CN114378207A - High-efficient manipulator material feeding unit and manipulator - Google Patents
High-efficient manipulator material feeding unit and manipulator Download PDFInfo
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- CN114378207A CN114378207A CN202210156224.6A CN202210156224A CN114378207A CN 114378207 A CN114378207 A CN 114378207A CN 202210156224 A CN202210156224 A CN 202210156224A CN 114378207 A CN114378207 A CN 114378207A
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- cylinder
- manipulator
- clamping plates
- spring
- feeding device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention relates to the technical field of manipulators, and discloses a high-efficiency manipulator feeding device and a manipulator, wherein the high-efficiency manipulator feeding device comprises a shell, a connecting shaft is rotatably arranged on the end wall of the shell, a servo motor is arranged in the shell, the output end of the servo motor is in transmission connection with the connecting shaft, a mounting disc is fixedly connected onto the connecting shaft, a plurality of mounting seats are fixedly arranged on the mounting disc, two clamping plates are slidably arranged on the mounting seats, the two clamping plates are elastically connected through an elastic connecting mechanism, and a plurality of through grooves are formed in the mounting disc; according to the invention, the plurality of groups of clamping plates are arranged, so that the feeding device can convey a plurality of parts at a time, the times of reciprocating movement of the manipulator during feeding are reduced, energy and time consumed during movement of the manipulator are reduced, the feeding efficiency is improved, the feeding and discharging of the clamping plates are controlled by the top plate, the mounting disc can rotate relative to the top plate, the movement of all the clamping plates can be controlled by only arranging one top plate and the driving element, and the manufacturing cost is reduced.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a high-efficiency manipulator feeding device and a manipulator.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The Chinese patent CN111085621A discloses a manipulator feeding system, which comprises a punch press, a feeding manipulator arranged on the feeding side of the punch press, wherein the feeding manipulator is in working connection with a punch press driving device through a chain and comprises a feeding support, an X-axis movement guide rail device arranged on the feeding support, a Z-axis movement guide rail device arranged on the lateral side of the feeding support, an X-axis driving mechanism in driving connection with the X-axis movement guide rail device, a Z-axis driving mechanism in driving connection with the Z-axis movement guide rail device, and a main driving shaft which is arranged on the support, is connected with a chain gear and provides power for the X-axis driving mechanism and the Z-axis driving mechanism; the manipulator has the advantages of high speed, high production efficiency, simple and convenient operation, safety, reliability, simple equipment structure, low investment cost, simple operation, no need of artificial operation and capability of operating the manipulator as long as the main machine of the equipment is operated.
However, when the manipulator is used, only one part can be clamped at a time for conveying, so that the manipulator needs to move back and forth for several times for conveying several parts, the energy consumption on the movement of the manipulator is large, and the feeding efficiency is low.
Therefore, it is necessary to provide an efficient manipulator feeding device and a manipulator to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an efficient manipulator feeding device and a manipulator, and aims to solve the problems that the manipulator consumes more energy in moving and has lower feeding efficiency in the prior manipulator feeding device and manipulator feeding in the background art.
In order to achieve the above purpose, a plurality of clamping stations need to be arranged on the feeding device, and the stability of clamping of a single clamping station is ensured, so that a plurality of parts can be conveyed simultaneously.
Based on the above thought, the invention provides the following technical scheme: the utility model provides a high-efficient manipulator material feeding unit, includes the casing, the end wall of casing rotates installs the connecting axle, be provided with servo motor in the casing, servo motor's output with the connecting axle transmission is connected, fixedly connected with mounting disc on the connecting axle, fixed mounting has a plurality of mounts, slidable mounting has two splint, two on the mount pad splint pass through elastic connection mechanism elastic connection, a plurality of logical grooves have been seted up on the mounting disc, it is a plurality of logical groove is linked together with the inner chamber of a plurality of mounts respectively, be provided with the roof between casing and the mounting disc, the roof with lead to groove looks adaptation, be provided with the driving element who is used for the relative casing of drive roof to remove in the casing, when the roof inserts logical inslot, the roof promotes two splint and keeps away from relatively.
As a further scheme of the invention, the elastic connection mechanism comprises two connecting seats, the two connecting seats are respectively and fixedly connected with the two clamping plates, a tension spring is arranged between the two connecting seats, and two ends of the tension spring are respectively and fixedly connected with the two connecting seats.
