CN205571841U - Multifunctional mechanical hand - Google Patents

Abstract

The utility model discloses a multifunctional manipulator used for automatic assembly line feeding of elevator floor door panel guide shoes. Shoe stacking tray grippers, three kinds of grippers can realize the transfer and transportation of guide shoe pallets and the loading of guide shoes and C-nuts according to the set working steps through the scheduling of the control system. By integrating guide shoe grippers, nut grippers and guide shoe stacking tray grippers, the multifunctional manipulator provided by the utility model can not only complete automatic loading of guide shoes and nuts, but also carry out guide shoe palletizing tray self-feeding The transfer to the transfer table or from the transfer table to the material truck improves the automation of the elevator floor door panel guide shoe assembly line, reduces the labor intensity of workers, and improves assembly efficiency.

Description

A multifunctional manipulator

technical field

The utility model belongs to the technical field of manipulators, in particular to a multifunctional manipulator used for grabbing guide shoes, C-shaped nuts and guide shoe stacking boxes in a floor door panel assembly line.

Background technique

The feeding of guide shoes and C-nuts is an indispensable production link on the automatic assembly line of elevator floor door panels. The existing production line generally adopts manual feeding or uses multiple robots to complete the production process of feeding guide shoes and C-type nuts separately. Manual feeding has high labor intensity, low production efficiency, and feeding accuracy may not be able to reach The problem of process requirements; when multiple independent manipulators are used to complete the feeding of guide shoes and C-type nuts, there are problems such as large space occupation of equipment, high investment and operating costs, and complicated control. Furthermore, the traditional guide shoe loading generally uses manpower to complete the delivery of the guide shoe palletizing box from the feeding truck to the transfer table. When the production task is heavy, this step may affect the efficiency and efficiency of the entire elevator door panel guide shoe assembly operation. job quality.

The utility model improves the existing manipulator.

Utility model content

The task of this utility model is to provide a multifunctional manipulator used in the assembly line of elevator floor door panel guide shoes. Feeding saves equipment purchase and operating costs, improves labor efficiency and feeding accuracy, and saves workshop land.

The utility model adopts the following technical solutions to solve its technical problems:

A multifunctional manipulator, comprising a fastened frame and a mechanical arm mounting seat, the mechanical arm mounting seat is used to fix the multifunctional manipulator to the mechanical arm, and the frame is used to install the gripper and the control system, which is characterized in that : the frame is equipped with guide shoe grippers and nut grippers respectively on both sides of the frame, and the guide shoe grippers and nut grippers can grasp the guide shoes and nuts under the control of the control system.

Further, the frame of the multifunctional manipulator includes a mounting frame, four supporting feet fixed on the mounting frame and a supporting beam, the supporting beam is fastened to the mounting frame or integrally formed and is perpendicular to the mounting frame to one side of the mounting frame. The direction of stretching; the end of the support beam is provided with a first handle mount; The hand mounts are respectively used to install guide shoe grippers or nut grippers; the mechanical arm mounts are arranged on one side of the installation frame parallel to the extension direction of the support beam; the control system is arranged on the upper surface of the installation frame. The first handle mounting base has the same structure as the second handle mounting base, that is, it includes a mounting block arranged at the end of the connecting arm and tightly connected with the connecting arm; the two sides of the mounting block are respectively provided with supporting seats , the support base is used to fix the sensor and positioning mechanism connected to the guide shoe grip; the middle position of the installation block is provided with a support arm, which is used to fix the pressing mechanism of the guide shoe grip, wherein the The first gripper mount is a guide shoe gripper mount, the second gripper mount is a nut gripper mount; or the second gripper mount is a guide shoe gripper mount, and the first gripper mount is a nut Gripper mount.

Further, the multifunctional manipulator also includes a guide shoe pallet gripper arranged on the frame, and the guide shoe pallet gripper can realize picking and placing of the guide shoe pallet under the control of the control system. Specifically for the multifunctional manipulator in the previous technical solution, the guide shoe palletizing tray gripper is arranged on the supporting feet of the cuboid frame.

