CN207087893U - A kind of moving type manipulator for loading - Google Patents
A kind of moving type manipulator for loading Download PDFInfo
- Publication number
- CN207087893U CN207087893U CN201720625892.3U CN201720625892U CN207087893U CN 207087893 U CN207087893 U CN 207087893U CN 201720625892 U CN201720625892 U CN 201720625892U CN 207087893 U CN207087893 U CN 207087893U
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- China
- Prior art keywords
- jaw components
- fixed
- active cylinders
- vertical shift
- loading
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Abstract
It the utility model is related to a kind of moving type manipulator for loading, including support, vertical shift cylinder, guidance set, jaw components, jaw components active cylinders and jaw components fixed plate, vertical shift cylinder and jaw components active cylinders carry piston rod, guidance set includes guide rod, guiding connector and guide chute, vertical shift cylinder is fixed on guidance set vertically, jaw components fixed plate is connected by screw the lower surface for being fixed on guiding connector, jaw components active cylinders are connected by screw the lower surface for being fixed on jaw components fixed plate, jaw components, which are connected through a screw thread, to be fixed on the piston rod of jaw components active cylinders.The advantages of above-mentioned moving type manipulator for loading has small volume, simple in construction, simple operation, can reduce and be impacted caused by collision, while can disposably capture multiple workpiece, and the scope for having security good and being applicable is wide.
Description
Technical field
A kind of manipulator is the utility model is related to, a kind of mobile loader tool being particularly applied in automatic field
Hand.
Background technology
With the fast development of industry, automation equipment is had been widely used in each production field, than if carrying out
Crawl and the manipulator carried, it can be moved according to the movement locus of setting, realize automatic charging and blanking.However, existing
In some portable automation equipments loaded, the manipulator used generally can only disposably capture a material, in order to improve
Production efficiency, often in a flow production line, there is also manipulator as two or several, so not only waste
Resource, while also increase production cost.
Secondly, when multiple manipulators are turned round in a limited space or carry out other actions, because by manipulator sheet
The precision limitation of body motion and its caused inertia force effect, or limited by the installation accuracy of peripheral equipment, manipulator
Easily mechanical collision occurs for the equipment with periphery, so as to cause the device damage of manipulator or periphery, can even be produced when serious
Security incident.It is such because mechanical collision and caused by device damage phenomenon in other automated jobs also often occur.
Certainly the method for avoiding above-mentioned mechanical collision is by installing sensing device further, such as force snesor on a robotic arm
Deng, to be perceived to contact situation of the manipulator with peripheral equipment, when manipulator is in contact with peripheral equipment, the sensing
Device perceives the contact force and produces a signal, then delivers it to the control device of manipulator, control device according to
The signal sends control instruction to change the movement locus of manipulator, so that manipulator avoids peripheral equipment, to play protection
The effect of manipulator.After treating that manipulator circumvents peripheral equipment, control device, which need to send control instruction again, can just make manipulator
Back within the operating path originally set, i.e. real resetting, to carry out follow-up work.
However, above-mentioned sensing device further and corresponding control system add the complexity of robot manipulator structure, improve into
This, and the personnel for needing professional skill higher are safeguarded, while also result in the complicated of equipment using multiple manipulators
It is huge with apparent volume, and safeguard using multiple manipulators inconvenient, and low production efficiency.
Utility model content
In view of above-mentioned condition, it is necessary to which offer one kind is simple in construction, can reduce and be impacted caused by collision, while can be with one
Secondary property captures several workpiece, and can realize automatically reset manipulator.
