CN206937322U - A handling robot - Google Patents

Abstract

The utility model discloses a handling manipulator, comprising a workbench, a handling mechanism installed on the workbench, a sorting mechanism and a feeding mechanism, the handling mechanism comprising a mounting bracket installed on the workbench, a driving device installed on the mounting bracket, a first cylinder connected to the driving device, a second cylinder and a first cylinder clamp installed on the first cylinder, a cylinder pressure plate installed on the second cylinder, and a manipulator installed on the first cylinder clamp, the sorting mechanism comprising a bottom plate installed on the workbench, a discharging device and a separating device installed on the bottom plate, the feeding mechanism comprising a mounting plate installed on the workbench, a fourth cylinder installed on the mounting plate, a cylinder connecting plate connected to the fourth cylinder, a rotating device installed on the cylinder connecting plate, a second cylinder clamp installed on the rotating device, and a feeding clamp installed on the second cylinder clamp. It can automatically realize the clamping, assembly and transfer of products, reduce labor costs, and improve production efficiency.

Description

A handling robot

technical field

The utility model relates to the technical field of mechanical equipment, in particular to a handling manipulator.

Background technique

In the field of toys and gifts, the products usually have unique shapes and need to be arranged and installed, and the cooperation between the stations is relatively high. However, in the process of manual production and assembly, the yield rate of products is usually low and the efficiency is slow, which leads to the production of enterprises rising costs. In order to improve production efficiency, yield rate and reduce production cost, many enterprises will apply automatic processing equipment to actual production and processing, especially the helper manipulator for processing toys and gifts.

At present, the upper manipulators on the market are composed of conventional chucks and have relatively single functions. They cannot achieve good clamping and installation for the umbrella toys that the applicant needs to process and produce, and cannot improve the industrial automation level of the production line.

Therefore, it has become an important technical problem to be solved by those skilled in the art to provide a high-automation, high-quality handling manipulator capable of clamping and assembling umbrella toys.

Utility model content

The utility model provides a handling manipulator aiming at the problems of the prior art, which can realize the clamping, assembling and transferring of products automatically, reduce the labor cost and improve the production efficiency.

In order to solve the above technical problems, the utility model adopts the following technical solutions:

A handling manipulator, comprising a workbench, a handling mechanism installed on the workbench, a sorting mechanism and a feeding mechanism installed on the workbench and cooperating with the handling mechanism, the handling mechanism includes a mounting bracket installed on the workbench, a The driving device installed on the mounting bracket, the connecting plate connected with the driving device, the first cylinder installed on the connecting plate, the second cylinder installed on the first cylinder and the first cylinder clamp, the connecting plate installed on the second cylinder Cylinder pressure plate, manipulator installed on the first cylinder clamp, the sorting mechanism includes the bottom plate installed on the workbench, the discharge device installed on the bottom plate and the separation device matched with the discharge device, the feeding mechanism includes The installation plate installed on the workbench, the fourth cylinder installed on the installation plate, the cylinder connecting plate connected with the fourth cylinder, the rotating device installed on the cylinder connecting plate, the second cylinder clamp installed on the rotating device, The feeding clamp installed on the second cylinder clamp.

Preferably, the installation bracket includes a slide rail arranged on the installation bracket, the slide rail is parallel to the driving device, the slide rail is slidably connected with a slider, and the slider and the connecting plate are fixedly connected with the drive device and the first cylinder.

Preferably, the mounting bracket includes a first inductor and a second inductor plugged into two ends of the mounting bracket respectively.

Preferably, the cylinder pressure plate is made of elastic hard material, and the end surface of the cylinder pressure plate used for contacting the product is a concave arc surface.

Preferably, the discharge device includes a bottom support plate fixedly connected to the bottom plate, a protective cover screwed to the bottom support plate, and the bottom support plate is provided with a groove for receiving products.

Preferably, the separation device includes a sixth cylinder fixedly connected to the bottom plate and a separation needle installed in the sixth cylinder.

Preferably, the bottom support plate of the discharge device is provided with a through hole for the separation needle to pass through at an end surface close to the separation device.

Preferably, one end surface of the manipulator is provided with a special-shaped groove for fixing the product.

Preferably, the feeding gripper is provided with cylindrical and conical surfaces for contacting products.