Further, the nut gripper includes at least two groups of air claws, clamping blocks arranged on the air claws, a driving cylinder for driving the air claws, and a solenoid valve for controlling the driving cylinders. Each group of grippers can grab a nut; the control line of the solenoid valve is electronically connected to the control system, and the driving cylinder can realize the clamping and loosening of the nut under the control of the control system. Further, the nut gripper includes two sets of air claws, clamping blocks connected to the air claws, a drive cylinder for driving the air claws, and a solenoid valve for controlling the drive cylinder; the two sets of air claws are used to grab Two nuts, the distance between the two nuts being grasped is consistent with the distance between the assembly holes of the nuts to be assembled on the guide shoe grasped by the guide shoe gripper.

Further, the guide shoe grip includes a pressing mechanism, a positioning mechanism and an inductor; the inductor is used to detect whether the material is in place; the positioning mechanism is used to fix the material; the pressing mechanism is used to compress the material. Preferably, the sensor is a proximity switch; the positioning mechanism includes a positioning pin and a mounting block, the positioning pin is used to insert into the positioning pin hole on the guide shoe, and the mounting block is used to fix the positioning pin to the frame; the pressing mechanism includes a pressing arm , cylinder and mounting block, when the guide shoe is in place, the cylinder can press the guide shoe between the pressing arm and the mounting block under the control of the control system.

The frame is also provided with a laser sensor, through which the accuracy of the placement of the guide shoe pallet and the repeated grabbing by the manipulator is judged, and the recognition is fed back to the robot controller system.

The beneficial effects of the utility model are: 1. By integrating the guide shoe gripper and the nut gripper, the multifunctional manipulator provided by the utility model can complete the automatic feeding of the guide shoe and the nut respectively, and the feeding efficiency is high, and the labor intensity of the operator is reduced. 2. By integrating guide shoe grippers, nut grippers and guide shoe stacking tray grippers, the multifunctional manipulator provided by the utility model can not only complete guide shoe and nut Automatic loading, it is also possible to carry out the transfer of the guide shoe stacking tray from the feeding car to the transfer table or from the transfer table to the feeding car, which further improves the automation of the elevator floor door panel guide shoe assembly line, further reduces the labor intensity of workers, and further improves the assembly efficiency. Improvement; 3. Using manipulator for feeding, the feeding accuracy is good and continuous operation can be realized. In a word, the manipulator can realize the functions of conveying, grasping and locating grasping parts such as guide shoes and nuts, and is a manipulator for conveying, grasping and locating.

The technical solution of the utility model is described in detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is the structural representation of the preferred embodiment of the utility model;

Fig. 2 is an enlarged view of part B in Fig. 1;

Fig. 3 is the A direction view in Fig. 1;

Among them: 1-frame, 2-nut gripper, 3-guide shoe palletizing tray gripper, 4-guide shoe gripper, 5-control repeater, 6-mechanical arm mounting seat;

11-mounting frame, 12-supporting foot of the mounting frame, 13-supporting beam, 14-guide shoe gripper mounting seat, 15-nut gripper mounting seat, 16-location pin of palletizing tray gripper;

141-the mounting block on the guide shoe gripper mount, 142-the L-shaped support seat on the guide shoe gripper mount, 143-the support arm on the guide shoe gripper mount;

21-the driving cylinder of the nut gripper, 22-the solenoid valve of the nut gripper, 23-air claw, 24-clamping block.

41-the pressing mechanism of the guide shoe grip, 42-the positioning mechanism of the guide shoe grip, 43-the sensor of the guide shoe grip; 421-the positioning pin of the positioning mechanism, 422-the mounting block for fixing the positioning pin, 411- The pressing arm of the pressing mechanism, the air cylinder of 412-the pressing mechanism, the mounting block of 413-the pressing mechanism.

detailed description

This preferred embodiment discloses a multi-functional manipulator for automatic assembly line feeding of guide shoes of elevator floor door panels. Guide shoe pallet gripper, the three kinds of grippers can realize the transfer and transportation of guide shoe pallet pallet and the loading of guide shoe and C-nut according to the set working steps by controlling the scheduling of repeaters.

