CN210081283U - Automatic grabbing mechanical arm - Google Patents

Abstract

The utility model discloses an automatic plate grabbing manipulator, which comprises a frame, a rotary lifting mechanism, a belt type driving mechanism and two groups of clamping devices, wherein the frame is transversely provided with a first guide rail; the rotary lifting mechanism is arranged on the first guide rail and can move along the first guide rail; the belt type driving mechanism is connected with the rotary lifting mechanism and can be driven by the rotary lifting mechanism to rotate and lift; the two groups of clamping devices are arranged oppositely, and at least one group of clamping devices is connected with the belt driving mechanism which can drive the clamping devices to move so as to increase or decrease the distance between the two groups of clamping devices. By the technical scheme, the movement accuracy of the automatic plate grabbing mechanical arm is improved, plates are not prone to falling off in the plate taking and placing process, the plates can be taken and placed accurately, and the movement stroke is convenient to adjust; the novel plate can adapt to the change of different plate sizes, meet the diversified product requirements and is convenient to maintain.

Description

An automatic gripper manipulator

technical field

The utility model relates to the technical field of production equipment processing, in particular to an automatic plate grabbing manipulator.

Background technique

With the development of society, the technology industry has also developed rapidly. In the industrial production process, the automatic plate grabbing manipulator has occupied a high position. In the machinery manufacturing industry, automated production equipment largely determines the quality of its products and market competitiveness, so many automatic plate grabbing robots have been improved to improve production efficiency and quality.

At present, the automatic plate grabbing manipulator generally uses the cylinder to drive the clamping device to pick and place the corresponding plate. The operation of the cylinder is not stable enough, and there are obvious setbacks, which may easily lead to the falling of the sheet during the process of picking and placing the sheet, or the inability to pick and place the sheet accurately, and the cylinder stroke is inconvenient to adjust, which does not adapt to the change of sheet size.

Utility model content

The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide an automatic plate grabbing manipulator.

The technical solution adopted to solve the above technical problems: an automatic plate grabbing manipulator, comprising: a frame, a first guide rail is laterally installed on the frame; a rotating lifting mechanism is installed on the first guide rail and can move along the first The guide rail moves; the belt drive mechanism is connected with the rotating lifting mechanism and can be driven by the rotating lifting mechanism to rotate and lift; two sets of clamping devices, two sets of clamping devices are arranged opposite to each other, and at least one set of clamping devices Connected with a belt drive mechanism, the belt drive mechanism can drive the clamping devices to move to increase or decrease the distance between the two sets of clamping devices.

Preferably, the belt drive mechanism includes:

a first mounting plate, fixedly connected with the rotating lifting mechanism;

a first drive motor, mounted on the first mounting plate;

A transmission device comprising two first transmission wheels and a first conveyor belt wound around the two first transmission wheels, wherein one of the first transmission wheels is installed on the output shaft of the first drive motor, and the other A first transmission wheel is rotatably mounted on the first mounting plate.

Preferably, the clamping device includes a connection seat and a clamping hand assembly mounted on the connection seat.

Preferably, in the two groups of clamping devices, the connection seat on one group of clamping devices is connected to the first conveyor belt on one side of the first transmission wheel, and the connection seat on the other group of clamping devices is connected to the other side of the first transmission wheel. One side of the first conveyor belt.

Preferably, a second guide rail is provided on the first mounting plate, and the clamping device is slidably mounted on the second guide rail.

Further preferably, the clamping hand assembly includes a first guide rod and one or more clamping jaws, the first guide rod is arranged on the connection seat, and the clamping jaws are mounted on the first guide rod.

Further preferably, the gripping hand assembly includes a first guide rod and two or more clamping claws, the first guide rod is arranged on the connecting seat, and the two or more clamping claws are all slidably installed on the first guide rod. on a guide rod.

Further preferably, the clamping jaw is fixed on the first guide rod through a stopper.

Further preferably, the rotating lifting mechanism includes a lifting assembly and a rotating assembly connected with the lifting assembly.

Further preferably, it also includes a workbench matched with the frame, and the workbench is provided with a bracket assembly for placing plates.

