CN210084388U - Elastic clamping, overturning and conveying manipulator - Google Patents
Elastic clamping, overturning and conveying manipulator Download PDFInfo
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- CN210084388U CN210084388U CN201920240085.9U CN201920240085U CN210084388U CN 210084388 U CN210084388 U CN 210084388U CN 201920240085 U CN201920240085 U CN 201920240085U CN 210084388 U CN210084388 U CN 210084388U
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Abstract
The utility model discloses an elastic clamping, overturning and conveying manipulator, which comprises an elastic clamping mechanism for clamping a workpiece, an overturning mechanism for overturning the elastic clamping mechanism and an installation platform; the elastic clamping mechanism comprises a clamping arm slide rail and a first clamping arm and a second clamping arm, wherein a first sliding table and a second sliding table are arranged on the clamping arm slide rail in a sliding manner, the first sliding table and the second sliding table are driven to approach or separate by a clamping driving device, one end of the first clamping arm and one end of the second clamping arm are respectively connected with the first sliding table and the second sliding table in a swinging manner, a first limiting block and a second limiting block are further fixedly connected to the first sliding table and the second sliding table, and a first spring and a second spring are respectively arranged between the first limiting block and the first clamping arm and between the second limiting block and the first; the turnover mechanism is fixedly connected on the mounting table, and the rotating end of the turnover mechanism is fixedly connected with the clamping arm slide rail; the mounting table is driven by the lifting driving device to lift and link the elastic clamping mechanism. The utility model discloses can be suitable for the thin wall work piece, can not cause the work piece to warp during the centre gripping to can get the work piece and put and overturn.
Description
Technical Field
The invention relates to the field of clamping and conveying equipment, in particular to an elastic clamping and overturning conveying manipulator.
Background
In the process of processing various products, not only the top part but also the bottom part often need to be processed, so that when the production line is used, the workpiece in the previous procedure is often required to be overturned, then conveyed and overturned to enter the next procedure. Most of the existing assembly line production adopts manual work to overturn and convey, the action is repeated and is easy to fatigue, the assembly line production rhythm without stopping is difficult to adapt, and when a user takes and places a workpiece, the workpiece is easy to damage or cut by the workpiece, and the safety is not high.
Most of the existing clamping conveying manipulators cannot turn over, and most of thin-wall cylindrical workpieces cannot be positioned, clamped, taken and placed; because the cylindrical work piece of thin wall is changeed the deformation, current centre gripping manipulator clamping-force is difficult to control often damages the work piece.
Disclosure of Invention
The invention aims to solve the technical problem of providing an elastic clamping, overturning and conveying manipulator which is suitable for thin-wall workpieces, does not cause workpiece deformation during clamping, and can pick, place and overturn workpieces.
In order to achieve the aim, the invention discloses an elastic clamping, overturning and conveying manipulator which comprises an elastic clamping mechanism for clamping a workpiece, an overturning mechanism for overturning the elastic clamping mechanism and an installation platform, wherein the overturning mechanism is used for overturning the elastic clamping mechanism;
the elastic clamping mechanism comprises a clamping arm slide rail and a first clamping arm and a second clamping arm, wherein a first sliding table and a second sliding table are arranged on the clamping arm slide rail in a sliding manner, the first sliding table and the second sliding table are driven to be close to or separated from each other by a clamping driving device, one end of the first clamping arm and one end of the second clamping arm are respectively connected with the first sliding table and the second sliding table in a swinging manner, a first limiting block and a second limiting block are further fixedly connected onto the first sliding table and the second sliding table, and a first spring and a second spring are respectively arranged between the first limiting block and the first clamping arm and between the second limiting block and the first clamping arm and;
the fixed end of the turnover mechanism is fixedly connected to the mounting table, and the rotating end of the turnover mechanism is fixedly connected with the clamping arm slide rail;
the mounting table is driven by a lifting driving device to lift and link the elastic clamping mechanism to lift.
Preferably, the mounting table is driven by a transverse moving driving device to transversely move in linkage with the elastic clamping mechanism.