Preferably, the feeding mechanism includes a limit post installed on the workbench and matched with the rotating device, the limit posts are respectively arranged at both ends of the feeding mechanism, and the upper end of the limit post is plugged with a third sensor for resisting the rotating device , the fourth sensor.

Beneficial effects of the utility model: the utility model has the advantages of compact structure, convenient feeding, and good clamping and installation effects, thereby realizing the operations of clamping, assembling and transferring products in the automatic production process, greatly reducing labor costs and improving production efficiency.

Description of drawings

Fig. 1 is a perspective view of the utility model.

Fig. 2 is an exploded view of the transport mechanism of the present invention.

Fig. 3 is an exploded view of the sorting mechanism of the present invention.

Fig. 4 is an exploded view of the feeding mechanism of the present invention.

Fig. 5 is a perspective view of the feeding gripper of the present invention.

Fig. 6 is a perspective view of the manipulator of the present invention.

Fig. 7 is a perspective view of the cylinder pressing plate of the present invention.

Reference signs include:

1——workbench 2——handling mechanism 3——sorting mechanism 4——feeding mechanism

21——driving device 22——sliding rail 23——connecting plate 24——sliding block

25——first sensor 26——second sensor 27——mounting bracket 28——second cylinder

29——Cylinder pressure plate 210——The first cylinder 211——The first cylinder clamp 212——Robot

213——Special-shaped groove 214——Concave curved surface 31——Protective cover 32——Bottom bearing plate

33——through hole 34——separation needle 35——the sixth cylinder 36——bottom plate

37——discharging device 38——groove 39——separating device 41——feeding gripper

42——Second Cylinder Clamp 43——Swivel Device 44——Cylinder Connection Plate 45——Fourth Cylinder

46——Mounting plate 47——Limiting pillar 48——The third sensor 49——The fourth sensor

410—cylindrical surface 411—conical surface.

detailed description

In order to facilitate the understanding of those skilled in the art, the utility model will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the implementation modes are not limitations of the utility model. Below in conjunction with accompanying drawing, the utility model is described in detail.

Please refer to Fig. 1 to Fig. 4, a kind of handling manipulator of the present utility model, comprises workbench 1, the conveying mechanism 2 that is installed on workbench 1, is installed on workbench 1 and the sorting mechanism 3 that cooperates with conveying mechanism 2 and Feeding mechanism 4, described conveying mechanism 2 comprises the mounting bracket 27 that is fixedly connected to workbench 1, the driving device 21 that is installed in mounting bracket 27, the connecting plate 23 that is connected with driving device 21, the connecting plate 23 that is installed in connecting plate 23 The first cylinder 210, the second cylinder 28 installed on the first cylinder 210 and the first cylinder clamp 211, the cylinder pressure plate 29 installed on the second cylinder 28, the two first splints installed on the first cylinder clamp 211 212, the cylinder pressure plate 29 protrudes between the two first splints 212; the sorting mechanism 3 includes the bottom plate 36 installed on the workbench 1, the discharge device 37 installed on the bottom plate 36 and cooperates with the discharge device 37 The separating device 39; the feeding mechanism 4 includes a mounting plate 46 mounted on the workbench 1, a fourth cylinder 45 mounted on the mounting plate 46, a cylinder connecting plate 44 connected to the fourth cylinder 45, and a cylinder connecting plate 44 mounted on the mounting plate 46. The rotating device 43 of the cylinder connecting plate 44 , the second cylinder clamp 42 installed on the rotating device 43 , and the two second clamping plates 41 installed on the second cylinder clamp 42 .

As shown in Figures 1 to 2, the mounting bracket 27 of this embodiment includes a slide rail 22 arranged on the mounting bracket 27, the slide rail 22 is slidably connected with a slider 24, the slider 24 is fixedly connected with the connecting plate 23, and the first cylinder 210 is installed Located on the connecting plate 23, when the driving device 21 starts, it will drive the slider 24 to slide and then drive the first cylinder 210 and each module connected to the first cylinder 210 to perform horizontal reciprocating motion. The slide rail 22 is used to prevent the first cylinder 210 from Skewing occurs during movement.

