CN207616213U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
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- CN207616213U CN207616213U CN201721411419.1U CN201721411419U CN207616213U CN 207616213 U CN207616213 U CN 207616213U CN 201721411419 U CN201721411419 U CN 201721411419U CN 207616213 U CN207616213 U CN 207616213U
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- fixture
- grasping mechanism
- workpiece
- manipulator
- sucker
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Abstract
The utility model provides a kind of manipulator, the manipulator includes matrix and grabbing assembly, grabbing assembly is set on matrix, including the first grasping mechanism and the second grasping mechanism, first grasping mechanism is put into for grabbing workpiece in fixture or is taken out from fixture workpiece, and the second grasping mechanism is for capturing fixture cover board so that fixture cover board is covered on fixture or takes fixture cover board away from fixture.This manipulator operation is simple, highly practical, can improve production efficiency, reduces human cost and production cost.
Description
Technical field
The utility model is related to manipulator fields, more particularly to a kind of manipulator.
Background technology
In the prior art, when carrying out digital control processing to the workpiece of such as mobile phone shell, it is general using manually pick and place workpiece and
Fixture cover board, technique is backward, efficiency is low, and then leads to human cost and the production cost increases.
Utility model content
The utility model is mainly to provide a kind of manipulator, it is intended to which solution, which manually picks and places workpiece and fixture cover board, to be caused to imitate
Low, the of high cost problem of rate.
In order to solve the above technical problems, the technical solution that the utility model uses is：A kind of manipulator is provided, it is described
Manipulator includes：Matrix；Grabbing assembly is set in described matrix, including the first grasping mechanism and the second grasping mechanism, described
First grasping mechanism is put into for grabbing workpiece in fixture or is taken out from the fixture workpiece, second gripper
Structure is for capturing fixture cover board so that the fixture cover board is covered on the fixture or takes the fixture away from the fixture
Cover board.
Wherein, second grasping mechanism is magnechuck.
Wherein, first grasping mechanism is set to the not homonymy of described matrix, the machine with second grasping mechanism
Tool hand further comprises that control arm, the control arm are connect with described matrix, in first grasping mechanism and described second
When grasping mechanism captures, control described matrix is overturn to corresponding side.
Wherein, first grasping mechanism includes the first sucker and the second sucker, and first sucker is inhaled with described second
Disk is respectively arranged at the different both sides of described matrix, and is respectively used to the work after adsorbing unprocessed workpiece and machining
Part.
Wherein, first sucker and second sucker are flexibly connected with described matrix, with according to the workpiece can
Absorption position adjusts first sucker and the position of second sucker on the matrix.
Wherein, the manipulator further comprises that correction mechanism, the correction mechanism are set on matrix, for described
When the first grasping mechanism crawl workpiece is put into the fixture, position of the workpiece in the fixture is corrected.
Wherein, the correction mechanism is finger cylinder.
Wherein, the manipulator further comprises that decontamination mechanism, the decontamination mechanism are set in described matrix, is used for
After the completion of the work pieces process, the spot on the workpiece and in the fixture is removed.
Wherein, the decontamination mechanism is solenoid valve air gun.
Wherein, the manipulator further comprises connecting flange, the both ends of the connecting flange respectively with described matrix and
The control arm connection, and positioned at described matrix and first grasping mechanism and the not homonymy of second grasping mechanism.
The utility model has the beneficial effects that：The case where being different from the prior art, manipulator provided by the utility model are real
It includes matrix and the grabbing assembly that is set on matrix to apply example, and grabbing assembly includes the first grasping mechanism and the second gripper
Structure is put by the first grasping mechanism grabbing workpiece in fixture or is taken out from fixture workpiece, the second grasping mechanism crawl fixture
Cover board so that fixture cover board is covered on fixture or takes fixture cover board away from fixture, compared with the existing technology in artificial work
Industry, it is easy to operate, highly practical, production efficiency is improved, human cost and production cost are reduced.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Other attached drawings are obtained, wherein：
Fig. 1 is the structural schematic diagram of manipulator embodiment provided by the utility model；
Fig. 2 is the structural schematic diagram of matrix in Fig. 1；
Fig. 3 is the workflow schematic diagram of manipulator in Fig. 1.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Refering to fig. 1,10 embodiment of manipulator provided by the utility model includes matrix 11 and grabbing assembly 12.