In order to solve the above technical problems, provide a kind of moving type manipulator for loading, including support, vertical shift cylinder, lead
To component, jaw components, jaw components active cylinders and jaw components fixed plate, the vertical shift cylinder and the claw group
Part active cylinders carry piston rod, and the guidance set includes guide rod, guiding connector and guide chute, the guide rod
Head be fixedly connected on the guiding connector, the afterbody of the guide rod is logical through matching on the guide chute
Hole, and the through hole that the afterbody of the guide rod is exposed on the guide chute, fix vertically described in the vertical shift cylinder
On the guide chute, the jaw components fixed plate is connected by screw the lower surface for being fixed on the guiding connector,
The guide chute side parallel with the piston rod telescopic direction of the vertical shift cylinder is fixedly attached on the support,
The jaw components active cylinders are connected by screw the lower surface for being fixed on the jaw components fixed plate, the jaw components
It is connected through a screw thread and is fixed on the piston rod of the jaw components active cylinders.
In the above-mentioned moving type manipulator for loading of the utility model, one end of the piston rod of the vertical shift cylinder is fixed on
On vertical shift cylinder, the other end is connected through a screw thread through guide chute and is fixed on guiding connector upper surface.
In the above-mentioned moving type manipulator for loading of the utility model, the jaw components include fixed block, contiguous block and clamping
Block, the fixed block are fixed by screwing on the piston rod of the jaw components active cylinders, and the contiguous block is fixed
The lower end of the fixed block is connected to, the grip block is fixedly attached to the lower section of the contiguous block by screw.
In the above-mentioned moving type manipulator for loading of the utility model, each jaw components active cylinders are installed described in 4
Jaw components.
In the above-mentioned moving type manipulator for loading of the utility model, the jaw components active cylinders are at least 1.
In the above-mentioned moving type manipulator for loading of the utility model, in addition to location sensitive switch, switch fixed block, institute's rheme
Inductive switch is put to be fixed in the jaw components fixed plate by the switch fixed block.
Above-mentioned moving type manipulator for loading is simple in construction, easy to use, by installing multiple claws on a manipulator
Component active cylinders, and multiple jaw components are installed simultaneously, in the feeding of automation equipment or the process of blanking, disposably may be used
With the multiple workpiece of snatch, the time is saved, while improves production efficiency, because being position peaces different on same manipulator
Jaw components have been filled, have been equivalent to all jaw components in identical space simultaneously in different positions work in an identical manner
Make, avoid, in mechanical collision caused by different manipulators while work, to damage equipment or manipulator, the utility model
Moving type manipulator for loading apparent volume is small, and maintaining is convenient, simple to operate, convenient, and the good and applicable scope of security is wide
The advantages of.
Brief description of the drawings
Fig. 1 is integrally three-dimensional structural representation when the jaw components of the utility model moving type manipulator for loading embodiment one clamp
Figure.
Fig. 2 is one overall decomposing state structural representation of the utility model moving type manipulator for loading embodiment.
Fig. 3 is the positive overall structure diagram when jaw components of the utility model embodiment one open.
Fig. 4 is the side overall structure diagram when jaw components of the utility model embodiment one open.
Fig. 5 is the entirety perspective view when jaw components of the utility model embodiment one open.
Fig. 6 is the overall structure diagram of jaw components in the utility model.
Fig. 7 is the partial enlarged view in A portions in Fig. 6.
Fig. 8 is the overall structure diagram of guidance set in the utility model.
Parts thereof in accompanying drawing is entitled：10- supports；20- vertical shift cylinders；30- guidance sets；301- is oriented to
Bar；302- guiding connectors；303- guide chutes；40- jaw components；401- fixed blocks；402- contiguous blocks；403- grip blocks；
The uneven tooth of 4031- depressions；50- jaw components active cylinders；60- jaw components fixed plates；70- location sensitives switch；701-
Switch fixed block.
Embodiment
Moving type manipulator for loading of the present utility model is made further specifically below in conjunction with drawings and Examples
It is bright.
