manipulator structure convenient for grabbing and placing according to claim 4, wherein: snatch mechanism (4) and include sliding component (41) and pivot (42) of fixed mounting at sliding component (41) lower extreme that run through mutually with sliding screw (33), the lower extreme movable mounting of pivot (42) has connecting block (43), the lower extreme movable mounting of connecting block (43) has connecting piece (44), the lower extreme fixed mounting of connecting piece (44) has cup joint piece (45).
6. A manipulator structure convenient for grabbing and placing according to claim 1, wherein: the first jaw piece (56) and the second jaw piece (57) are arranged in a crossed mode, the structures of the first jaw piece and the second jaw piece are consistent, and the adsorption mechanism (6) is fixedly installed at the lower end of the electric push rod (52).
7. A manipulator structure convenient for grabbing and placing according to claim 6, wherein: the lower extreme of first claw tooth spare (56) is provided with outer bending part (561), kink (562) in the lower extreme fixed mounting of first claw tooth spare (56), be provided with gasbag portion (563) in the inner chamber of first claw tooth spare (56), the upper end fixed mounting of gasbag portion (563) has telescopic pressing portion (564) that run through with the activity of first claw tooth spare (56), the upper end fixed mounting of gasbag portion (563) has telescopic bulge (565) that run through with first claw tooth spare (56) activity, the inner wall fixed mounting of outer bending part (561) has antiskid claw (566), adsorption mechanism (6) fixed mounting is in the inner wall of first claw tooth spare (56) and second claw tooth spare (57).
8. A manipulator structure convenient for grabbing and placing according to claim 7, wherein: adsorption apparatus constructs (6) and dodges piece (62) including connecting rod (61) and the fixed mounting of fixed mounting at connecting rod (61) lower extreme of fixed mounting at electric putter (52), the lower extreme fixed mounting who dodges piece (62) has pulling pole (63), the lower extreme activity of pulling pole (63) runs through has dustcoat body (64), the lower extreme fixed mounting of dustcoat body (64) has fixed plate (65), the both sides fixed mounting of fixed plate (65) has sleeve (66), telescopic link (67) have been cup jointed in one side activity of sleeve (66), telescopic link (67) and the inner wall swing joint of first claw tooth spare (56) and second claw tooth spare (57), the lower extreme fixed mounting of fixed plate (65) has sucking disc spare (68), the both sides fixed mounting of sucking disc spare (68) lower extreme has places buffer unit (69).
9. A manipulator structure convenient for grabbing and placing according to claim 8, wherein: the lower end of the pulling rod (63) is fixedly provided with a piston part (631) which is movably connected with the inner cavity wall of the outer cover body (64).
10. A manipulator structure convenient for grabbing and placing according to claim 8, wherein: the placing buffer assembly (69) comprises a side sucker (691) and an elastic band (692) fixedly installed at the upper end of the side sucker (691), a movable roll shaft (693) is fixedly installed at the lower end of the sleeve (66), an annular spring piece (694) is arranged at the circle center of the movable roll shaft (693), and the annular spring piece (694) is fixedly connected with the upper end of the elastic band (692).
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| CN202111265098.XA CN113843817B (en) | 2021-10-28 | 2021-10-28 | Manipulator structure convenient for grabbing and placing |
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| CN202111265098.XA CN113843817B (en) | 2021-10-28 | 2021-10-28 | Manipulator structure convenient for grabbing and placing |
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| CN113843817B CN113843817B (en) | 2022-11-15 |
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| CN115196339A (en) * | 2022-09-16 | 2022-10-18 | 江苏通光电子科技有限公司 | Grabbing device is used in chip processing |
| CN116812551A (en) * | 2023-08-28 | 2023-09-29 | 甘肃路桥新锐交通科技有限责任公司 | Highway waveform guardrail plate sign indicating number destacking system |
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|---|---|
| CN113843817B (en) | 2022-11-15 |
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