Preferably, the mounting table comprises a fixed plate and a movable plate, a vertical sliding rail is arranged between the fixed plate and the movable plate, and the movable plate is driven by the lifting driving device to lift along the vertical sliding rail.
Preferably, the fixed plate is slidably mounted on a traverse slide rail, and the fixed plate is driven by a traverse driving device to slide transversely along the traverse slide rail.
Preferably, the first clamping arm and the second clamping arm are respectively provided with a clamping arc surface.
Preferably, a cushion is arranged on the clamping cambered surface.
Preferably, still include the conveyer belt, thereby be provided with the guiding bevel edge on the conveyer belt and be used for hindering the push away work piece and adjust the position that the work piece was located on the conveyer belt, still be provided with work piece detecting device on the conveyer belt, the conveyer belt is conveyed by the drive of conveying drive arrangement, work piece detecting device with the drive of conveying electricity is connected, work piece detecting device detects the work piece through behind the guiding bevel edge control conveying drive arrangement shuts down thereby realizes the location of work piece.
Preferably, the fixed end of the turnover mechanism is fixedly connected to the mounting block, and the mounting block is fixedly connected to the mounting table through an adjusting screw.
Preferably, the turnover mechanism comprises a turnover gear and a turnover screw rod, the turnover gear is fixedly connected with the clamping arm slide rail, the turnover screw rod is in transmission connection with a turnover driving device, the turnover gear is in transmission engagement with the turnover screw rod, and the turnover driving device drives the turnover screw rod to rotate and link the turnover gear to rotate and link the clamping arm slide rail to turn.
Compared with the prior art, the invention has the beneficial effects that:
the clamping arms are arranged in a swinging mode, and the springs are arranged between the clamping arms and the limiting blocks, so that the clamping arms have certain elastic deformation space when clamping, and the clamping force is the self-adaptively-changing spring elasticity, so that when a thin-wall workpiece is clamped through elasticity, the thin-wall workpiece cannot deform due to overlarge clamping force, and the yield and the product quality are greatly improved;
the workpiece is turned and placed by arranging the lifting and turning mechanism;
the workpiece is conveyed by arranging the transverse moving mechanism;
the clamping cambered surface is arranged, so that the cylindrical workpiece is applicable;
the soft cushion is arranged on the clamping cambered surface, so that the surface abrasion of the workpiece is avoided;
the conveying belt, the guiding bevel edge and the workpiece detection device are arranged, so that the positioning and the parking of the workpiece are realized, and the clamping is more convenient and accurate;
the position of the elastic clamping mechanism is finely adjusted by arranging the adjusting screw, so that the clamping is more accurate and the elastic clamping mechanism is suitable for workpieces with different sizes.
Drawings
FIG. 1 is a top view of the overall structure of an embodiment of the present invention;
fig. 2 is a side view of the overall structure of the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings of fig. 1-2.
Referring to fig. 1-2, an elastic clamping turnover conveying manipulator comprises an elastic clamping mechanism for clamping a workpiece, a turnover mechanism for turnover the elastic clamping mechanism, and a mounting table 7.
The elastic clamping mechanism comprises a clamping arm slide rail 4 and a first clamping arm 4A and a second clamping arm 4B, wherein the first sliding table 41 and the second sliding table 42 are arranged on the clamping arm slide rail 4 in a sliding manner, the first sliding table 41 and the second sliding table 42 are driven to be close to or separated from each other by a clamping driving device 43, the clamping driving device 43 preferably adopts two air cylinders, the fixed end of the clamping driving device 43 is fixedly connected onto the clamping arm slide rail 4, and the telescopic end of the clamping driving device 43 is fixedly connected with the first sliding table 41 and the second sliding table 42 respectively;
one end of each of the first clamping arm 4A and the second clamping arm 4B is connected with the first sliding table 41 and the second sliding table 42 in a swinging manner, the first sliding table 41 and the second sliding table 42 are further fixedly connected with a first limiting block 411 and a second limiting block 421, and a first spring 412 and a second spring 422 are respectively arranged between the first limiting block 411 and the second limiting block 421 and between the first clamping arm 4A and the second clamping arm 4B; the first sliding table 41 and the second sliding table 42 move in the opposite direction under the driving of the clamping driving device 43, and are linked with the first clamping arm 4A and the second clamping arm 4B to move in the close direction so as to clamp a workpiece, when the first sliding table 41 and the second sliding table 42 are too close to each other, the first clamping arm 4A and the second clamping arm 4B respectively swing outwards and respectively compress the first spring 412 and the second spring 422, so that the situation that the workpiece is directly extruded and deformed in the prior rigid contact process is avoided;
the second sliding table 42 comprises an upper sliding table 424 and a lower sliding table 423, a cavity is formed in the middle when the upper sliding table 424 and the lower sliding table 423 are connected together, and the second sliding table 42 is slidably sleeved on the clamping arm sliding rail 4 through the cavity; the first sliding table 41 and the second sliding table 42 are symmetrical in structure.