The automatic plate grabbing manipulator of the above technical solution has at least one of the following advantages or beneficial effects: the belt drive mechanism and the clamping device are driven to rotate and lift by the rotating lifting mechanism, and then the clamping device is driven to move by the belt driving mechanism to move. Increase or decrease the distance between the two sets of clamping devices to complete the picking and placing of plates; the belt drive mode replaces the original cylinder drive mode, which improves the movement accuracy of the automatic plate grabbing manipulator. During the process, it is not easy to cause the plate to fall, and the plate can be taken and placed accurately, which is easy to adjust the movement stroke; by designing two or more clamping jaws to slide and install on the first guide rod, the distance between the clamping jaws can be adjusted, so that it can adapt to different plate sizes. , to adapt to a variety of product needs, easy maintenance.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the utility model is further described:

Fig. 1 is the overall structure diagram of the embodiment of the present utility model;

Figure 2 is a structural diagram of a belt drive mechanism and a clamping device;

Figure 3 is a structural diagram of the rack;

Fig. 4 is the structure diagram of the rotary lifting mechanism;

FIG. 5 is a structural diagram of a rotary lift mechanism, a belt drive mechanism and a clamping device;

Detailed ways

This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Understand each technical feature and overall technical solution of the present invention, but it should not be construed as a limitation on the protection scope of the present invention.

In the description of the present utility model, it should be understood that the orientation descriptions related to orientations, such as up, down, front, rear, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings, only It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In the description of the present utility model, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution .

Referring to FIGS. 1 to 5 , the automatic plate grabbing manipulator according to the embodiment of the present invention includes a frame 10 , a rotary lifting mechanism 20 , a belt drive mechanism 30 and two sets of clamping devices 40 . The frame 10 is laterally installed with a first The guide rail 111; the rotating lifting mechanism 20 is installed on the first guide rail 111 and can move along the first guide rail 111; the belt drive mechanism 30 is connected with the rotating lifting mechanism 20 and can be driven by the rotating lifting mechanism 20 to rotate and lift; two groups The clamping devices 40 are arranged opposite to each other, and at least one group of the clamping devices 40 is connected with the belt drive mechanism 30 , and the belt drive mechanism 30 can drive the clamping devices 40 to move to increase or decrease the distance between the two groups of clamping devices 40 the distance.

In the embodiment of the present invention, the belt driving mechanism 30 and the clamping device 40 are driven to rotate and lift by the rotating lifting mechanism 20, and then the clamping device 40 is driven to move by the belt driving mechanism 30 to increase or decrease the two groups of clamps. The distance between the holding devices 40 is adjusted to complete the picking and placing of the plates; the belt drive mode replaces the original cylinder drive mode, which improves the movement accuracy of the automatic plate grabbing manipulator, and it is not easy to cause the plate to fall during the process of picking and placing the plate. , can accurately pick and place the plate, easy to adjust the movement stroke.

Referring to FIG. 2 , preferably, in the embodiment of the present invention, the belt drive mechanism 30 includes a first mounting plate 31 , a first driving motor 32 and a transmission device 33 , and the first mounting plate 31 is fixed to the rotating lifting mechanism 20 . connection; the first drive motor 32 is mounted on the first mounting plate 31; the transmission device 33 includes two first transmission wheels 331 and a first conveyor belt 332 wound around the two first transmission wheels 331, one of which is a first transmission The wheel 331 is mounted on the output shaft of the first driving motor 32 , and the other first transmission wheel 331 is rotatably mounted on the first mounting plate 31 .

In some of the embodiments, the first embodiment of the transmission device 33: the transmission device 33 is configured as two first transmission wheels 331 and a first conveyor belt 332 wound around the two first transmission wheels 331, one of which is a first transmission wheel. 331 is installed on the output shaft of the first drive motor 32, another first transmission wheel 331 is rotatably installed on the first installation plate 31, and the first conveyor belt 332 is a belt conveyor belt; the second embodiment of the transmission device 33: the transmission device 33 is set to Two first transmission wheels 331 and a first conveyor belt 332 wound around the two first transmission wheels 331, one of the first transmission wheels 331 is installed on the output shaft of the first driving motor 32, the other first transmission wheel 331 is rotatably mounted on the first mounting plate 31, and the first conveyor belt 332 is a chain conveyor belt.

