CN210551314U

CN210551314U - Sucker type manipulator

Info

Publication number: CN210551314U
Application number: CN201920952799.2U
Authority: CN
Inventors: 郭秀丽
Original assignee: Beijing Jiacheng Xingye Industry And Trade Co ltd
Current assignee: Beijing Jiacheng Xingye Industry And Trade Co ltd
Priority date: 2019-06-22
Filing date: 2019-06-22
Publication date: 2020-05-19
Anticipated expiration: 2029-06-22

Abstract

The utility model relates to a sucking disc formula manipulator relates to the manipulator field, and it includes main mechanical arm, vice mechanical arm, fixed connection in the fixed disk and the fixed frame of fixed connection on the fixed disk of vice mechanical arm tip, still include in fixed frame relative both sides slide fixed connection's two at least first sucking disc subassemblies separately to and can wind two at least second sucking disc subassemblies for fixed frame place plane rotation in the outside of two at least first sucking disc subassemblies at the planar axis of rotation in the fixed frame place of perpendicular to. The rotating arm can rotate, so that the sucking disc can move to adapt to workpieces in different shapes.

Description

Sucker type manipulator

Technical Field

The utility model belongs to the technical field of the manipulator technique and specifically relates to a sucking disc formula manipulator is related to.

Background

The automobile emphasizes the improvement of production efficiency and the continuous improvement of production safety in the production process. With the continuous improvement of intellectualization, light weight and humanization of mechanical equipment, the application of using the mechanical equipment to increase the production efficiency in the automobile assembly production is continuously expanded. The design of manipulator for automobile assembly mainly needs to consider the production demand of assembly station and the protection and control performance of manipulator to automobile element in the use, designs the manipulator that has good controllability and flexibility and can improve automobile production's efficiency, has actual production meaning.

The main current situation and the defects of the design of the manipulator for automobile assembly in China are as follows: china mostly adopts a foreign import mode for designing the mechanical arm for automobile assembly, and the mechanical arm with independent intellectual property rights is less. Because the number of automobile assembly stations is large, the functions of the required mechanical arms are different, the working procedures of automobile body construction, steel plate transfer station stamping and the like are common, and the large number of mechanical arms are designed according to transferred automobile body parts, so that the method has strong pertinence and limitation on different automobile type parts; the sucking disc formula manipulator is more be applied to in the car assembly station, because the sucking disc has better locating performance, the car production line is multi-purpose this kind of mode at present transports car parts, but the car parts shape differs, and sucking disc formula robotic arm's flexibility and the design that the nature controlled combines the station have certain limitation, and a sucking disc formula manipulator is difficult to be applicable to the transport of the car parts of multiple shape.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a sucking disc formula manipulator can make the auto-parts of second sucking disc subassembly cooperation different shapes through the position of adjusting the swinging boom.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:

the utility model provides a sucking disc formula manipulator, includes main arm, vice arm, fixed connection in the fixed disk and the fixed frame of fixed connection on the fixed disk of vice arm tip, still include in fixed frame relative both sides slide fixed connection's two at least first sucking disc subassemblies separately to and can wind two at least second sucking disc subassemblies of the planar axis of rotation in the fixed frame place of perpendicular to for fixed frame place plane rotation in the outside of two at least first sucking disc subassemblies.

Through adopting above-mentioned technical scheme, first sucking disc subassembly fixed connection can increase the area of snatching of manipulator on fixed frame, and first sucking disc subassembly slides on fixed frame and can cooperates the work piece of different shapes and size, and second sucking disc subassembly can rotary movement to different positions, further cooperates the work piece of different shapes, increases the flexibility of manipulator.

The utility model discloses further set up to: the fixed frame is provided with a hinged shaft perpendicular to the plane of the fixed frame, the end part of the hinged shaft is vertically and fixedly connected with a rotating arm, and the second sucker component is fixedly connected with the rotating arm in a sliding manner.