Embodiment
Refer to Fig. 1-5 and Fig. 8, the moving type manipulator for loading of the utility model embodiment, including support 10, vertical shifting
Dynamic cylinder 20, guidance set 30, jaw components 40, jaw components active cylinders 50 and jaw components fixed plate 60, vertical shift
Cylinder 20 and jaw components active cylinders 50 carry piston rod, and guidance set 30 includes guide rod 301, guiding connector 302
With guide chute 303, the head of guide rod 301 is fixedly connected on guiding connector 302, and the afterbody of guide rod 301, which passes through, leads
In the through hole to match on to chute 303, and the through hole that the afterbody of guide rod 301 is exposed on guide chute 303, vertical shift
Cylinder 20 is fixed on guide chute 303 vertically, and one end of the piston rod of vertical shift cylinder 20 is fixed on vertical shift cylinder
On 20, the other end is connected through a screw thread through guide chute 303 and is fixed on the surface of guiding connector 302, jaw components fixed plate
60 are connected by screw the lower surface for being fixed on guiding connector 302, and jaw components active cylinders 50 are connected by screw fixation
In the lower surface of jaw components fixed plate 60, jaw components 40 are connected through a screw thread the work for being fixed on jaw components active cylinders 50
On stopper rod, because guiding connector 302 is connected by jaw components fixed plate 60 and jaw components active cylinders 50, jaw components 40
An entirety is connected in, in the presence of vertical shift cylinder 20, guide rod 301 drives guiding connector 302 and jaw components to live
Dynamic cylinder 50 and jaw components 40 slide up and down along guide chute 302 together, at the same on the head of vertical shift cylinder 20 and
The opening position that the outer surface of afterbody is corresponding is respectively provided with a magnetic inductor, forms a pair and is produced mutually with the change of distance
The magnetic inductor of sensing, can accurately measure guide rod 301 and guiding connector 302 chute 303 move up and down away from
From being accurately positioned so as to reach.The side parallel with the piston rod telescopic direction of vertical shift cylinder 20 of guide chute 303 is fixed
It is connected on support 10.
Fig. 2 to Fig. 6 is referred to, jaw components active cylinders 50 are fixed by screws in the following table of jaw components fixed plate 60
Face, and jaw components active cylinders 50 are at least 1, can be determined according to the size and weight of workpiece using jaw components activity
The quantity of cylinder 50, jaw components active cylinders 50 are two in the present embodiment, are symmetrically mounted under jaw components fixed plate 60
The both sides on surface.Each jaw components active cylinders 50 install four jaw components 40, and four jaw components 40 are symmetrically mounted on
The surrounding of jaw components active cylinders 50.Jaw components 40 include fixed block 401, contiguous block 402 and grip block 403, fixed block
401 are fixed by screwing on the piston rod of jaw components active cylinders 50, and contiguous block 402 is fixedly attached to by screw
The lower end of fixed block 401, grip block 403 is fixedly attached to the lower section of contiguous block 402 by screw, after jaw components 40 have assembled
Overall in the form of an " L ", this shape can enable the irregular workpiece in outer surface in feeding and blanking by mobile loader
Tool hand is clamped, such as, workpiece is one big, and other end is small, it is possible to according to the situation of workpiece itself, workpiece arrangement when
Time makes workpiece head big up, small to clamp microcephaly in lower section, four grip blocks 403, be then stuck in the major part of workpiece
The inside of jaw components 40, so as to so that workpiece holding is more steady.
Fig. 7 is referred to, is arranged to cancave cambered surface on the surface that grip block 403 is in contact with workpiece, and set on cancave cambered surface
Be recessed uneven tooth 4031, and the shape of tooth is corrugated or helical form or zigzag, to ensure work after the clamping workpiece of grip block 403
Part is not fallen out；In moving type manipulator for loading automatic charging and blanking, the structure of cancave cambered surface can increase workpiece and grip block
403 contact area, simultaneously because the material of grip block 403 is POM or PP or PVC, all it is that plastics are done, there is certain plasticity
Deformation, so as to so that moving type manipulator for loading during automatic charging and blanking, both will not scratch workpiece surface,
The damage of workpiece in appearance is caused, the workpiece that also moving type manipulator for loading will not be allowed to clamp is fallen down.