The turnover mechanism is fixedly connected on the mounting table 7, and the rotating end of the turnover mechanism is fixedly connected with the clamping arm slide rail 4; the fixed end of the turnover mechanism is fixedly connected to the mounting block 53, the top surface of the mounting table 7 is provided with a limiting projection 54, and the mounting block 53 is connected with the limiting projection 54 through an adjusting screw 55. Thereby can finely tune tilting mechanism's position through twisting adjusting screw 55 linkage fine setting elastic clamping mechanism's position for the centre gripping is more accurate, adaptability is higher.
The preferred gear screw rod cooperation that adopts of tilting mechanism, including upset gear 51 and upset screw rod 52, one side and the arm lock slide rail 4 rigid coupling of upset gear 51, the opposite side and the installation piece 53 of upset gear 51 rotate to be connected, still the rigid coupling has upset drive arrangement 5 on the installation piece 53, upset screw rod 52 is connected with the transmission of upset drive arrangement 5, upset gear 51 meshes with the transmission of upset screw rod 52, upset drive arrangement 5 drive upset screw rod 52 rotates linkage upset gear 51 and rotates the 4 upsets of linkage arm lock slide rail. The turnover mechanism can also adopt the prior art with turnover function such as a rotary cylinder.
The mounting table 7 is driven by the elevation driving device 75 to ascend and descend the elevation interlocking elastic clamping mechanism. The mounting table 7 comprises a fixed plate 72 and a movable plate 71, a vertical slide rail 73 is arranged between the fixed plate 72 and the movable plate 71, and the movable plate 71 is driven by a lifting driving device 75 to lift along the vertical slide rail 73. One end of the vertical sliding rail 73 is fixedly connected to the movable plate 71, the other end of the vertical sliding rail 73 is slidably inserted into the movable plate 71, the lifting driving device 75 preferably adopts an air cylinder, the fixed end of the lifting driving device 75 is fixedly connected to the fixed plate 72, and the telescopic end of the lifting driving device 75 is fixedly connected to the movable plate 71.
The mounting table 7 is driven by a transverse movement driving device 8 to transversely move the transverse movement linkage elastic clamping mechanism. The fixed plate 72 is slidably mounted on the first and second traverse rails 6A and 6B at both sides thereof, and the fixed plate 72 is driven by the traverse driving device 8 to slide in a traverse manner along the first and second traverse rails 6A and 6B. The traverse driving device 8 preferably adopts a telescopic mandril, the fixed end of the traverse driving device 8 is fixedly connected with the first and second traverse slide rails 6A and 6B, and the telescopic end 81 of the traverse driving device 8 is fixedly connected with the fixed plate 72.
The first clamping arm 4A and the second clamping arm 4B are respectively provided with a clamping arc surface 44. The clamping cambered surface 44 is provided with a soft cushion 45.
The automatic positioning device comprises a conveying belt 1, a guiding bevel edge 11 is arranged on the conveying belt 1 and used for pushing a workpiece 3 in a blocking mode, so that the position of the workpiece 3 on the conveying belt 1 is adjusted, a workpiece detection device 12 is further arranged on the conveying belt 1, the conveying belt 1 is driven by a conveying driving device to convey, the workpiece detection device 12 is electrically connected with the conveying driving device, and the workpiece detection device 12 detects that the workpiece passes through the guiding bevel edge 11 and then controls the conveying driving device to stop so as to achieve positioning of the workpiece 3.