Through adopting above-mentioned technical scheme, second sucking disc subassembly can slide on the swinging boom, has further increased its ability that adapts to the work piece shape.

The utility model discloses further set up to: the fixing frame is provided with a hinge counter bore, and the hinge shaft can rotate in the hinge counter bore in a circumferential limiting manner.

Through adopting above-mentioned technical scheme, the pivoted position of articulated shaft can be restricted to make the position of swinging boom can fix.

The utility model discloses further set up to: the hinge joint comprises a hinge shaft and is characterized in that a limiting block is arranged on the outer side of the hinge shaft, a shaft sleeve is sleeved on the hinge shaft, a plurality of limiting grooves clamped with the limiting block are formed in the end portion of the shaft sleeve along the circumferential direction, a stop key is fixedly arranged on the outer side of the shaft sleeve and inserted into the stop groove formed in the inner wall of the hinge counter bore, one end, far away from a rotating arm, of the hinge shaft is coaxial and rotatably connected with a compression spring, the other end of the compression spring is fixedly connected with an end cover, and.

By adopting the technical scheme, the stop key on the shaft sleeve is inserted into the stop groove, so that the shaft sleeve cannot rotate in the hinge hole, when the limiting groove on the shaft sleeve is clamped with the limiting block, the hinge shaft is limited by the shaft sleeve and cannot rotate, when the end cover is pulled outwards, the limiting groove is separated from the limiting block, and the hinge shaft can rotate in the hinge counter bore due to the rotatable connection of the compression spring fixed in the end cover and the hinge shaft.

The utility model discloses further set up to: the rotating arm is provided with a second slide way, the second sucker component is connected in the second slide way through a second slide block in a sliding mode, and the second sucker component is locked on the rotating arm through a second locking bolt.

Through adopting above-mentioned technical scheme, second sucking disc subassembly can move along the second slide to its position can be locked by second locking bolt, has further increased its ability that adapts to the work piece shape.

The utility model discloses further set up to: two opposite sides of the fixing frame are provided with first slide ways, the first sucker component is connected to the first slide ways in a sliding mode through a first sliding block, and the first sucker component is locked on the fixing frame through a first locking bolt.

Through adopting above-mentioned technical scheme, first sucking disc subassembly can move along first slide to its position can be locked by first locking bolt, has further increased its ability of adapting to the work piece shape.

The utility model discloses further set up to: the first slide way and the second slide way are T-shaped slide grooves, and the first sliding block and the second sliding block are T-shaped sliding blocks.

The utility model discloses further set up to: the first sucker component comprises a first fixed seat and a first vacuum sucker fixedly connected to the first fixed seat through a first connecting rod, and the first fixed seat is fixedly connected to the first sliding block through a first locking bolt.

Through adopting above-mentioned technical scheme, first fixing base makes things convenient for in the installation of first vacuum chuck.

The utility model discloses further set up to: the second sucker component comprises a second fixed seat and a second vacuum sucker fixedly connected to the second fixed seat through a second connecting rod, and the second fixed seat is fixedly connected to the second sliding block through a second locking bolt.

By adopting the technical scheme, the second fixing seat is convenient to install the second vacuum chuck.

The utility model discloses further set up to: the length of the second connecting rod is smaller than that of the first connecting rod, so that the first vacuum chuck and the second vacuum chuck are positioned on the same plane.

To sum up, the utility model discloses a beneficial technological effect does:

1. the first sucker component is fixedly connected to the fixed frame, the grabbing area of the manipulator can be increased, the first sucker component can be matched with workpieces in different shapes and sizes by sliding on the fixed frame, the second sucker component can be rotationally moved to different positions, the workpieces in different shapes are further matched, and the flexibility of the manipulator is improved;

2. the second sucker component can slide on the rotating arm, and the capability of adapting to the shape of a workpiece is further increased.