As a further scheme of the invention, the elastic connection mechanism comprises two cylinder barrels and two connection ropes, the two cylinder barrels are respectively and fixedly installed on the side walls of the two clamping plates close to the axis of the installation plate, two pistons are installed in the cylinder barrels in a sliding mode, the pistons located above the cylinder barrels are elastically connected with the inner wall of the top of the cylinder barrels, the pistons located below the cylinder barrels are elastically connected with the inner wall of the bottom of the cylinder barrels, the pistons located above the inner cavities of the two cylinder barrels are connected through the connection ropes, the pistons located below the inner cavities of the two cylinder barrels are also connected through the same connection ropes, rope penetrating holes are formed in the top wall and the bottom wall of the cylinder barrels, and the connection ropes penetrate out of the cylinder barrels through the rope penetrating holes.
As a further scheme of the invention, an anti-slip pad is fixedly mounted on the side wall of the clamping plate, the anti-slip pad is arranged in a hollow mode, an inner cavity of the anti-slip pad is communicated with the cylinder barrel through a first gas pipe, and one end, close to the cylinder barrel, of the first gas pipe is located between two pistons in the cylinder barrel.
As a further scheme of the invention, springs are arranged at the top and the bottom of the inner cavity of the cylinder barrel, the top end of the spring positioned above is fixedly connected with the inner wall of the top of the cylinder barrel, the bottom end of the spring positioned above is fixedly connected with the piston positioned above, the top end of the spring positioned below is fixedly connected with the piston positioned below, and the bottom end of the spring positioned below is fixedly connected with the inner wall of the bottom of the cylinder barrel.
As a further scheme of the invention, two nozzles are fixedly arranged on the side wall of the clamping plate far away from the cylinder barrel, the two nozzles are respectively communicated with the inner cavity of the cylinder barrel through two second gas transmission pipes, one end of one second gas transmission pipe far away from the nozzle is communicated with the top of the inner cavity of the cylinder barrel, and the other end of the other second gas transmission pipe far away from the nozzle is communicated with the bottom of the inner cavity of the cylinder barrel.
As a further scheme of the invention, two suckers are fixedly mounted on the anti-skid pad, the two suckers are respectively communicated with the inner cavity of the cylinder barrel through two third gas pipes, one end of one third gas pipe, which is far away from the nozzle, is communicated with the top of the inner cavity of the cylinder barrel, and the other end of the other third gas pipe, which is far away from the nozzle, is communicated with the bottom of the inner cavity of the cylinder barrel.
As a further aspect of the present invention, a side of the top plate adjacent to the mounting plate is provided with a triangular shape, and the two clamping plates are gradually spaced apart when the triangular portion of the top plate is inserted between the two clamping plates.
The high-efficiency manipulator comprises a manipulator body and a feeding device, wherein the feeding device is in transmission connection with the output end of the manipulator body.
As a further scheme of the invention, a first one-way valve is arranged in the first gas transmission pipe, the first one-way valve enables gas in the first gas transmission pipe to be sprayed out through a nozzle, the gas in the first gas transmission pipe cannot reversely flow into a cylinder barrel, gas inlet holes are formed in the top wall and the bottom wall of the cylinder barrel, a second one-way valve is arranged in the gas inlet holes, the second one-way valve enables outside gas to enter the cylinder barrel through the gas inlet holes, the gas in the cylinder barrel cannot be discharged through the gas inlet holes, the gas in the cylinder barrel can only be sprayed out through the nozzle, the outside gas cannot enter the cylinder barrel through the nozzle, and dust blown by the nozzle is prevented from being reversely sucked into the cylinder barrel.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the plurality of groups of clamping plates are arranged, so that the feeding device can convey a plurality of parts at a time, the times of reciprocating movement of the manipulator during feeding are reduced, energy and time consumed during movement of the manipulator are reduced, the feeding efficiency is improved, the feeding and discharging of the clamping plates are controlled by the top plate, the mounting disc can rotate relative to the top plate, the movement of all the clamping plates can be controlled by only arranging one top plate and the driving element, and the manufacturing cost is reduced.
