CN210884210U - Manipulator convenient to grab material and pour material - Google Patents
Manipulator convenient to grab material and pour material Download PDFInfo
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- CN210884210U CN210884210U CN201922088794.2U CN201922088794U CN210884210U CN 210884210 U CN210884210 U CN 210884210U CN 201922088794 U CN201922088794 U CN 201922088794U CN 210884210 U CN210884210 U CN 210884210U
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Abstract
The utility model relates to a manipulator convenient to grab material and fall material, include: an X-axis conveying pair and a Y-axis conveying pair; a Z-axis conveying pair; the portion of snatching is fixed and is served in Z axle is carried vice slip, the portion of snatching is including snatching the cylinder, the location head with fix respectively and snatch the finger on the slip end of snatching the cylinder, it includes arc attaching plate to snatch the finger, an organic whole sets up the column of exploring on arc attaching plate, an organic whole sets up the triangular prism on exploring the column, the edge of every triangular prism sets up the inserted sheet about this edge mirror image, the inserted sheet is seted up the arch and is lacked the groove, the location head is fixed on snatching the cylinder, two cooperation rooms have upwards been seted up to the bottom of location head, and, the lateral wall and the part inner chamber looks adaptation of location head. This kind of manipulator carries vice, Y axle through the X axle and carries vice and the Z axle carries vice realization to carry, through the location head on the portion of snatching, stretches into the part inner chamber, stretches into the cylinder chamber through grabbing the finger, and it is fixed to form the location, and arc attaching plate realizes attached to the effect that the realization was lifted.
Description
Technical Field
The utility model relates to an electromechanical conveying equipment especially relates to a manipulator convenient to grab material and fall material.
Background
CN201720522077.4 discloses a manipulator for packing, which comprises a shell, the casing below is equipped with the base, the base both sides are connected with the support frame, the support frame upper end is connected with the supporting seat, the supporting seat top is equipped with the storage case, storage case the place ahead is equipped with the discharge gate, the storage case rear is equipped with first cylinder, first cylinder the place ahead is equipped with the push pedal, the casing top is equipped with the second cylinder, second cylinder below is equipped with the connecting block, the connecting block below is connected with first connecting rod. Put into the storage case to the gag, thereby first cylinder promotes the push pedal and releases the gag, thereby the second cylinder drives first connecting rod and drives splint and cliies the gag of being released, and the clamp plate is pushed down to the third cylinder, and the gland is pushed down to the clamp plate, impresses and puts on the jar body of base, and the device simple structure of the relative general gag packing of the device can accomplish automatic feeding to and automatic packaging is sealed, brings better benefit for small-size enterprise.
The manipulator can achieve a grabbing effect on general parts, but cannot grab special parts, as shown in fig. 1, the part is cylindrical, a cylindrical cavity is formed in the outer side wall of the part in a mirror image mode, a triangular cavity is arranged at the bottom of the cylindrical cavity, two piece cavities are arranged at the edge of each triangular cavity and are in mirror image relation with the edge, a cylindrical head is arranged at the bottom, close to the cylindrical cavity, of each piece cavity, the cylindrical head is tangent to the bottom surface of the cylindrical cavity, and for the part body, the outer side wall of the part body is light and thin, and deformation is easily caused in the grabbing process, so that the part becomes a waste product;
it is therefore important to be able to provide a robot adapted to such a can.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: a robot adapted to the parts indicated in the background is provided.
The utility model provides a technical scheme that its technical problem adopted is: a manipulator convenient to grab material and pour material includes:
an X-axis conveying pair is arranged on the upper portion of the X-axis,
the Y-axis conveying pair is fixed on the sliding end of the X-axis conveying pair;
the Z-axis conveying pair is fixed on the sliding end of the Y-axis conveying pair;
snatch the portion, it fixes to snatch the portion Z axle is carried vice slip to serve, snatch the portion including snatching cylinder, location head and fixing respectively snatch the slip of cylinder and serve the grabbing of taking, it includes arc attaching plate to grab to indicate, and an organic whole sets up visit the post on the arc attaching plate, an organic whole sets up visit the triangular prism on the post, every the edge of triangular prism is provided with two insertion pieces about this edge mirror image, an arch scarce groove has been seted up to the tip of insertion piece, the location head is fixed two grab and indicate between grab and take on the cylinder, the location head is cylindricly and upwards set up two cooperation rooms that the mirror set up from its bottom, and, the lateral wall and the part inner chamber looks adaptation of location head, wherein
When the positioning head extends into the inner cavity of the part, the two grabbing fingers respectively extend into the cylindrical cavity to grab the part.