3. The stop key on the shaft sleeve is inserted into the stop groove, so that the shaft sleeve cannot rotate in the hinge hole, when the limiting groove on the shaft sleeve is clamped with the limiting block, the hinge shaft is limited by the shaft sleeve and cannot rotate, when the end cover is pulled outwards, the limiting groove is separated from the limiting block, and the hinge shaft can rotate in the hinge counter bore due to the fact that the compression spring fixed in the end cover is rotatably connected with the hinge shaft.

Drawings

Fig. 1 is a schematic view of the overall configuration of a suction type robot.

Fig. 2 is a partially enlarged schematic view of a portion a in fig. 1.

Fig. 3 is an exploded view of the hinge structure of the swing arm and the slide rail beam of the suction cup robot.

Fig. 4 is a cross-sectional view of the hinge structure of the swing arm and the slide rail beam of the suction cup type robot.

Figure 5 is a schematic view of a suction cup robot gripping a shaped workpiece.

Reference numerals: 1. a main mechanical arm; 2. an auxiliary mechanical arm; 3. fixing the disc; 4. a fixing frame; 41. a slide rail cross member; 42. connecting the cross beam; 43. a first slideway; 431. a first slider; 44. Mounting holes; 45. hinging a counter bore; 46. a stopper groove; 5. a first suction cup assembly; 51. a first vacuum chuck; 52. a first connecting rod; 53. a first fixed seat; 531. an adjustment groove; 532. a first locking bolt; 6. a rotating arm; 61. a second slideway; 611. a second slider; 62. Hinging a shaft; 621. a rotating chamber; 622. connecting holes; 63. a limiting block; 64. a shaft sleeve; 65. A limiting groove; 66. a compression spring; 67. an end cap; 671. a pull ring; 68. a fixed block; 69. a stop key; 7. a second chuck assembly; 71. a second vacuum chuck; 72. a second connecting rod; 73. a second fixed seat; 731. a second locking bolt; 8. a shaped workpiece.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, for the utility model discloses a sucking disc formula manipulator, including main arm 1, vice arm 2, and fixed disk 3 of fixed connection in 2 bottoms of vice arm, fixed disk 3 can be the metal sheet of rectangle, one side that fixed disk 3 deviates from vice arm 2 is provided with the fixed frame 4 that is rectangular frame structure, fixed four first sucking disc subassemblies 5 that are provided with on fixed frame 4, fixed frame 4 articulates respectively on the position at four angles has four swinging booms 6, fixed a second sucking disc subassembly 7 that is provided with on four swinging booms 6 separately. By adjusting the position of the rotating arm 6, the second sucker assembly 7 can be matched with automobile parts with different shapes.

Specifically, the fixed frame 4 is mainly composed of two opposite rail beams 41 and two opposite connecting beams 42, and the two rail beams 41 have the same shape and structure. First slide 43 has been seted up to slide rail crossbeam 41 in the one side that fixed disk 3 deviates from mutually, and two first sucking disc subassemblies 5 fixed connection that slide are on first slide 43, and mounting hole 44 has been seted up to the intermediate position of first slide 43 for the installation of first sucking disc subassembly 5. Preferably, the first slideway 43 is a T-shaped chute. Two through hinge counter bores 45 (refer to fig. 3) for connecting the rotating arm 6 are respectively formed at two ends of the sliding rail cross beam 41, and the aperture of one side, close to the fixed disk 3, of each hinge counter bore 45 is large.

The four rotating arms 6 are identical in shape and structure and have a length not exceeding one half of the rail cross member 41. Four swinging arms 6 hinge in the both ends of two slide rail crossbeams 41 respectively, and its one side that deviates from mutually with slide rail crossbeam 41 has seted up second slide 61, and second sucking disc subassembly 7 slides fixed connection on second slide 61. Preferably, the second slideway 61 is a T-shaped chute.