Referring to Fig.2, the outer profile of matrix 11 has multiple and different sides, for convenience of description, with base in the present embodiment diagram
The rectangular body of outer profile of body 11, tool for not homonymy there are six illustrating, in other embodiments, the outer profile of matrix 11
Can also be the other shapes with multiple and different sides.
Fig. 1 is further regarded to, grabbing assembly 12 is set on matrix 11, including the crawl of the first grasping mechanism 121 and second
Mechanism 122.
Wherein, the first grasping mechanism 121 is put into for grabbing workpiece in fixture or is taken out from fixture workpiece, Ke Yili
Solution, before work pieces process, 121 grabbing workpiece of the first grasping mechanism is put into fixture, after work pieces process completion, first
121 grabbing workpiece of grasping mechanism takes out from fixture.
Optionally, the first grasping mechanism 121 includes the first sucker 1211 and the second sucker 1212, the first sucker 1211 and the
Two suckers 1212 are carried out above-mentioned grabbing workpiece by way of absorption and are put into fixture and take out the dynamic of workpiece from fixture respectively
Make, the mode of the absorption is relatively low on workpiece surface influence, and reduction even has been eliminated other grasp modes, and such as the mode of gripping is to work
The probability of scratch, deformation etc., improves the quality of workpiece caused by part surface.
Wherein, the first sucker 1211 is flexibly connected with the second sucker 1212 with matrix 11, with according to the adsorbable position of workpiece
The position for adjusting the first sucker 1211 and the second sucker 1212 on matrix 11 is set, for example, workpiece is mobile phone shell, is set in mobile phone shell
There are camera mounting hole or other holes, when the first sucker 1211 and the second sucker 1212 adsorb mobile phone shell, cannot be adsorbed in
Therefore the position of the first sucker 1211 and the second sucker 1212 on matrix 11 is adjusted in porose position in mobile phone shell so that
First sucker 1211 and the second sucker 1212 are adsorbed in mobile phone shell when adsorbing mobile phone shell and do not have porose position, improve absorption
The stability of crawl.
Further, the first sucker 1211 and the second sucker 1212 both sides that be respectively arranged at matrix 11 different.
Second grasping mechanism 122 is for capturing fixture cover board so that fixture cover board is covered on above-mentioned fixture or from fixture
In take fixture cover board away.
Specifically, after above-mentioned 121 grabbing workpiece of the first grasping mechanism is put into fixture, need in fixture cover upper fixture
Cover board can be captured fixture cover board by the second grasping mechanism 122 and be put into fixture rear cover in workpiece and be set in the present embodiment
On fixture, after work pieces process completion, fixture cover board is taken away from fixture by the second grasping mechanism 122.
Wherein, the second grasping mechanism 122 and the first grasping mechanism 121 are set to the not homonymy of matrix 11, it is possible to understand that,
The first sucker 1211 and the second sucker 1212 in second grasping mechanism 122 and the first grasping mechanism 121 matrix 11 not
Homonymy.
Optionally, the second grasping mechanism 122 is magnechuck, and at work, Inside coil is powered generates magnetic to magnechuck
Power, and then by the adsorption fixture cover board of magnechuck, and after coil blackout, unclamp fixture cover board.
Further, the manipulator 10 in the present embodiment further includes correction mechanism 13, and correction mechanism 13 is set to matrix 11
On, for when 121 grabbing workpiece of the first grasping mechanism is put into fixture, correcting position of the workpiece in fixture.
Optionally, correction mechanism 13 is finger cylinder, it is possible to understand that, when the first grasping mechanism 121 is put in grabbing workpiece
When entering fixture, in practical operation, it may appear that placement error causes workpiece to be put into the position in fixture and deviation occurs, at this point, i.e.
It can be exerted a force to workpiece by finger cylinder, the position of workpiece be adjusted, the positional accuracy of workpiece is improved, reduced workpiece and exist
When processing due to position is improper and caused by error.