Referring to FIG. 1 and FIG. 3 , in the embodiment of the present invention, the frame 10 is provided with a second mounting plate 11 and a driving device 12 mounted on the second mounting plate 11 , and the driving device 12 includes a second driving motor 121 , two second transmission wheels 122 and a second conveyor belt 123 wound around the second transmission wheels 122 , the second mounting plate 11 is provided with a first guide rail 111 , and the rotary lift mechanism 20 is slidably mounted on the first guide rail 111 . During operation, the second conveyor belt 123 is driven to rotate by the second drive motor 121 , and then the rotary lift mechanism 20 is driven to move along the first guide rail 111 .

Referring to FIG. 2 , in the embodiment of the present invention, the clamping device 40 includes a connecting base 41 and a clamping hand assembly 42 mounted on the connecting base 41 . In the two groups of clamping devices 40, the connecting seat 41 on one group of the clamping devices 40 is connected to the first conveyor belt 332 on one side of the first transmission wheel 331, and the connecting seat 41 on the other group of the clamping devices 40 is connected to the first conveyor belt 332. A first conveyor belt 332 on the other side of a transmission wheel 331 . The first mounting plate 31 is provided with a second guide rail 311 , and the clamping device 40 is slidably mounted on the second guide rail 311 .

In some embodiments, when the first conveyor belt 332 is a belt conveyor belt, the first conveyor belt 332 is provided with a plurality of protruding teeth, the connecting seat 41 is provided with a limiting groove, and the limiting groove engages with some of the protruding teeth to connect the connection The seat 41 is connected with the first conveyor belt 332; when the first conveyor belt 332 is a chain conveyor belt, the connecting seat 41 is connected with the first conveyor belt 332 through a fixing member, and the fixing member is a screw, a pin or the like.

Further, in some of the embodiments, the first embodiment of the clamping device 40: the clamping hand assembly 42 includes a first guide rod 421 and one or more clamping jaws 422. The first guide rod 421 is disposed on the connecting seat 41, and the clamp The claw 422 is installed on the first guide rod 421; the second embodiment of the clamping device 40: the clamping hand assembly 42 includes a first guide rod 421 and more than two clamping claws 422, and the first guide rod 421 is arranged on the connecting seat 41. , two or more clamping jaws 422 are slidably mounted on the first guide rod 421 . By designing more than two clamping jaws 422 to be slidably installed on the first guide rod 421, the spacing of the clamping jaws 422 can be adjusted, so that it can adapt to different plate sizes, adapt to diversified product requirements, and facilitate maintenance.

In the embodiment of the present invention, the clamping jaw 422 is fixed on the first guide rod 421 through a stopper, and the stopper is a screw, a pin or the like.

Referring to FIG. 4 and FIG. 5 , in the embodiment of the present invention, the rotating lifting mechanism 20 includes a lifting assembly 21 and a rotating assembly 22 connected with the lifting assembly 21 . The lift assembly 21 includes a first mounting seat 211 , a second guide rod 212 fixed on the first mounting seat 211 , and a cylinder 213 , a third guide rail 2111 is provided on the first mounting seat 211 , and the cylinder 213 is slidably mounted on the third guide rail 2111; the rotating assembly 22 includes a third driving motor 221, a second mounting seat 222 and a connecting block 223, the second mounting seat 222 is mounted on the second guide rod 212 and connected to the cylinder 213, and the third driving motor 221 is mounted on the On the second mounting seat 222 , the connecting block 223 is mounted on the third driving motor 221 and is fixedly connected to the belt driving mechanism 30 . During operation, the air cylinder 213 moves along the third guide rail 2111, and the second mounting base 222 also rises and falls accordingly, and then the belt drive mechanism 30 and the clamping device 40 are driven to rotate by the third drive motor 221 for better pick and place plate.