Preferably, the number of the positioning heads is two, two positioning sliders and two return springs are slidably arranged at the end part of the grabbing cylinder, two positioning pieces are arranged at the end part of the grabbing cylinder in a mirror image manner, and each positioning piece is matched with one positioning slider, one return spring and one positioning head; one end of the reset spring is fixedly connected with the positioning sliding block, and the other end of the reset spring is fixedly connected with the positioning sheet.
Preferably, a double joint is fixed in the middle of each of the two positioning heads, the double joints are fixed at the end of the grabbing cylinder, and matching heads matched with the cylindrical cavities are arranged on two sides of each double joint in a mirror image mode.
Preferably, the matching head is integrally provided with two arc-shaped bins attached to the outer side wall of the part.
Preferably, the grabbing portion further comprises a linkage plate and a rotating portion, the rotating portion comprises a rotating motor, a driving wheel sleeved on an output shaft of the rotating motor, and a driven shaft sleeved with a rotating disc and a driven wheel, the driven wheel is linked with the driving wheel through a conveying belt, and the rotating disc is rotatably arranged on the linkage plate.
Preferably, an L-shaped iron sheet is fixed on the side wall of the grabbing cylinder, and three photoelectric switches are fixed on the linkage plate.
Preferably, the X-axis conveying pair comprises an X-axis cylinder, an X-axis slide rail and an X-axis slide block, the X-axis slide block is slidably arranged on the X-axis slide rail, and the Y-axis conveying pair is fixed on the X-axis slide block, wherein
And a piston rod of the X-axis cylinder is fixedly connected with the X-axis sliding block.
Preferably, the Y-axis conveying pair comprises a Y-axis cylinder, a Y-axis slide rail and a Y-axis slide block, the Y-axis slide block is slidably arranged on the Y-axis slide rail, the Z-axis conveying pair is fixed on the Y-axis slide block, and the Y-axis slide rail is fixed on the X-axis slide block, wherein the Y-axis cylinder, the Y-axis slide rail and the Y-axis slide block are arranged in parallel, and the Y-axis
And a piston rod of the Y-axis cylinder is fixedly connected with the Y-axis sliding block.
Preferably, the Z-axis conveying pair comprises a Z-axis cylinder, a Z-axis slide rail and a Z-axis slide block, the Z-axis slide block is slidably arranged on the Z-axis slide rail, the grabbing part is fixed on the Z-axis slide block, and the Z-axis slide rail is fixed on the Y-axis slide block, wherein the Z-axis slide block is arranged on the Y-axis slide block, and the Z-axis cylinder and the Z-axis slide block are
And a piston rod of the Z-axis cylinder is fixedly connected with the Z-axis sliding block.
The utility model has the advantages that:
this kind of manipulator convenient to grab material and fall material carries vice and Z axle through the X axle and carries vice, Y axle and carry vice cooperation with the Z axle, realizes the transport in X axle, Y axle and Z axle side, through the location head in the portion of snatching, stretches into the part inner chamber, through the setting of snatching the finger, stretches into the cylinder intracavity, forms the fixed effect in location, and arc attaching plate realizes attached effect to the effect of lifting is realized to the realization.
Drawings
The present invention will be further explained with reference to the drawings and examples.