Referring to fig. 1 to 2, a process of implementing automatic positioning, clamping and turning in an embodiment of the present invention is as follows:
when the workpiece 3 is conveyed on the first conveyor belt 1 and passes through the bevel edge 11, the bevel edge 11 pushes the workpiece 3 from the side surface, so that the position of the workpiece 3 is in the center of the first conveyor belt 1, and after the workpiece detection device 12 on the side edge of the first conveyor belt 1 detects that the workpiece 3 passes through the bevel edge 11, the first conveyor belt 1 is controlled to stop conveying, so that the workpiece 3 stops at a preset position;
the fixed plate 72 is driven by the traverse driving device 8 to move to one side of the workpiece 3 along the first and second traverse slide rails 6A and 6B, the movable plate 71 is driven by the vertical driving device 75 to descend along the vertical slide rail 73, the first and second clamping arms 4A and 4B slide close to each other along the clamping arm slide rails 4, so as to elastically clamp the workpiece 3, after the movable plate 71 ascends along the vertical slide rail 73, the turnover driving device 5 drives the turnover screw 52 to rotate to link the turnover gear 51 to rotate to link the clamping arm slide rails 4 to turn over, so as to link the workpiece 3 to turn over, the fixed plate 72 moves one side of the second conveyor belt 2 along the first and second traverse slide rails 6A and 6B, the movable plate 71 descends along the vertical slide rail 73, the first and second clamping arms 4A and 4B slide away from each other along the clamping arm slide rails 4, so as to put down the workpiece 3, and the.
It should be understood that the above-mentioned embodiments are merely illustrative of the technical concept and features of the present invention, and are not intended to limit the scope of the present invention, which is defined by the following claims.
Claims (9)
1. An elastic clamping, overturning and conveying manipulator is characterized by comprising an elastic clamping mechanism for clamping a workpiece, an overturning mechanism for overturning the elastic clamping mechanism and an installation platform;
the elastic clamping mechanism comprises a clamping arm slide rail and a first clamping arm and a second clamping arm, wherein a first sliding table and a second sliding table are arranged on the clamping arm slide rail in a sliding manner, the first sliding table and the second sliding table are driven to be close to or separated from each other by a clamping driving device, one end of the first clamping arm and one end of the second clamping arm are respectively connected with the first sliding table and the second sliding table in a swinging manner, a first limiting block and a second limiting block are further fixedly connected onto the first sliding table and the second sliding table, and a first spring and a second spring are respectively arranged between the first limiting block and the first clamping arm and between the second limiting block and the first clamping arm and;
the fixed end of the turnover mechanism is fixedly connected to the mounting table, and the rotating end of the turnover mechanism is fixedly connected with the clamping arm slide rail;
the mounting table is driven by a lifting driving device to lift and link the elastic clamping mechanism to lift.
2. The elastic grip turnover transport robot as claimed in claim 1, wherein the mounting table is driven to traverse by a traverse driving means in conjunction with the traverse of the elastic grip mechanism.
3. The manipulator according to claim 2, wherein the mounting table comprises a fixed plate and a movable plate, a vertical slide rail is disposed between the fixed plate and the movable plate, and the movable plate is driven by the lifting driving device to lift along the vertical slide rail.
4. A resilient gripping and inverting conveyance robot as claimed in claim 3 wherein the fixed plate is slidably mounted on a traverse slide, the fixed plate being driven by a traverse drive to slide laterally along the traverse slide.
5. The robot for transporting a workpiece with elastic clamping and overturning as claimed in claim 1, wherein the first and second clamping arms have clamping arc surfaces, respectively.
6. The flexible clamping turnover transport robot as claimed in claim 5, wherein a soft pad is provided on the clamping arc.