In some of these embodiments, the lifting assembly 21 can also be configured as a device for lifting and lowering with a screw rod, and the screw lifting device drives the rotating assembly 22 to lift and lower; the rotating assembly 22 can also be configured as a device for rotating with a rotary cylinder to The belt drive mechanism 30 and the clamping device 40 are driven to rotate.

Further, in the embodiment of the present invention, the automatic plate grabbing manipulator further includes a worktable 50 matched with the frame 10 , and a bracket assembly 51 for placing the plate is arranged on the worktable 50 .

The working principle of the embodiment of the present utility model: the belt driving mechanism 30 and the clamping device 40 are driven to perform lifting and rotating actions by rotating the lifting mechanism 20, and then the clamping device 40 is driven by the belt driving mechanism 30 to move to increase or decrease. The distance between the two groups of clamping devices 40 is reduced to complete the picking and placing of plates.

The above-mentioned embodiments are only the preferred solutions of the present invention, and the present invention may also have other embodiments. Those skilled in the art can also make equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope set by the claims of the present application.

Claims (10)

1. An automatic grabbing plate manipulator, characterized by includes:

the device comprises a rack (10), wherein a first guide rail (111) is transversely arranged on the rack (10);

a rotary lifting mechanism (20) which is mounted on the first guide rail (111) and can move along the first guide rail (111);

the belt type driving mechanism (30) is connected with the rotary lifting mechanism (20) and can be driven by the rotary lifting mechanism (20) to rotate and lift;

the two groups of clamping devices (40) are arranged oppositely, at least one group of clamping devices (40) is connected with the belt driving mechanism (30), and the belt driving mechanism (30) can drive the clamping devices (40) to move so as to increase or decrease the distance between the two groups of clamping devices (40).

2. An automatic plate grabbing mechanical arm according to claim 1, characterized in that: the belt drive mechanism (30) includes:

a first mounting plate (31) fixedly connected to the rotary lifting mechanism (20);

a first drive motor (32) mounted on the first mounting plate (31);

transmission (33), transmission (33) include two first drive wheels (331) and around establishing first conveyer belt (332) on two first drive wheels (331), one of them first drive wheel (331) install in on the output shaft of first driving motor (32), another first drive wheel (331) rotate install in on first mounting panel (31).

3. An automatic plate-grabbing mechanical arm according to claim 2, characterized in that: the clamping device (40) comprises a connecting seat (41) and a clamping hand assembly (42) arranged on the connecting seat (41).

4. An automatic plate grabbing mechanical arm according to claim 3, characterized in that: in the two groups of clamping devices (40), the connecting seats (41) on one group of clamping devices (40) are connected to the first conveying belt (332) on one side of the first conveying wheel (331), and the connecting seats (41) on the other group of clamping devices (40) are connected to the first conveying belt (332) on the other side of the first conveying wheel (331).

5. An automatic plate-grabbing mechanical arm according to claim 2, characterized in that: the first mounting plate (31) is provided with a second guide rail (311), and the clamping device (40) is slidably mounted on the second guide rail (311).

6. An automatic plate grabbing mechanical arm according to claim 3, characterized in that: the clamping hand assembly (42) comprises a first guide rod (421) and more than one clamping jaw (422), the first guide rod (421) is arranged on the connecting seat (41), and the clamping jaw (422) is installed on the first guide rod (421).

7. An automatic plate grabbing mechanical arm according to claim 3, characterized in that: the clamping hand assembly (42) comprises a first guide rod (421) and more than two clamping jaws (422), the first guide rod (421) is arranged on the connecting seat (41), and the more than two clamping jaws (422) are all slidably mounted on the first guide rod (421).

8. An automatic panel grabbing robot according to claim 6 or 7 or above, characterized in that: the clamping jaw (422) is fixed on the first guide rod (421) through a stop.

9. An automatic plate grabbing mechanical arm according to claim 1, characterized in that: the rotary lifting mechanism (20) comprises a lifting component (21) and a rotating component (22) connected with the lifting component (21).

10. An automatic plate grabbing mechanical arm according to claim 1, characterized in that: the plate loading machine further comprises a workbench (50) matched with the rack (10), and a support assembly (51) used for placing plates is arranged on the workbench (50).

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