FIG. 1 is a schematic structural diagram of a part to be grabbed according to the present invention;
fig. 2 is a schematic structural diagram of a manipulator facilitating material grabbing and pouring of the present invention;
fig. 3 is a partial structural schematic view of the grasping portion of the present invention;
fig. 4 is a partial structural schematic view of the grasping portion of the present invention;
fig. 5 is a partial schematic structural view of the grasping portion of the present invention;
in the figure: the device comprises an X-axis conveying pair 1, an X-axis cylinder 101, an X-axis slide rail 102, an X-axis slide block 103, a Y-axis conveying pair 2, a Y-axis cylinder 201, a Y-axis slide rail 202, a Y-axis slide block 203, a Z-axis conveying pair 3, a Z-axis cylinder 301, a Z-axis slide rail 302, a linkage plate 303, a grabbing part 4, a grabbing cylinder 401, a positioning head 402, a reset spring 4021, a positioning sheet 4022, a grabbing finger 403, an arc-shaped jointing plate 4031, a probing column 4032, a triangular column 4033, a plugging sheet 4034, a double joint 404, a matching head 4041, an arc-shaped bin 4042, a rotating motor 405, a driving wheel 406, a rotating disc 407, a driven wheel 408, a driven shaft 409, a conveying belt 410, an L-shaped iron.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in FIGS. 1-5, a manipulator convenient for grabbing and pouring materials comprises: the X-axis conveying pair 1 and the Y-axis conveying pair 2 are fixed on the sliding end of the X-axis conveying pair 1; the Z-axis conveying pair 3 is fixed on the sliding end of the Y-axis conveying pair 2; the grabbing part 4 is fixed on the sliding end of the Z-axis conveying pair 3, the grabbing part 4 comprises a grabbing cylinder 401, a positioning head 402 and grabbing fingers 403 respectively fixed on the sliding end of the grabbing cylinder 401, each grabbing finger 403 comprises an arc-shaped attaching plate 4031, a probing column 4032 on the arc-shaped attaching plate 4031 and a triangular column 4033 on the probing column 4032 are integrally arranged, the edge of each triangular column 4033 is provided with two inserting plates 4034 about the edge mirror image, the end part of each inserting plate 4034 is provided with an arch notch, the positioning head 402 is fixed on the grabbing cylinder 401 between the grabbing fingers 403, the positioning head 402 is provided with two matching chambers arranged in a mirror image manner upwards from the bottom end of the positioning head 402, the side wall of the positioning head 402 is matched with the inner cavity of the part, and the positioning head 402 is fixed on the grabbing cylinder 401 between the grabbing fingers 403, and the positioning head 402 is provided with two matching chambers arranged in a mirror image
After the positioning head 402 is inserted into the inner cavity of the part, the two gripping fingers 403 are inserted into the cylindrical cavities respectively to grip the part.
This kind of manipulator convenient to grab material and fall material carries vice 2 and Z axle through the X axle and carries the cooperation of vice 3, realizes the transport in X axle, Y axle and the Z axle direction, through the positioning head 402 on the portion 4 that snatchs, stretches into the part inner chamber, through grabbing the setting that indicates 403, stretches into the cylinder intracavity, forms the fixed effect in location, and arc attaching plate 4031 realizes attached effect to the effect of lifting is realized to the realization.
Furthermore, the number of the positioning heads 402 is two, two positioning sliders and two return springs 4021 are slidably disposed at the end of the grabbing cylinder 401, two positioning pieces 4022 are disposed at the end of the grabbing cylinder 401 in a mirror image manner, and each positioning piece 4022 is adapted to one positioning slider, one return spring 4021 and one positioning head 402; one end of the reset spring 4021 is fixedly connected with the positioning sliding block, and the other end of the reset spring 4021 is fixedly connected with the positioning plate 4022.
After the positioning head 402 extends into an inner cavity of a part, at this time, the reset spring 4021 has no compression force or extension force, and at this time, the grabbing finger 403 is pushed, so that the grabbing finger 403 extends into the cylindrical cavity, and in the process of continuing pushing, the reset spring 4021 is stretched, thereby achieving a good fixing effect.