As shown in Figures 1 and 2, the multifunctional manipulator disclosed in this preferred embodiment includes a frame 1, a nut gripper 2, a guide shoe pallet gripper 3, a guide shoe gripper 4, a control relay 5 and a mechanical Arm Mount 6.

In the utility model, the first gripper mounting seat is set as the guide shoe gripper mounting seat 14; the second gripper mounting seat is set as the nut gripper mounting seat 15. In fact, the two are interchangeable and have universal use.

The frame 1 is used to install and carry other components, and it includes a mounting frame 11, four support feet 12 fixed on the mounting frame and a support beam 13, and the support beam 13 is fastened to the mounting frame 11 or integrally formed and One side of the mounting frame 11 extends along a direction perpendicular to the mounting frame 11; On the other side of the installation frame 11 relative to the extension direction of the support beam 13, a nut gripper mounting seat 15 for installing the nut gripper 2 is provided. The mechanical arm mounting seat 6 is arranged on the side surface of the mounting frame 11 parallel to the extending direction of the support beam 13 . The control repeater 5 is fastened on the upper surface of the installation frame 11 . At least two of the supporting feet 12 are provided with positioning pins 16, and the positioning pins 16 are used to cooperate with the positioning holes on the guiding shoe stacking tray to realize the transfer and transportation of the guiding shoe stacking tray; The gripper of the guide shoe pallet includes support feet 12 and positioning pins 16, and the positioning pin 16 is used to cooperate with the positioning holes on the guide shoe pallet to realize the transfer and transportation of the guide shoe pallet.

See Fig. 1 and Fig. 2, guide shoe handle mount 14 comprises the mounting block 141 that is arranged on the end of support beam 13 and is perpendicular to support beam 13; One side plate of the type support seat 142 is used for fixedly connecting the installation block 141 , and the other side plate is used for fixedly connecting the guide shoe gripper 4 . The middle position of the installation block 141 is provided with a support arm 143 for fixing the guide shoe handle 4. The transition connection between the support arm 143 and the installation block 141 is used to accurately stabilize the pressing mechanism 41 and the positioning mechanism 42 described later. See Fig. 2, guide shoe gripper 4 comprises pressing mechanism 41, positioning mechanism 42 and inductor 43; Sensor 43 is used for detecting whether guide shoe is in place; Tight guide shoe. The inductor in the present embodiment is a proximity switch; the positioning mechanism 42 includes a positioning pin 421 and a mounting block 422 for fixing the positioning pin 421 to the L-shaped support seat 142; the pressing mechanism 41 includes a pressing arm 411, a cylinder 412 and Block 413 is installed. The pressing arm 411 can be driven by the cylinder 412 to compress the guide shoe material between the pressing arm 411 and the mounting block 413 .

Referring to Fig. 1 and Fig. 3, two sets of nut grippers 2 are installed on the nut gripper mounting frame 14 in this embodiment, which can grab two C-shaped nuts at the same time. Each set of nut grippers 2 includes a driving cylinder 21, a solenoid valve 22 for controlling the driving cylinder 21, and two air claws 23 fixedly connected with the driving cylinder 21, and the air claws 23 are provided with clamps for grabbing nuts. Block 24, the clamping block 24 can clamp or loosen the C-type nut between the two clamping blocks under the drive of the cylinder 21. And, the distance between the two nuts grasped is consistent with the distance between the assembly holes of the C-type nuts to be assembled on the guide shoe grasped by the guide shoe gripper 4, so that the nut gripper 2 can Locate and place both C-Nuts at the same time.

The multifunctional manipulator in this embodiment is used to load the guide shoe station in the floor door panel assembly line of the elevator, and it includes a guide shoe gripper, a C-shaped nut gripper and a guide shoe palletizing tray gripper; the guide shoe stacking The tray gripper is used to realize the transfer of the guide shoe pallet from the guide shoe material truck to the guide shoe transfer table and the transfer of the empty pallet from the transfer table to the material truck; the guide shoe gripper is used to realize the transfer of the guide shoe from the guide shoe The supply of the guide shoe pallet on the platform to the guide shoe assembly station on the elevator floor door panel assembly line; the C-type nut gripper is used to realize the C-type nut from the C-type nut feeder to the C-type Supply of nut assembly stations.