Referring to fig. 2, the first chuck assembly 5 includes a first vacuum chuck 51, a first fixing seat 53 is fixedly connected to a lower end of the first vacuum chuck 51 through a first connecting rod 52, an adjusting groove 531 is formed on the first fixing seat 53, the first fixing seat 53 is fixedly connected to a first slider 431 sliding in the first slideway 43 through a first locking bolt 532, the first slider 431 is adapted to the first slideway 43, and the first slider 431 is a T-shaped slider. By adjusting the tightness of the first locking bolt 532, the first fixing seat 53 can be locked. The second suction cup assembly 7 comprises a second vacuum suction cup 71, the lower end of the second vacuum suction cup 71 is fixedly connected to the second fixed seat 73 through a second connecting rod 72, the second fixed seat 73 has the same structure as the first fixed seat 53, and therefore description is omitted, and the second fixed seat 73 is fixedly connected to the second slideway 43 through a second locking bolt 731. Further, the second connecting rod 72 has a smaller length than the first connecting rod 52 so that the first vacuum cup 51 and the second vacuum cup 71 are located on the same plane. It should be noted that the first connecting rod 52 and the second connecting rod 72 are both hollow tubular structures, and are used for connecting the vacuum pump and the vacuum chuck.

Referring to fig. 3, a hinge shaft 62 is vertically connected to one end of the rotating arm 6, and the rotating arm 6 is fixedly connected to the hinge shaft 62 by a bolt. Two symmetrical limiting blocks 63 are fixedly connected to the outer wall of the hinge shaft 62, and the limiting blocks 63 abut against the inside of the hinge counter bore 45 to limit the hinge shaft 62 in the hinge counter bore 45. The other pot head that swivel arm 6 was kept away from to articulated shaft 62 is equipped with axle sleeve 64, and a plurality of spacing grooves 65 have been seted up along circumference to axle sleeve 64 one end, a plurality of spacing grooves 65 and two stopper 63 block to realize axle sleeve 64 and articulated shaft 62 fixed. An end cover 67 is coaxially and fixedly connected to the end face of the shaft sleeve 64 far away from one end of the rotating arm 6, a compression spring 66 is fixedly connected to the inner portion of the end cover 67, and the other end of the compression spring 66 opposite to the end cover 67 is connected with the hinge shaft 62. Specifically, articulated shaft 62 has been seted up rotatory chamber 621 near the inside of the one end of end cover 67, and connecting hole 622 has been seted up to rotatory chamber 621, and compression spring 66's one end fixedly connected with fixed block 68, fixed block 68 stretch into to rotatory chamber 621 from connecting hole 622 to the block is in rotatory chamber 621, and fixed block 68 can adopt plastic material to make, and through such setting, articulated shaft 62 can be when rotatory, and compression spring 66 can not follow the rotation. A stop key 69 is fixedly connected to the outer side of the shaft sleeve 64, the stop key 69 is inserted into a stop groove 46 formed in the inner wall of the hinge counterbore 45 to limit the shaft sleeve 64 from rotating in the hinge counterbore 45, and a pull ring 671 is fixedly connected to the outer side of the bottom end of the shaft sleeve 64. When the position of the rotating arm 6 needs to be adjusted, the shaft sleeve 64 is pulled outwards through the pull ring 671, the limiting groove 65 is separated from the limiting block 63, the compression spring 66 extends at the moment and has reverse restoring force, then the rotating arm 6 is rotated, after the rotation of the rotating arm 6 is completed, the pull ring 671 is loosened, the shaft sleeve 64 is restored under the reverse restoring force of the compression spring 66, and the limiting groove 65 is connected with the limiting block 63 in a clamping mode.