Drawings
FIG. 1 is a schematic three-dimensional structure of a feeding device of the present invention;
FIG. 2 is a schematic cross-sectional view of the feeding device of the present invention;
FIG. 3 is a schematic structural diagram of the elastic connecting mechanism according to the first embodiment of the present invention;
FIG. 4 is a schematic three-dimensional structure of a second embodiment of the elastic connecting mechanism of the present invention;
FIG. 5 is a cross-sectional view of a second embodiment of the elastic connecting mechanism of the present invention;
FIG. 6 is a schematic three-dimensional structure of a third embodiment of the elastic connecting mechanism of the present invention;
FIG. 7 is a cross-sectional view of a resilient connecting means according to a third embodiment of the present invention;
FIG. 8 is a schematic three-dimensional structure of an elastic connecting mechanism according to a fourth embodiment of the present invention;
FIG. 9 is a schematic cross-sectional view of an elastic connecting mechanism according to a fourth embodiment of the present invention;
fig. 10 is a schematic structural view of the robot of the present invention.
In the figure: 1. a housing; 2. a connecting shaft; 3. mounting a disc; 301. a through groove; 4. a mounting seat; 5. a splint; 6. an electric push rod; 7. a top plate; 8. a servo motor; 9. a connecting seat; 10. a tension spring; 11. a non-slip mat; 12. a cylinder barrel; 13. connecting ropes; 14. a spring; 15. a piston; 16. a first gas delivery pipe; 17. a nozzle; 18. a second gas delivery pipe; 19. a suction cup; 20. a third gas delivery pipe; 21. the manipulator body.
Detailed Description
Referring to fig. 1 to 3, in the embodiment of the present invention, an efficient manipulator feeding device includes a housing 1, a connecting shaft 2 is rotatably installed on an end wall of the housing 1, a servo motor 8 is disposed in the housing 1, an output end of the servo motor 8 is in transmission connection with the connecting shaft 2, so that the output end of the servo motor 8 can drive the connecting shaft 2 to rotate, a mounting plate 3 is fixedly connected to the connecting shaft 2, a plurality of mounting seats 4 are fixedly installed on the mounting plate 3, the plurality of mounting seats 4 are distributed in an annular array with an axis of the mounting plate 3 as an array center, two clamping plates 5 are slidably installed on the mounting seats 4, the two clamping plates 5 are arranged in parallel to each other, the two clamping plates 5 are elastically connected through an elastic connection mechanism, a plurality of through grooves 301 are formed on the mounting plate 3, the plurality of through grooves 301 are respectively communicated with inner cavities of the plurality of mounting seats 4, a top plate 7 is arranged between the shell 1 and the mounting disc 3, the top plate 7 is matched with the through groove 301, so that the top plate 7 can be inserted into the through groove 301, a driving element for driving the top plate 7 to move relative to the shell 1 is arranged in the shell 1, when the top plate 7 is inserted into the through groove 301, the top plate 7 pushes the two clamping plates 5 to be relatively far away, and the driving element is an electric push rod 6, an air cylinder and the like; when feeding, firstly, the feeding device is moved to a feeding position through the mechanical arm 21, the top plate 7 is driven to be inserted into the through groove 301 through the driving element, the top plate 7 pushes the two clamping plates 5 to be away relatively, then the two clamping plates 5 are moved to a position where a part to be fed is positioned between the two clamping plates 5, then the top plate 7 is driven to be moved out of the through groove 301 through the driving element, the two clamping plates 5 are close to each other under the action of the tensile force of the elastic connecting mechanism, so that the part is clamped, then the servo motor 8 is controlled to drive the connecting shaft 2 to rotate, so that the mounting disc 3 is driven to rotate, the other two adjacent clamping plates 5 are rotated to the feeding position, meanwhile, the through groove 301 close to the clamping plates 5 is moved to a position opposite to the top plate 7, then the two clamping plates 5 are pushed to be away through the top plate 7, and another part is clamped in the same mode until all the mounting seats 4 are clamped with the part, the feeding device is moved to the discharging position through the mechanical arm 21 to perform discharging, the top plate 7 is driven to be inserted between the two clamping plates 5 through the driving element during discharging, the two clamping plates 5 are made to be away from each other, parts are put down, discharging is performed one by one through rotation of the mounting disc 3 until discharging of all the parts is successful, multiple groups of clamping plates 5 are arranged, the feeding device can convey multiple parts at a time, the times of reciprocating movement of the mechanical arm during feeding are reduced, energy and time consumed during moving of the mechanical arm are reduced, feeding efficiency is improved, feeding and discharging of the clamping plates 5 are controlled through the top plate 7, the mounting disc 3 can rotate relative to the top plate 7, only one top plate 7 and the driving element are arranged, and accordingly moving of all the clamping plates 5 can be controlled, and manufacturing cost is reduced.