The mounting bracket 27 of this embodiment includes a first inductor 25 and a second inductor 26 respectively installed at both ends of the mounting bracket 27. When the driving device 21 drives the slider 24 to slide and then drives the first cylinder 210 and is connected to the first cylinder Each module of 210 will touch the first sensor 25 and the second sensor 26 when performing horizontal reciprocating motion, and the first sensor 25 and the second sensor 26 will buffer and decelerate the modules connected to the first cylinder 210 .

As shown in Figures 2 to 7, the cylinder pressing plate 29 of this embodiment is a hard material with elasticity, and the cylinder pressing plate 29 is provided with a concave arc surface 214 for resisting the product, when each module of the first cylinder 210 performs horizontal reciprocating motion and When moving to a designated position, the first cylinder 210 pushes the second cylinder 28 and the first cylinder clamp 211 installed on the piston rod of the first cylinder 210 to move downwards, close to the discharge device 37 .

As shown in Figures 1 to 3, the discharge device 37 of this embodiment includes a bottom support plate 32 fixedly connected to the bottom plate 36, a protective cover 31 installed on the bottom support plate 32, and the bottom support plate 32 is provided with a recess for accepting products. The groove 38 is powered by the vibrating plate, so that the product parts are arranged in an orderly manner along the groove 38.

As shown in Figures 1 to 3, the separation device 39 of this embodiment includes a sixth cylinder 35 fixedly connected to the bottom plate 36 and a separation needle 34 installed on the sixth cylinder 35. When the product parts enter the preset position, the sixth cylinder 35 pushes the separation needle 34 installed on the push plate of the sixth cylinder 35 to separate the product parts in the groove 38, so as to facilitate the clamping of the product parts by the first clamping plate 212 installed on the first cylinder clamp 211.

As shown in Fig. 1 and Fig. 3, the bottom support plate 32 of the discharge device 37 of this embodiment is provided with a through hole 33 for passing through the separation needle 34 on an end surface close to the separation device 39, and the separation needle 34 will pass through the through hole 33 Separation of product components.

As shown in Figures 1 to 6, one end surface of the first splint 212 of this embodiment is provided with a special-shaped groove 213 for fixing the product. When the first cylinder 210 pushes the second cylinder 28 and the second A cylinder clamp 211 moves downwards, close to the discharge device 37, the separation needle 34 will pass through the through hole 33 to separate the product parts, the first cylinder clamp 211 drives the first splint 212 mounted on the first cylinder clamp 211 to be The lifted product parts are clamped, and the first cylinder 210 pushes the second cylinder 28 and the first cylinder clamp 211 installed on the piston rod of the first cylinder 210 to reset upwards, driving the first clamping plate 212 to clamp the product to rise, The driving device 21 drives the first cylinder 210, so that the first clamping plate 212 clamps the product to a preset position, the first cylinder 210 pushes the first clamping plate 212 to move down, and the special-shaped groove 213 contacts the product to be assembled and fixes it.

As shown in Figures 1 to 5, the second splint 41 of this embodiment is provided with a cylindrical surface 410 and a conical surface 411 for contacting the product, the first cylinder 210 pushes the first splint 212 to move down, the special-shaped groove 213 contacts the product to be assembled, and When fixing the product to be installed, the second cylinder 28 pushes the cylinder pressure plate 29 to press the clamped product parts until the product is fastened. At the same time, the first cylinder clamp 211 drives the first splint 212 to release the product parts. The product combination is completed. The driving device 21, the first A cylinder 210 drives the first splint 212 to reset to the preset position of the next product to be clamped.

As shown in Fig. 1 ~ Fig. 4, the feeding mechanism 4 of the present embodiment comprises the position-limiting pillar 47 that is installed on the workbench 1 and cooperates with the rotating device 43, and the space-limiting pillar 47 is respectively arranged on the two ends of the feeding mechanism 4, and the space-limiting pillar 47 The upper end is plugged with a third inductor 48 and a fourth inductor 49 for resisting the rotating device 43. When the product is assembled, the fourth cylinder 45 drives the rotating device 43, the second cylinder clamp 42 installed on the rotating device 43, The second clamping plate 41 installed on the second cylinder clamp 42 is lifted to the preset position, the rotating device 43 drives the second clamping plate 41 to the upper end of the workpiece to be clamped, the rotating device 43 touches the third sensor 48, and is installed on the second The second clamping plate 41 of the cylinder clamp 42 is opened, and the fourth cylinder 45 drives the second clamping plate 41 to reach the clamping station. The second cylinder clamp 42 drives the second clamping plate 41 to close and clamp the workpiece. The second clamping plate 41 is used for contacting the product. The cylindrical surface 410 and the conical surface 411 are attached to the clamped workpiece, the fourth cylinder 45 drives the second clamping plate 41 to lift, the rotating device 43 drives the second clamping plate 41 to move the product to the preset station, and the second cylinder clamp 42 drives The second jaw 41 opens and releases the workpiece.