7. The elastic clamping turnover conveying manipulator as claimed in claim 1, further comprising a conveyor belt, wherein a guiding bevel edge is arranged on the conveyor belt and used for pushing a workpiece to adjust the position of the workpiece on the conveyor belt, a workpiece detection device is further arranged on the conveyor belt, the conveyor belt is driven by a conveying driving device to convey, the workpiece detection device is electrically connected with the conveying driving device, and the workpiece detection device detects that the workpiece passes through the guiding bevel edge and controls the conveying driving device to stop so as to position the workpiece.
8. The manipulator as claimed in any one of claims 1 to 7, wherein the fixed end of the turnover mechanism is fixed to a mounting block, and the mounting block is fixed to the mounting table by an adjusting screw.
9. The elastic clamping, overturning and conveying manipulator of claim 8, wherein the overturning mechanism comprises an overturning gear and an overturning screw, the overturning gear is fixedly connected to the clamping arm slide rail, the overturning screw is in transmission connection with an overturning driving device, the overturning gear is in transmission engagement with the overturning screw, and the overturning driving device drives the overturning screw to rotate to link the overturning gear to rotate to link the clamping arm slide rail to overturn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920240085.9U CN210084388U (en) | 2019-02-26 | 2019-02-26 | Elastic clamping, overturning and conveying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920240085.9U CN210084388U (en) | 2019-02-26 | 2019-02-26 | Elastic clamping, overturning and conveying manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN210084388U true CN210084388U (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920240085.9U Active CN210084388U (en) | 2019-02-26 | 2019-02-26 | Elastic clamping, overturning and conveying manipulator |
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| CN (1) | CN210084388U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109867131A (en) * | 2019-02-26 | 2019-06-11 | 揭阳市顺星不锈钢实业有限公司 | A kind of resilient clamp overturning transportation manipulator |
| CN111591732A (en) * | 2020-04-13 | 2020-08-28 | 江苏大学 | A gear hub automatic turning device and turning method |
| CN111958456A (en) * | 2020-07-31 | 2020-11-20 | 上海宝嵩机器人有限公司 | Polishing and polishing equipment and polishing methods in the construction industry |
| CN115610966A (en) * | 2022-10-24 | 2023-01-17 | 宁波欧陆克电器有限公司 | A flipping device for production line of LED lamps and its usage method |
| CN120270765A (en) * | 2025-06-09 | 2025-07-08 | 中交隧道工程局有限公司 | Shield cutter cylinder overturning machine and overturning process based on lever dynamic balance adjustment |
-
2019
- 2019-02-26 CN CN201920240085.9U patent/CN210084388U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109867131A (en) * | 2019-02-26 | 2019-06-11 | 揭阳市顺星不锈钢实业有限公司 | A kind of resilient clamp overturning transportation manipulator |
| CN109867131B (en) * | 2019-02-26 | 2024-05-31 | 揭阳市海霖电器有限公司 | Elastic clamping overturning conveying manipulator |
| CN111591732A (en) * | 2020-04-13 | 2020-08-28 | 江苏大学 | A gear hub automatic turning device and turning method |
| CN111958456A (en) * | 2020-07-31 | 2020-11-20 | 上海宝嵩机器人有限公司 | Polishing and polishing equipment and polishing methods in the construction industry |
| CN115610966A (en) * | 2022-10-24 | 2023-01-17 | 宁波欧陆克电器有限公司 | A flipping device for production line of LED lamps and its usage method |
| CN120270765A (en) * | 2025-06-09 | 2025-07-08 | 中交隧道工程局有限公司 | Shield cutter cylinder overturning machine and overturning process based on lever dynamic balance adjustment |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200401 Address after: 515500 North of Fengmeicun Road Section, Duzhen, 206 National Highway, Jieyang Airport Economic Zone, Jieyang City, Guangdong Province Patentee after: Jieyang Hailin Electrical Appliance Co., Ltd. Address before: 515000 capital development zone, Jiedong County, Jieyang, Guangdong Patentee before: JIEYANG SHUNXING STAINLESS STEEL INDUSTRIAL Co.,Ltd. |
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| TR01 | Transfer of patent right |