In this embodiment, it is preferable that a side of the top plate 7 close to the mounting plate 3 is triangular, so that the top plate 7 can be easily inserted between the two clamping plates 5, and the two clamping plates 5 are gradually separated from each other during the process of inserting the top plate 7 into the clamping plates 5.
Referring to fig. 3, in a first embodiment of the elastic connection mechanism, the elastic connection mechanism includes two connection seats 9, the two connection seats 9 are respectively and fixedly connected to two clamping plates 5, a tension spring 10 is disposed between the two connection seats 9, two ends of the tension spring 10 are respectively and fixedly connected to the two connection seats 9, when the top plate 7 is inserted between the two clamping plates 5, the two clamping plates 5 are away from each other, the tension spring 10 is gradually stretched, and when the top plate 7 is pulled out from between the two clamping plates 5, the two clamping plates 5 are close to each other under the tensile force of the tension spring 10, so as to clamp a part.
Referring to fig. 4 and 5, in a second embodiment of the elastic connection mechanism, the elastic connection mechanism includes two cylinder barrels 12 and two connection ropes 13, the two cylinder barrels 12 are respectively and fixedly installed on the side walls of the two clamping plates 5 near the axis of the installation plate 3, two pistons 15 are installed in the cylinder barrels 12 in a sliding manner, the pistons 15 located above are elastically connected with the top inner wall of the cylinder barrels 12, the pistons 15 located below are elastically connected with the bottom inner wall of the cylinder barrels 12, the pistons 15 located above the inner cavities of the two cylinder barrels 12 are connected through the connection ropes 13, the pistons 15 located below the inner cavities of the two cylinder barrels 12 are also connected through the same connection ropes 13, rope through holes are respectively formed in the top wall and the bottom wall of the cylinder barrels 12, and the connection ropes 13 penetrate through the cylinder barrels 12 through the rope through holes; the side wall of the clamping plate 5 is fixedly provided with an anti-skid pad 11, the anti-skid pad 11 is arranged in a hollow mode, the inner cavity of the anti-skid pad 11 is communicated with the cylinder barrel 12 through a first air pipe 16, and one end, close to the cylinder barrel 12, of the first air pipe 16 is located between two pistons 15 in the cylinder barrel 12; when the top plate 7 is inserted between the two clamping plates 5, the two clamping plates 5 drive the two cylinders 12 to be away from each other, when the two cylinders 12 are away from each other, the partial length of the connecting rope 13 between the two cylinders 12 is lengthened, the partial length of the connecting rope 13 inside the cylinders 12 is shortened, so that the connecting rope 13 drives the pistons 15 to move towards the direction away from the middle parts of the cylinders 12, along with the movement of the pistons 15, the space between the two pistons 15 is increased, so that the air in the inner cavities of the non-slip mats 11 is sucked into the cylinders 12 through the first air conveying pipes 16, the non-slip mats 11 are contracted, parts are clamped between the two non-slip mats 11, when the top plate 7 is moved out from between the two clamping plates 5, the pistons 15 are elastically connected with the cylinders 12, so that the pistons 15 move towards the middle parts of the cylinders 12, and the partial length of the connecting rope 13 in the inner cavities of the cylinders 12 is increased, the partial length that is located between two cylinders 12 reduces, thereby make two cylinders 12 be close to each other, thereby make two splint 5 be close to each other, thereby with the part centre gripping, and simultaneously, when two pistons 15 are close to each other, gas between two pistons 15 is through in the 16 input slipmat 11 of first gas-supply pipe, thereby make 11 inflation of slipmat, make the cladding that the slipmat 11 can be better on the part, skid-proof effect has been played, avoid the part landing in the transportation process, the inflation and contraction of slipmat 11 and the removal of splint 5 are all controlled through the promotion of roof 7, the cooperation effect is better, the preparation cost is lower.
In this embodiment, preferably, springs 14 are disposed at the top and the bottom of the inner cavity of the cylinder 12, the top end of the spring 14 located above is fixedly connected to the top inner wall of the cylinder 12, the bottom end of the spring 14 located above is fixedly connected to the piston 15 located above, the top end of the spring 14 located below is fixedly connected to the piston 15 located below, and the bottom end of the spring 14 located below is fixedly connected to the bottom inner wall of the cylinder 12, so that the piston 15 located above is elastically connected to the top inner wall of the cylinder 12, and the piston 15 located below is elastically connected to the bottom inner wall of the cylinder 12.