The function of the laser sensor set on the rack is to judge the error prevention of guide shoe pallet placement and the accuracy of repeated grabbing through the performance accuracy of the laser sensor, and then feed back to the robot controller system.

1. Grab the guide shoe pallet.

Cooperate with the multifunctional manipulator in this embodiment to realize the automatic loading of guide shoes. The guide shoe palletizing tray is made of elastic material, and positioning holes are arranged on it; the transfer table is provided with positioning pins for fixing the palletizing tray; When grabbing the pallet, the gripper of the guide shoe pallet inserts two positioning pins 15 into the positioning holes on the guide shoe pallet to fix the pallet, and then controls the repeater to move the guide shoe according to the set program. The palletizing tray is transferred to the transfer table, and the guide shoe pallet is unloaded from the gripper of the palletizing tray through the positioning pins on the transfer table. Furthermore, the transfer table in this embodiment is provided with two guide shoe palletizing positions for coarse positioning and fine positioning. The palletizing tray is placed to ensure the reliability of the manipulator to grab the material of the guide shoe. In order to increase the amount of material unloaded from the feed truck, each pallet box on the feed truck is divided into two palletizing trays, the upper palletizing tray is first taken out and placed on the palletizing tray with fine positioning on the transfer table, and is to be guided After the shoe materials are taken out, the palletizing tray is placed on the rough positioning pallet placement position on the transfer table, and then the lower palletizing tray of the palletizing box on the material truck is taken out and placed on the fine positioning palletizing table on the transfer table The pallet is placed in the position, and finally the material-free pallet is put back into the pallet box, which realizes the space utilization problem of the two-layer pallet box and improves the material storage space.

2. Grab C-type nut and guide shoe.

When grabbing C-shaped nuts, the control repeater first positions the nut gripper 2 of the multifunctional manipulator to the two feeding ports of the nut feeder, and then realizes the clamping of the C-shaped nuts by the clamping block 24 by controlling the driving cylinder 21 tight. After the multi-functional manipulator grabs the C-type nut, control the repeater to position the guide shoe gripper 4 to the guide shoe turntable, and then insert the positioning pin 421 into the two positioning holes on the guide shoe material to realize the positioning of the guide shoe. After the sensor 43 senses that the material of the guide shoe is in place, the relay is controlled to drive the cylinder 412 to realize the pressing and grabbing of the guide shoe.

When the landing door panel is transported to the guide shoe and C-nut assembly position and after being centered and locked, the multi-functional manipulator first uses the C-nut gripper 2 to grab 2 C-nuts from the C-nut feeder, and then Use the guide shoe gripper 3 to grab a guide shoe material from the guide shoe transfer table on which the guide shoe material has been installed; then, the mechanical arm positions the multifunctional manipulator on the floor door panel assembly line according to the instructions of the control repeater, first Place the guide shoe workpiece on the guide shoe station of the already positioned floor door panel, and then turn the manipulator 180 degrees to realize the positioning and placement of the C-shaped nut, and finally the screw automatic assembly device performs screw feeding and tightening. After the guide shoe installation of the landing door panel is completed, the landing door panel is conveyed to the next station. The efficiency and reliability of the positioning assembly of the guide shoe and the landing door panel are ensured.

In addition, as a modification of this preferred embodiment, the guide shoe gripper 4 can also be installed on the nut gripper mounting seat 14 in this embodiment, and accordingly, the nut gripper 2 is installed on the guide shoe gripper mounting seat 15, as long as the positioning and grasping of materials can be realized, the technical solution of the present invention can be realized and expected technical effects can be obtained.

The technical solutions of the present invention have been described above in conjunction with the accompanying drawings and specific embodiments of the description. It should be noted that the scope of protection of the present invention includes but is not limited to the above-mentioned embodiments, and the figures involved in the embodiments are only the inventions of the present invention. Several specific embodiments, any simple deformation or equivalent replacement that does not deviate from the innovative concept of the present model are covered by the present model and belong to the protection scope of the present model.