Fig. 1-5 are referred to, the moving type manipulator for loading of the present embodiment also includes location sensitive switch 70, switch fixed block
701, one end of switch fixed block 701 is fixedly connected in jaw components fixed plate 60 by screw, and location sensitive switch 70 is logical
One end that threaded connection is fixed on switch fixed block 701 is crossed, when the protruding top card of the piston rod of jaw components active cylinders 50
During claw assembly 40, now jaw components 40 are flared out in the presence of jaw components active cylinders 50, when jaw components 40 are opened
When the position opened falls into the region of the sensing of location sensitive switch 70, jaw components active cylinders 50 suspend the action outwards pushed up, this
When vertical shift cylinder 20 piston rod stretch out, cause the slide downward of jaw components 40, and when jaw components 40 surround workpiece
When its is internal, the piston rod of vertical shift cylinder 20 stops stretching out, and now the piston rod of jaw components active cylinders 50 is inside
Shrink, so that jaw components 40 clamp workpiece, the piston rod of last vertical shift cylinder 20 shrinks, and causes jaw components 40
Drive the workpiece upward sliding clamped.
The operation principle of the moving type manipulator for loading of the present embodiment：After jaw components active cylinders 50 are ventilated, act on
On jaw components 40, then the piston rod of jaw components active cylinders 50 stretches out and outwardly opens four jaw components 40 simultaneously,
When the location sensitive switch 70 of jaw components 40, which senses, opens up into corresponding position, meeting one signal of feedback is to system, table
Bright jaw components 40 have been flared to the state of workpiece to be taken.
Moving type manipulator for loading is for moving loading to high-volume and the workpiece of same model, therefore is being worked
Before, the actual size of workpiece to be taken has been inputted into the parameter corresponding to moving type manipulator for loading moving process, such as root
Lateral distance of the support 10 along the vertical direction of vertical shift cylinder 20 is determined according to the full cock position of the location of workpiece and workpiece,
The piston of vertical shift cylinder 20 when the initial position and grabbing workpiece of vertical shift cylinder 20 is determined according to the height of workpiece
The distance of stretch out and draw back of bar, determined according to the width of workpiece the contraction after the piston rod grabbing workpiece of jaw components active cylinders 50 away from
From.The course of work of moving type manipulator for loading is：Moving type manipulator for loading is moved to initial position first, receives crawl
After the instruction of workpiece, vertical shift cylinder 20 is ventilated, and is stretched out the piston rod of vertical shift cylinder 20, is passed through vertical shift cylinder
20 head and the magnetic inductor of afterbody measure the distance that the piston rod of vertical shift cylinder 20 stretches out, and make jaw components 40 will
Workpiece is wrapped in inside it, and then the piston rod of jaw components active cylinders 50 shrinks, so as to pull jaw components 40 to shrink, when
The piston rods of jaw components active cylinders 50 shrink setting apart from when, when now jaw components 40 clamp workpiece, then erect
The piston rod that cylinder 20 is moved in translation is shunk, and the jaw components 40 for accompanying workpiece are lifted up, pass through vertical shift cylinder 20
The magnetic inductor of head and afterbody measures the distance that the piston rod of vertical shift cylinder 20 shrinks, finally by support 10 along perpendicular
After workpiece to be moved to transverse shifting the position set accordingly on the vertical direction of the dynamic cylinder 20 of translation, vertical shift cylinder 20
Piston rod stretch out, workpiece is placed on the position of setting, now jaw components active cylinders 50 piston rod stretch out, claw
Component 40 opens, so as to which workpiece is placed into corresponding position, when the location sensitive switch 70 of jaw components 40 senses opening
During to corresponding position, meeting one signal of feedback shrinks to system, the now piston rod of vertical shift cylinder 20, causes claw group
The upward sliding of part 40, the piston rod of last jaw components active cylinders 50 shrink, so as to pull jaw components 40, returned to initial
Position fills other workpiece after moving.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is made any formal
Limitation, although the utility model is disclosed above with preferred embodiment, but be not limited to the utility model, it is any ripe
Professional and technical personnel is known, is not being departed from the range of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made according to the technical essence of the utility model to above example, still
Belong in the range of technical solutions of the utility model.