Referring to fig. 6 and 7, in a third embodiment of the elastic connection mechanism, on the basis of the second embodiment of the elastic connection mechanism, two nozzles 17 are fixedly installed on the side wall of the clamp plate 5 away from the cylinder 12, the two nozzles 17 are respectively communicated with the inner cavity of the cylinder 12 through two second air pipes 18, one end of one of the second air pipes 18 away from the nozzle 17 is communicated with the top of the inner cavity of the cylinder 12, one end of the other second air pipe 18 away from the nozzle 17 is communicated with the bottom of the inner cavity of the cylinder 12, the second air pipe 18 is fixedly installed inside the clamp plate 5, when the two pistons 15 are relatively far away, the air on the two sides of the inner cavity of the cylinder 12 is input into the nozzle 17 through the second air pipe 18 and is ejected through the nozzle 17, the air outlet end of the nozzle 17 is arranged towards the part to be clamped, so that the air ejected from the nozzle 17 can simply clean the surface of the part, therefore, the fitting effect between the parts and the non-slip mat 11 is better, the non-slip effect is further improved, and the parts are prevented from slipping off during conveying.
In this embodiment, preferably, a first check valve is arranged in the first gas pipe 16, the first check valve enables gas in the first gas pipe 16 to be sprayed out through the nozzle 17, the gas in the first gas pipe 16 cannot flow into the cylinder 12 reversely, the top wall and the bottom wall of the cylinder 12 are both provided with gas inlets, a second check valve is arranged in the gas inlets, the second check valve enables outside gas to enter the cylinder 12 through the gas inlets, the gas in the cylinder 12 cannot be discharged through the gas inlets, therefore, the gas in the cylinder 12 can only be sprayed out through the nozzle 17, the outside gas cannot enter the cylinder 12 through the nozzle 17, and dust blown away by the nozzle 17 is prevented from being sucked into the cylinder 12 reversely.
Referring to fig. 8 and 9, in a fourth embodiment of the elastic connection mechanism, on the basis of the second embodiment of the elastic connection mechanism, two suction cups 19 are fixedly installed on the non-slip mat 11, the two suction cups 19 are respectively communicated with the inner cavity of the cylinder 12 through two third air pipes 20, one end of one of the third air pipes 20 away from the nozzle 17 is communicated with the top of the inner cavity of the cylinder 12, one end of the other third air pipe 20 away from the nozzle 17 is communicated with the bottom of the inner cavity of the cylinder 12, the third air pipe 20 is fixedly installed inside the clamp plate 5, when the two clamp plates 5 are close to each other to clamp a part, the two pistons 15 are close to each other to generate negative pressure on the two sides of the inner cavity of the cylinder 12, so that the suction cups 19 generate negative pressure through the third air pipes 20, and the suction cups 19 can be attached to the surface of the part to adsorb the part, through sucking disc 19's adsorption, can further fix the part to fastness when improving the centre gripping when two splint 5 keep away from each other, two pistons 15 keep away from each other, thereby make the atmospheric pressure increase of 12 both sides of cylinder, thereby make the atmospheric pressure increase in the sucking disc 19 through third gas-supply pipe 20, thereby push down the part, so that the unloading.
Referring to fig. 10, the invention further discloses an efficient manipulator, which comprises a manipulator body 21 and the feeding device of any one of the embodiments, wherein the feeding device is in transmission connection with the output end of the manipulator body.