The implementation principle of the embodiment is as follows: when the suction cup type manipulator needs to carry a workpiece 8 (refer to fig. 5) with a certain shape, the first suction cup assembly 5 and the second suction cup assembly 7 can adjust the position to adapt to the shape of the workpiece, first, the position of the first fixing seat 53 on the first slideway 43 is adjusted, the position of the first fixing seat 53 perpendicular to the direction of the first slideway 43 is adjusted, then, the positions of the four rotating arms 6 are adjusted by pulling the shaft sleeve 64 and rotating the rotating arms 6, and finally, the position of the second fixing seat 73 of the second suction cup assembly 7 on the second slideway 61 is adjusted, and the position of the second fixing seat 73 perpendicular to the direction of the second slideway 61 is adjusted.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a sucking disc formula manipulator, includes main arm (1), vice arm (2), fixed connection fixed disk (3) and the fixed frame (4) of fixed disk (3) on fixed disk (3) of vice arm (2) tip, its characterized in that: the fixing frame also comprises at least two first sucker components (5) which are respectively connected with the two opposite sides of the fixing frame (4) in a sliding and fixed mode, and at least two second sucker components (7) which can rotate around a rotation axis perpendicular to the plane of the fixing frame (4) relative to the plane of the fixing frame (4) on the outer sides of the at least two first sucker components (5).

2. The suction cup robot of claim 1, wherein: the fixing frame (4) is provided with a hinge shaft (62) perpendicular to the plane of the fixing frame (4), the end part of the hinge shaft (62) is fixedly connected with a rotating arm (6), and the second sucker component (7) is fixedly connected with the rotating arm (6) in a sliding mode.

3. The suction cup robot of claim 2, wherein: the fixing frame (4) is provided with a hinge counter bore (45), and the hinge shaft (62) can rotate in the hinge counter bore (45) in a circumferential limiting mode.

4. The suction cup robot of claim 3, wherein: the outside of articulated shaft (62) is provided with stopper (63), the cover is equipped with axle sleeve (64) on articulated shaft (62), the tip of axle sleeve (64) along circumference seted up a plurality of with spacing groove (65) of stopper (63) block, the fixed stop key (69) that is provided with in axle sleeve (64) outside, stop key (69) insert in stop groove (46) that articulated counter bore (45) inner wall was seted up, articulated shaft (62) keep away from that the one end of swinging boom (6) is coaxial, rotate and be connected with compression spring (66), the other end fixedly connected with end cover (67) of compression spring (66), end cover (67) and axle sleeve (64) fixed connection.

5. The suction cup robot of claim 2, wherein: be provided with second slide (61) on swinging boom (6), second sucking disc subassembly (7) are through second slider (611) sliding connection in second slide (61) to lock second sucking disc subassembly (7) on swinging boom (6) through second locking bolt (731).

6. The suction cup robot of claim 5, wherein: two opposite sides of the fixed frame (4) are provided with first slide ways (43), the first sucker component (5) is connected to the first slide ways (43) in a sliding mode through a first sliding block (431), and the first sucker component (5) is locked on the fixed frame (4) through a first locking bolt (532).

7. The suction cup robot of claim 6, wherein: the first slide way (43) and the second slide way (61) are T-shaped slide ways, and the first sliding block (431) and the second sliding block (611) are T-shaped sliding blocks.

8. The suction cup robot of claim 6, wherein: the first sucker component (5) comprises a first fixed seat (53) and a first vacuum sucker (51) fixedly connected to the first fixed seat (53) through a first connecting rod (52), and the first fixed seat (53) is fixedly connected to the first sliding block (431) through a first locking bolt (532).

9. The suction cup robot of claim 8, wherein: the second sucker component (7) comprises a second fixed seat (73) and a second vacuum sucker (71) fixedly connected to the second fixed seat (73) through a second connecting rod (72), and the second fixed seat (73) is fixedly connected to the second sliding block (611) through a second locking bolt (731).

10. The suction cup robot of claim 9, wherein: the second connecting rod (72) is shorter than the first connecting rod (52) so that the first vacuum chuck (51) and the second vacuum chuck (71) are positioned on the same plane.