Compared with the prior art, the utility model has the advantages of compact structure, convenient feeding, and good clamping and installation effects, thereby realizing the operations of clamping, assembling and transferring products in the automatic production process, greatly reducing labor costs and improving production efficiency.

The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model is disclosed as above with the preferred embodiment, it is not used to limit the utility model. Anyone who is familiar with the utility model Professional technicians, without departing from the scope of the technical solution of the present utility model, should use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but if they do not depart from the technical solution of the present utility model, the The utility model technology refers to any simple modification, equivalent change and modification made to the above embodiments, which all belong to the scope of the utility model technical solution.

Claims (10)

1. a kind of conveying robot, including workbench, it is installed in the carrying mechanism of workbench, is installed in workbench and and carrying implement Structure coordinate sorting mechanism and feed mechanism, it is characterised in that the carrying mechanism include be installed in workbench mounting bracket, The drive device for being installed in mounting bracket, the gusset piece being connected with drive device, the first cylinder for being installed in gusset piece, installing In the second cylinder of the first cylinder and the first cylinder folder, be installed in the air cylinder pressure plate of the second cylinder, be installed in the first cylinder folder Two first clamping plates, air cylinder pressure plate are protruded between two first clamping plates；The sorting mechanism includes being installed in the bottom of workbench Plate, the discharge device for being installed in bottom plate and the separator coordinated with discharge device, the feed mechanism include being installed in work The installing plate of platform, the 4th cylinder for being installed in installing plate, the cylinder gusset piece connect with the 4th cylinders, it is installed in cylinder and couples The rotating device of plate, the second cylinder folder for being installed in rotating device, two second clamping plates for being installed in the second cylinder folder.

A kind of 2. conveying robot according to claim 1, it is characterised in that：The mounting bracket includes being arranged at installation The slide rail of support, slide rail slidably connect sliding block, and sliding block is fixedly connected with gusset piece, and the first cylinder is installed in gusset piece.

A kind of 3. conveying robot according to claim 1, it is characterised in that：The mounting bracket includes being plugged in respectively First inductor, second inductor at mounting bracket both ends, gusset piece is between the first inductor and the second inductor.

A kind of 4. conveying robot according to claim 1, it is characterised in that：The air cylinder pressure plate, which is provided with, to be used to contradict production The depression cambered surface of product.

A kind of 5. conveying robot according to claim 1, it is characterised in that：The discharge device includes fixing with bottom plate The flooring plate of connection, the protection cap for being installed in flooring plate, flooring plate are provided with the groove for taking product.

A kind of 6. conveying robot according to claim 1, it is characterised in that：The separator includes fixing with bottom plate 6th cylinder of connection and the Separated pin for being installed in the 6th cylinder.

A kind of 7. conveying robot according to claim 5 or 6, it is characterised in that：The flooring plate of the discharge device exists The end face of separator is provided with the through hole for being passed through for Separated pin.

A kind of 8. conveying robot according to claim 1, it is characterised in that：Remote the second of one first clamping plate The end face of cylinder is provided with the special-shaped groove for fixing product.

A kind of 9. conveying robot according to claim 1, it is characterised in that：The second clamping plate, which is provided with, to be used to contradict production The face of cylinder of product and circular conical surface.

A kind of 10. conveying robot according to claim 1, it is characterised in that：The feed mechanism includes being installed in work Make platform and the spacing pillar coordinated with rotating device, spacing pillar are respectively arranged at feed mechanism both sides, spacing pillar upper end is inserted It is connected to the 3rd inductor, the 4th inductor for contradicting rotating device.