The working principle of the invention is as follows: when feeding, firstly, the feeding device is moved to a feeding position through the mechanical arm 21, the top plate 7 is driven to be inserted into the through groove 301 through the driving element, the top plate 7 pushes the two clamping plates 5 to be away relatively, then the two clamping plates 5 are moved to a position where a part to be fed is positioned between the two clamping plates 5, then the top plate 7 is driven to be moved out of the through groove 301 through the driving element, the two clamping plates 5 are close to each other under the action of the tensile force of the elastic connecting mechanism, so that the part is clamped, then the servo motor 8 is controlled to drive the connecting shaft 2 to rotate, so that the mounting disc 3 is driven to rotate, the other two adjacent clamping plates 5 are rotated to the feeding position, meanwhile, the through groove 301 close to the clamping plates 5 is moved to a position opposite to the top plate 7, then the two clamping plates 5 are pushed to be away through the top plate 7, and another part is clamped in the same mode until all the mounting seats 4 are clamped with the part, the feeding device is moved to a discharging position through the mechanical arm 21 for discharging, the top plate 7 is driven by the driving element to be inserted between the two clamping plates 5 during discharging, the two clamping plates 5 are far away from each other, and therefore parts are put down and discharged one by one through rotation of the mounting disc 3 until all the parts are successfully discharged; when the elastic connecting mechanism of the first embodiment is adopted, when the top plate 7 is inserted between the two clamping plates 5, the two clamping plates 5 are far away from each other, the tension spring 10 is gradually stretched, and when the top plate 7 is pulled out from between the two clamping plates 5, the two clamping plates 5 are close to each other under the action of the tension spring 10, so that a part is clamped; when the elastic connecting mechanism of the second embodiment is adopted, when the top plate 7 is inserted between the two clamping plates 5, the two clamping plates 5 drive the two cylinder barrels 12 to be away from each other, when the two cylinder barrels 12 are away from each other, the partial length of the connecting rope 13 between the two cylinder barrels 12 is lengthened, the partial length of the connecting rope 13 inside the cylinder barrels 12 is shortened, so that the connecting rope 13 drives the piston 15 to move towards the direction away from the middle part of the cylinder barrel 12, along with the movement of the piston 15, the space between the two pistons 15 is enlarged, so that the air in the inner cavity of the non-slip mat 11 is sucked into the cylinder barrel 12 through the first air pipe 16, the non-slip mat 11 is contracted, so that parts can be clamped between the two non-slip mats 11, when the top plate 7 is moved out from between the two clamping plates 5, because the piston 15 is elastically connected with the cylinder barrel 12, the piston 15 moves towards the middle part of the cylinder barrel 12, so that the partial length of the connecting rope 13 in the inner cavity of the cylinder barrel 12 is increased, the length of the part between the two cylinder barrels 12 is reduced, so that the two cylinder barrels 12 are close to each other, the two clamping plates 5 are close to each other, a part is clamped, meanwhile, when the two pistons 15 are close to each other, gas between the two pistons 15 is input into the non-slip mat 11 through the first gas pipe 16, so that the non-slip mat 11 is expanded, the non-slip mat 11 can be better coated on the part, the anti-slip effect is achieved, and the part is prevented from slipping off in the conveying process; when the elastic connecting mechanism of the third embodiment is adopted, when the two pistons 15 are relatively far away, the gas on the two sides of the inner cavity of the cylinder barrel 12 is input into the nozzle 17 through the second gas transmission pipe 18 and is sprayed out through the nozzle 17, and the gas outlet end of the nozzle 17 is arranged towards the part to be clamped, so that the surface of the part can be simply cleaned by the gas sprayed out from the nozzle 17, the attaching effect between the part and the anti-skid pad 11 is better, the anti-skid effect is further improved, and the part is prevented from sliding off during conveying; adopt the fourth embodiment during elastic connection mechanism, when two splint 5 are close to the centre gripping part each other, two pistons 15 are close to each other, make 12 inner chamber both sides of cylinder barrel produce the negative pressure, thereby produce the negative pressure on making sucking disc 19 through third gas-supply pipe 20, thereby make sucking disc 19 can laminate and adsorb the part on the surface of part, adsorption through sucking disc 19, can further fix the part, thereby fastness when improving the centre gripping, when two splint 5 keep away from each other, two pistons 15 keep away from each other, thereby make the atmospheric pressure increase of 12 both sides of cylinder barrel, thereby make the atmospheric pressure increase in the sucking disc 19 through third gas-supply pipe 20, thereby push down the part, so as to be convenient for the unloading.
Claims (9)
1. The utility model provides a high-efficient manipulator material feeding unit, includes the casing, its characterized in that: the end wall of casing rotates installs the connecting axle, be provided with servo motor in the casing, servo motor's output with the connecting axle transmission is connected, fixedly connected with mounting disc on the connecting axle, fixed mounting has a plurality of mounts pad on the mounting disc, slidable mounting has two splint, two on the mount pad splint pass through elastic connection mechanism elastic connection, a plurality of logical grooves have been seted up on the mounting disc, and are a plurality of logical groove is linked together with the inner chamber of a plurality of mounts pad respectively, be provided with the roof between casing and the mounting disc, the roof with lead to groove looks adaptation, be provided with the drive element who is used for the relative casing of drive roof to remove in the casing, when the roof inserts logical inslot, the roof promotes two splint and keeps away from relatively.