Claims (10)

1. A multifunctional manipulator, characterized in that: the multifunctional manipulator includes a nut gripper and a guide shoe gripper; the nut gripper and the guide shoe gripper are fastened on a frame and are respectively positioned at the sides of the frame On both sides, the frame is also provided with a mechanical arm mount for connecting the multifunctional manipulator to the mechanical arm. 2. The multifunctional manipulator according to claim 1, characterized in that: the nut gripper comprises at least two groups of air claws, a clamping block connected to the air claws, a drive cylinder for driving the air claws, and a drive cylinder for controlling The solenoid valve of the drive cylinder; the clamp block can clamp or loosen the nuts between the clamp blocks under the drive of the drive cylinder; each set of air claws is used to grab a nut. 3. The multifunctional manipulator according to claim 2, characterized in that: the nut gripper comprises two groups of air claws, clamping blocks connected to the air claws, a drive cylinder for driving the air claws, and a driving cylinder for controlling the drive The solenoid valve of the cylinder; the two sets of air claws are respectively used to grab two nuts, the distance between the two nuts being grabbed is the same as the assembly hole of the nut to be assembled on the guide shoe grabbed by the guide shoe gripper The distance between them is the same. 4. The multifunctional manipulator according to claim 1, characterized in that: the guide shoe gripper includes a pressing mechanism, a positioning mechanism and an inductor; the inductor is used to detect whether the guide shoe is in place; the positioning mechanism is used to fix the guide shoe ; The compression mechanism is used to compress the guide shoe. 5. The multifunctional manipulator according to claim 4, characterized in that: the sensor is a proximity switch; the positioning mechanism includes a positioning pin and a mounting block, the positioning pin is used to insert into the positioning pin hole on the guide shoe, and the mounting The block is used to fix the positioning pin to the frame; the pressing mechanism includes a pressing arm, a cylinder and a mounting block. When the guide shoe is in place, the cylinder can press the pressing arm between the pressing arm and the mounting block under the control of the control system. between guide shoes. 6. The multifunctional manipulator according to claim 4, characterized in that: the frame includes a mounting frame, four supporting feet fixed on the mounting frame and a supporting beam, and the supporting beam is fastened or integrally formed with the mounting frame And extend to one side of the mounting frame in a direction perpendicular to the mounting frame; the end of the support beam is provided with a first handle mount; seat; the first gripper mounting seat and the second gripper mounting seat are used to install the guide shoe gripper or the nut gripper respectively; the mechanical arm mounting seat is set on one side of the mounting frame parallel to the extending direction of the support beam; the control system setting on the top surface of the mounting bracket. 7. The multifunctional manipulator according to claim 6, characterized in that: the first gripper mounting base and the second gripper mounting base have the same structure, that is to say, they are arranged at the end of the connecting arm and fastened to the connecting arm. connected mounting blocks; both sides of the mounting block are respectively provided with support bases, and the support bases are used to fix the sensor and positioning mechanism connected to the guide shoe grip; the middle position of the mounting block is provided with a support arm, the The support arm is used to fix the pressing mechanism of the guide shoe gripper, wherein the first gripper mount is a guide shoe gripper mount, and the second gripper mount is a nut gripper mount; or the second gripper mount The seat is a guide shoe gripper mount, and the first gripper mount is a nut gripper mount. 8. The multifunctional manipulator according to claim 1, characterized in that: the multifunctional manipulator further comprises a control repeater for providing system control functions. 9. The multifunctional manipulator according to any one of claims 1-8, characterized in that: the multifunctional manipulator further includes a guide shoe pallet gripper, and the pallet pallet gripper includes at least two settings The positioning pin on the frame can cooperate with the pin hole on the guide shoe pallet to realize the grasping of the guide shoe pallet. 10. The multifunctional manipulator according to any one of claims 1-8, characterized in that: the frame is also provided with a laser sensor, and the laser sensor is used to distinguish between the placement of the guide shoe pallet and the repeated grabbing by the manipulator. accuracy, and feedback to the robot controller system after recognition.