Claims (5)
- A kind of 1. moving type manipulator for loading, it is characterised in that：Including support（10）, vertical shift cylinder（20）, guidance set （30）, jaw components（40）, jaw components active cylinders（50）And jaw components fixed plate（60）, the vertical shift cylinder (20) and the jaw components active cylinders (50) carry piston rod, the guidance set（30）Including guide rod（301）, lead To connector（302）And guide chute（303）, the guide rod（301）Head be fixedly connected on the guiding connector （302）On, the guide rod（310）Afterbody pass through the guide chute（303）On the through hole that matches, and the guide rod （301）Afterbody expose to the guide chute（303）On through hole, the vertical shift cylinder（20）It is described to be fixed on vertically The guide chute（303）On, the jaw components fixed plate（60）It is connected by screw and is fixed on the guiding connector （302）Lower surface, the guide chute（303）With the vertical shift cylinder（20）The parallel side of piston rod telescopic direction Face is fixedly attached to the support（10）On, the jaw components active cylinders（50）It is connected by screw and is fixed on the claw Component fixed plate（60）Lower surface, the jaw components（40）It is connected through a screw thread and is fixed on the jaw components active cylinders （50）Piston rod on.
- 2. moving type manipulator for loading as claimed in claim 1, it is characterised in that：The vertical shift cylinder（20）Piston One end of bar is fixed on vertical shift cylinder（20）On, the other end passes through guide chute（303）It is connected through a screw thread to be fixed on and leads To connector（302）Upper surface.
- 3. moving type manipulator for loading as claimed in claim 1, it is characterised in that：The jaw components（40）Including fixed block （401）, contiguous block（402）And grip block（403）, the fixed block（401）It is fixed by screwing to the jaw components Active cylinders（50）Piston rod on, the contiguous block（402）It is fixedly attached to the fixed block（401）Lower end, the folder Hold block（403）The contiguous block is fixedly attached to by screw（402）Lower section.
- 4. moving type manipulator for loading as claimed in claim 1, it is characterised in that：Each jaw components active cylinders （50）Four jaw components are installed（40）, and four jaw components（40）It is symmetrically mounted on jaw components active cylinders（50） Surrounding.
- 5. moving type manipulator for loading as claimed in claim 4, it is characterised in that：The jaw components active cylinders（50）Extremely It is 1 less.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720625892.3U CN207087893U (en) | 2017-06-01 | 2017-06-01 | A kind of moving type manipulator for loading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720625892.3U CN207087893U (en) | 2017-06-01 | 2017-06-01 | A kind of moving type manipulator for loading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087893U true CN207087893U (en) | 2018-03-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720625892.3U Expired - Fee Related CN207087893U (en) | 2017-06-01 | 2017-06-01 | A kind of moving type manipulator for loading |
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| Country | Link |
|---|---|
| CN (1) | CN207087893U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588743A (en) * | 2019-10-13 | 2019-12-20 | 国网山东省电力公司潍坊供电公司 | Intelligent pick-and-place type hard fence carrier |
-
2017
- 2017-06-01 CN CN201720625892.3U patent/CN207087893U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588743A (en) * | 2019-10-13 | 2019-12-20 | 国网山东省电力公司潍坊供电公司 | Intelligent pick-and-place type hard fence carrier |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190611 Address after: 215000 No. 255 Huajin Road, Tongan Town, Suzhou High-tech Zone, Jiangsu Province Patentee after: Suzhou Western-style pastry metal working precision optical machinery Co., Ltd Address before: 610041 1720 17, 1 1 Tianfu street, Chengdu high tech Zone, Chengdu, Sichuan Patentee before: The general Science and Technology Ltd. of Chengdu Fes |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20200601 |