Wherein, in the present embodiment, correction mechanism 13 is set to the same side of matrix 11 and the second grasping mechanism 122.
Further, the manipulator 10 in the present embodiment further includes decontamination mechanism 14, and decontamination mechanism 14 is set to matrix 11
On, for after the completion of work pieces process, removing the spot on workpiece and in fixture.
Optionally, decontamination mechanism 14 is solenoid valve air gun, it is possible to understand that, when workpiece is after machining, on workpiece
And spot can be remained in fixture, such as iron filings, aluminium skimmings or greasy dirt etc., at this point, can be carried out to fixture by solenoid valve air gun
Purging, to remove these spots.
Wherein, in the present embodiment, decontamination mechanism 14 is set to matrix 11 and the first grasping mechanism 121 and the second gripper
The not homonymy of structure 122.
Further, the manipulator 10 in the present embodiment further includes control arm (not shown) and connecting flange 15.
Wherein, control arm is connect with matrix 11, to control the overturning of matrix 11, specifically, the both ends difference of connecting flange 15
It connect with matrix 11 and control arm, is overturn so that control arm controls matrix 11 by connecting flange 15, so that being located at base
Body 11 is not when the first grasping mechanism 121 of homonymy and the second grasping mechanism 122 capture, control matrix 11 overturning to corresponding one
Side, easy to operate, practicability is high, realizes intelligent and automation, reduces cost of labor, and subsequent repair is facilitated to protect.
In addition, when correction mechanism 13 is corrected and when decontamination mechanism 14 decontaminates, equally matrix can be controlled by control arm
11 overturnings are to corresponding side, so that correction mechanism 14 and decontamination mechanism 14 work.
It is the idiographic flow schematic diagram that the machinery 10 in the present embodiment works refering to Fig. 3, Fig. 3, which specifically includes：
S101：Pass through 121 grabbing workpiece of the first grasping mechanism；
Specifically, before workpiece is undressed, control arm controls matrix 11 so that first in the first grasping mechanism 121
Sucker 1211 adsorbs workpiece.
S102：Fixture cover board is captured by the second grasping mechanism 122；
Specifically, after the first grasping mechanism 121 captures unprocessed workpiece, the overturning of matrix 11 is controlled extremely by control arm
The side of second grasping mechanism 122 so that the second grasping mechanism 122 crawl fixture cover board as passes through electricity in the present embodiment
Magnet sucking disc suction jig cover board.
S103：It is put the workpiece in fixture by the first grasping mechanism 121；
Wherein, after workpiece is put into fixture, fixture can clamp workpiece to be positioned to workpiece, in this process
In, the position of workpiece can also be corrected by correction mechanism 13 so that fixture is more accurate to the positioning of workpiece, improves
The Working position degree of workpiece reduces mismachining tolerance.
S104：Fixture cover board is covered on fixture by the second grasping mechanism 122；
Specifically, after fixture clamps workpiece, matrix 11 is controlled by control arm and is overturn so that the second grasping mechanism 122
Fixture cover board is positioned over to be covered on fixture on fixture, at this point, workpiece can be processed.
S105：Fixture cover board is taken away from fixture by the second grasping mechanism 122；
Specifically, after machining, the clamp cover on 122 suction jig of the second grasping mechanism is controlled by control arm
Plate is to take fixture cover board away, at this point, fixture unclamps workpiece.
S106：Workpiece is taken out from fixture by the first grasping mechanism 121；
Specifically, after fixture unclamps workpiece, machined by the second sucker 1212 absorption of the first grasping mechanism 121
Workpiece afterwards, and before absorption, the spot that workpiece surface can be removed by decontamination mechanism 14 passes through in the present embodiment
Solenoid valve air gun purges workpiece surface, after the purging is finished, you can workpiece after processing is completed is adsorbed by the second sucker 1212,
Further, it after absorption is completed, can also be removed by above-mentioned identical mode decontamination mechanism 14 remaining in fixture
Spot after the completion of removing, controls the second sucker 1212 by control arm and workpiece after processing is completed is positioned over corresponding position.
It should be understood that the manipulator 10 in the present embodiment reciprocally recycles above-mentioned workflow, work flow is realized
Standardization.