Further, a double joint 404 is fixed in the middle of the two positioning heads 402, the double joint 404 is fixed at the end of the grabbing cylinder 401, and the two sides of the double joint 404 are provided with matching heads 4041 adapted to the cylindrical cavity in a mirror image manner.
After the positioning head 402 is inserted into the component, the engaging head 4041 is inserted into the other cylindrical cavity during the sliding process of the component toward the middle, so that the two components can be grabbed.
Further, the fitting head 4041 is integrally provided with two arc-shaped bins 4042 attached to the outer side wall of the component. The arcuate bin 4042 is adapted to fit against the side wall of the part. Thereby ensuring good laminating and positioning effects.
Further, the grasping portion 4 further includes a linkage plate 303 and a rotating portion, the rotating portion includes a rotating motor 405, a driving wheel 406 sleeved on an output shaft of the rotating motor 405, and a driven shaft 409 sleeved with a rotating disc 407 and a driven wheel 408, the driven wheel 408 is linked with the driving wheel 406 through a conveyor belt 410, and the rotating disc 407 is rotatably disposed on the linkage plate 303. The rotating motor 405 rotates to drive the driving wheel 406 to rotate, the driving wheel 406 rotates to drive the conveying belt 410 to synchronously rotate and transmit the conveying belt to the driven wheel 408, and the driven wheel 408 drives the rotating disc 407 to synchronously rotate, so that the workpiece is driven to turn.
Further, an L-shaped iron sheet 411 is fixed on the side wall of the grabbing cylinder 401, and three photoelectric switches 412 are fixed on the linkage plate 303. When the rotation is carried out to a certain position, namely 90 degrees, 180 degrees and 270 degrees, the L-shaped iron sheet 411 shields the photoelectric switch 412 at the certain position, so that the rotation is stopped.
Further, the specific structures of the X-axis conveying pair 1, the Y-axis conveying pair 2 and the Z-axis conveying pair 3 are as follows:
the X-axis conveying pair 1 comprises an X-axis cylinder 101, an X-axis slide rail 102 and an X-axis slide block 103, the X-axis slide block 103 is slidably arranged on the X-axis slide rail 102, the Y-axis conveying pair 2 is fixed on the X-axis slide block 103, and a piston rod of the X-axis cylinder 101 is fixedly connected with the X-axis slide block 103.
Further, the Y-axis conveying pair 2 includes a Y-axis cylinder 201, a Y-axis slide rail 202 and a Y-axis slide block 203, the Y-axis slide block 203 is slidably disposed on the Y-axis slide rail 202, the Z-axis conveying pair 3 is fixed on the Y-axis slide block 203, the Y-axis slide rail 202 is fixed on the X-axis slide block 103, and a piston rod of the Y-axis cylinder 201 is fixedly connected with the Y-axis slide block 203.
Further, the Z-axis conveying pair 3 includes a Z-axis cylinder 301, a Z-axis slide rail 302 and a Z-axis slider, the Z-axis slider is slidably disposed on the Z-axis slide rail 302, the grabbing portion 4 is fixed on the Z-axis slider, the Z-axis slide rail 302 is fixed on the Y-axis slider 203, and a piston rod of the Z-axis cylinder 301 is fixedly connected with the Z-axis slider.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. The utility model provides a manipulator convenient to grab material and fall material which characterized in that includes:
an X-axis conveying pair is arranged on the upper portion of the X-axis,
the Y-axis conveying pair is fixed on the sliding end of the X-axis conveying pair;
the Z-axis conveying pair is fixed on the sliding end of the Y-axis conveying pair;
snatch the portion, it fixes to snatch the portion Z axle is carried vice slip to serve, snatch the portion including snatching cylinder, location head and fixing respectively snatch the slip of cylinder and serve the grabbing of taking, it includes arc attaching plate to grab to indicate, and an organic whole sets up visit the post on the arc attaching plate, an organic whole sets up visit the triangular prism on the post, every the edge of triangular prism is provided with two insertion pieces about this edge mirror image, an arch scarce groove has been seted up to the tip of insertion piece, the location head is fixed two grab and indicate between grab and take on the cylinder, the location head is cylindricly and upwards set up two cooperation rooms that the mirror set up from its bottom, and, the lateral wall and the part inner chamber looks adaptation of location head, wherein
When the positioning head extends into the inner cavity of the part, the two grabbing fingers respectively extend into the cylindrical cavity to grab the part.