2. The efficient manipulator feeding device of claim 1, wherein: the elastic connection mechanism comprises two connecting seats, the two connecting seats are fixedly connected with the two clamping plates respectively, a tension spring is arranged between the two connecting seats, and two ends of the tension spring are fixedly connected with the two connecting seats respectively.
3. The efficient manipulator feeding device of claim 1, wherein: elastic connection mechanism includes two cylinders and two connection ropes, two the cylinder respectively fixed mounting be close to the lateral wall in mounting disc axle center at two splint on, slidable mounting has two pistons in the cylinder, is located the top piston is connected with the top inner wall elastic connection of cylinder, is located the below the piston is connected with the bottom inner wall elastic connection of cylinder, and the piston that is located two cylinder inner chamber tops passes through the connection rope and connects, and the piston that is located two cylinder inner chamber belows also passes through the same connection rope and connects, and the rope handling hole has all been seted up to the roof and the diapire of cylinder, connect the rope and wear out the cylinder through the rope handling hole.
4. The efficient manipulator feeding device of claim 3, wherein: the lateral wall fixed mounting of splint has the slipmat, the slipmat sets up for cavity, the inner chamber of slipmat through first gas-supply pipe with the cylinder is linked together, the one end that first gas-supply pipe is close to the cylinder is located between two pistons of this cylinder.
5. The efficient manipulator feeding device of claim 3, wherein: the spring is arranged at the top and the bottom of the inner cavity of the cylinder barrel, the top end of the spring above the spring is fixedly connected with the inner wall of the top of the cylinder barrel, the bottom end of the spring above the spring is fixedly connected with the piston above the spring, the top end of the spring below the spring is fixedly connected with the piston below the spring, and the bottom end of the spring below the spring is fixedly connected with the inner wall of the bottom of the cylinder barrel.
6. The efficient manipulator feeding device of claim 3, wherein: the side wall of the clamping plate, far away from the cylinder barrel, is fixedly provided with two nozzles, the two nozzles are respectively communicated with the inner cavity of the cylinder barrel through two second gas conveying pipes, one end, far away from the nozzles, of one of the second gas conveying pipes is communicated with the top of the inner cavity of the cylinder barrel, and the other end, far away from the nozzles, of the second gas conveying pipe is communicated with the bottom of the inner cavity of the cylinder barrel.
7. The efficient manipulator feeding device of claim 3, wherein: the anti-slip pad is fixedly provided with two suckers, the two suckers are respectively communicated with the inner cavity of the cylinder barrel through two third gas pipes, one end, away from the nozzle, of one third gas pipe is communicated with the top of the inner cavity of the cylinder barrel, and the other end, away from the nozzle, of the other third gas pipe is communicated with the bottom of the inner cavity of the cylinder barrel.
8. The efficient manipulator feeding device of claim 1, wherein: one side of the top plate close to the mounting disc is triangular, and when the triangular part of the top plate is inserted between the two clamping plates, the two clamping plates are gradually far away.
9. The utility model provides a high-efficient manipulator, includes the arm body, its characterized in that: the output end of the manipulator body is in transmission connection with the feeding device according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156224.6A CN114378207A (en) | 2022-02-21 | 2022-02-21 | High-efficient manipulator material feeding unit and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156224.6A CN114378207A (en) | 2022-02-21 | 2022-02-21 | High-efficient manipulator material feeding unit and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114378207A true CN114378207A (en) | 2022-04-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210156224.6A Withdrawn CN114378207A (en) | 2022-02-21 | 2022-02-21 | High-efficient manipulator material feeding unit and manipulator |
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| CN (1) | CN114378207A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384858A (en) * | 2022-09-29 | 2022-11-25 | 青岛盈佳电子有限公司 | Batch packing apparatus |
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2022
- 2022-02-21 CN CN202210156224.6A patent/CN114378207A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384858A (en) * | 2022-09-29 | 2022-11-25 | 青岛盈佳电子有限公司 | Batch packing apparatus |
| CN115384858B (en) * | 2022-09-29 | 2023-11-14 | 青岛盈佳电子有限公司 | Batch packing device |
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Application publication date: 20220422 |
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| WW01 | Invention patent application withdrawn after publication |