The case where being different from the prior art, being different from the prior art, manipulator embodiment provided by the utility model include
Matrix and the grabbing assembly being set on matrix, grabbing assembly includes the first grasping mechanism and the second grasping mechanism, by the
One grasping mechanism grabbing workpiece be put into fixture or from fixture take out workpiece, the second grasping mechanism crawl fixture cover board so that
Fixture cover board is covered on fixture or takes fixture cover board away from fixture, compared with the existing technology in manual work, it is easy to operate,
It is highly practical, production efficiency is improved, human cost and production cost are reduced
The above description is only the embodiments of the present invention, and it does not limit the scope of the patent of the present invention, every
Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is applied directly or indirectly in
Other related technical areas are equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of manipulator, which is characterized in that the manipulator includes：
Matrix；
Grabbing assembly is set in described matrix, including the first grasping mechanism and the second grasping mechanism, first grasping mechanism
For grabbing workpiece to be put into fixture or take out from the fixture workpiece, second grasping mechanism is pressed from both sides for capturing
Has cover board so that the fixture cover board is covered on the fixture or takes the fixture cover board away from the fixture.
2. manipulator according to claim 1, which is characterized in that second grasping mechanism is magnechuck.
3. manipulator according to claim 1, which is characterized in that first grasping mechanism and second grasping mechanism
It is set to the not homonymy of described matrix, the manipulator further comprises that control arm, the control arm are connect with described matrix, with
When first grasping mechanism and second grasping mechanism capture, control described matrix is overturn to corresponding side.
4. manipulator according to claim 3, which is characterized in that first grasping mechanism includes the first sucker and second
Sucker, first sucker and second sucker both sides that be respectively arranged at described matrix different, and it is respectively used to absorption not
The workpiece of processing and the workpiece after machining.
5. manipulator according to claim 4, which is characterized in that first sucker and second sucker and the base
Body is flexibly connected, to adjust first sucker with second sucker in described matrix according to the adsorbable position of the workpiece
On position.
6. manipulator according to claim 1, which is characterized in that the manipulator further comprises correction mechanism, described
Correction mechanism is set on matrix, for when first grasping mechanism captures the workpiece and is put into the fixture, house of correction
State position of the workpiece in the fixture.
7. manipulator according to claim 6, which is characterized in that the correction mechanism is finger cylinder.
8. manipulator according to claim 1, which is characterized in that the manipulator further comprises decontamination mechanism, described
Decontamination mechanism is set in described matrix, for after the completion of the work pieces process, removing on the workpiece and in the fixture
Spot.
9. manipulator according to claim 8, which is characterized in that the decontamination mechanism is solenoid valve air gun.
10. manipulator according to claim 3, which is characterized in that the manipulator further comprises connecting flange, described
The both ends of connecting flange are connect with described matrix and the control arm respectively, and positioned at described matrix and first grasping mechanism
And the not homonymy of second grasping mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721411419.1U CN207616213U (en) | 2017-10-27 | 2017-10-27 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721411419.1U CN207616213U (en) | 2017-10-27 | 2017-10-27 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207616213U true CN207616213U (en) | 2018-07-17 |
Family
ID=62826930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721411419.1U Active CN207616213U (en) | 2017-10-27 | 2017-10-27 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207616213U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855813A (en) * | 2017-10-27 | 2018-03-30 | 广东长盈精密技术有限公司 | A kind of manipulator |
| CN109590994A (en) * | 2019-01-09 | 2019-04-09 | 安徽明天氢能科技股份有限公司 | A kind of manipulator online for cathode-anode plate |
-
2017
- 2017-10-27 CN CN201721411419.1U patent/CN207616213U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855813A (en) * | 2017-10-27 | 2018-03-30 | 广东长盈精密技术有限公司 | A kind of manipulator |
| CN109590994A (en) * | 2019-01-09 | 2019-04-09 | 安徽明天氢能科技股份有限公司 | A kind of manipulator online for cathode-anode plate |
| CN109590994B (en) * | 2019-01-09 | 2023-08-22 | 安徽明天氢能科技股份有限公司 | Manipulator for wiring cathode and anode plates |
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