2. A manipulator facilitating material grabbing and pouring according to claim 1,
the end part of the grabbing cylinder is provided with two positioning pieces in a mirror image manner, and each positioning piece is matched with one positioning slide block, one return spring and one positioning head; one end of the reset spring is fixedly connected with the positioning sliding block, and the other end of the reset spring is fixedly connected with the positioning sheet.
3. A manipulator facilitating material grabbing and pouring according to claim 2,
and a double joint is fixed in the middle of the two positioning heads, the double joint is fixed at the end part of the grabbing cylinder, and matching heads matched with the cylindrical cavity are arranged on two sides of the double joint in a mirror image manner.
4. A manipulator facilitating material grabbing and pouring according to claim 3,
the overhead an organic whole of cooperation is provided with two arc storehouses with the lateral wall laminating of part.
5. A manipulator facilitating material grabbing and pouring according to claim 4,
the grabbing part further comprises a linkage plate and a rotating part, the rotating part comprises a rotating motor, a driving wheel sleeved on an output shaft of the rotating motor is sleeved with a rotating disc and a driven shaft of a driven wheel, the driven wheel is linked with the driving wheel through a conveying belt, and the rotating disc is rotatably arranged on the linkage plate.
6. A manipulator facilitating material grabbing and pouring according to claim 5,
the lateral wall of snatching the cylinder is fixed with an L shape iron sheet, be fixed with three on the linkage plate.
7. A manipulator facilitating material grabbing and pouring according to claim 1,
the X-axis conveying pair comprises an X-axis cylinder, an X-axis slide rail and an X-axis slide block, the X-axis slide block is slidably arranged on the X-axis slide rail, the Y-axis conveying pair is fixed on the X-axis slide block, and the X-axis conveying pair comprises an X-axis cylinder, an X-axis slide rail and an X-axis slide block
And a piston rod of the X-axis cylinder is fixedly connected with the X-axis sliding block.
8. A manipulator facilitating material grabbing and pouring according to claim 7,
the Y-axis conveying pair comprises a Y-axis cylinder, a Y-axis slide rail and a Y-axis slide block, the Y-axis slide block is slidably arranged on the Y-axis slide rail, the Z-axis conveying pair is fixed on the Y-axis slide block, the Y-axis slide rail is fixed on the X-axis slide block, and the Y-axis conveying pair comprises a Y-axis cylinder, a Y-axis slide rail and a Y-axis slide block
And a piston rod of the Y-axis cylinder is fixedly connected with the Y-axis sliding block.
9. A manipulator facilitating material grabbing and pouring according to claim 8,
the Z-axis conveying pair comprises a Z-axis cylinder, a Z-axis slide rail and a linkage plate, the Z-axis slide block is slidably arranged on the Z-axis slide rail, the grabbing part is fixed on the Z-axis slide block, the Z-axis slide rail is fixed on the Y-axis slide block, and the Z-axis slide rail is fixed on the Y-axis slide block
And a piston rod of the Z-axis cylinder is fixedly connected with the Z-axis sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922088794.2U CN210884210U (en) | 2019-11-27 | 2019-11-27 | Manipulator convenient to grab material and pour material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922088794.2U CN210884210U (en) | 2019-11-27 | 2019-11-27 | Manipulator convenient to grab material and pour material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210884210U true CN210884210U (en) | 2020-06-30 |
Family
ID=71337073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922088794.2U Expired - Fee Related CN210884210U (en) | 2019-11-27 | 2019-11-27 | Manipulator convenient to grab material and pour material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210884210U (en) |
-
2019
- 2019-11-27 CN CN201922088794.2U patent/CN210884210U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20200630 Termination date: 20211127 |