CN210939256U

CN210939256U - Multifunctional manipulator

Info

Publication number: CN210939256U
Application number: CN201922087150.1U
Authority: CN
Inventors: 张静雯; 孙靖宜
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-07-07
Anticipated expiration: 2029-11-26

Abstract

The application discloses a multifunctional manipulator, which comprises a rack, wherein a butt flange is arranged on the rack and used for being matched with an external mechanical arm, a lead screw is matched on the rack, two clamping jaws which are parallel to each other are matched on the lead screw, the lead screw is used for clamping or releasing an external workpiece by adjusting the distance between the two clamping jaws to be reduced or increased through rotation, a notch is formed in one end, far away from the lead screw, of each clamping jaw, notches corresponding to the two clamping jaws are oppositely arranged, and a clamping part used for being matched with an external rectangular workpiece is formed; the utility model discloses a medium box, including clamping jaw, frame, welding gun, manipulator, electromagnetic chuck, welding gun, welder, manipulator, welding rod, the electromagnetic chuck is installed to the end of clamping jaw for absorb outside ferromagnetism work piece, one side of frame is equipped with welder for with the work piece welded forming of outside location frock, adopt the integrated multiple functions of a manipulator, correspond different components and carry out the centre gripping, and the cooperation is in order to weld and upset, and the preparation of whole medium box can be accomplished to a manipulator butt joint of a manipulator, has reduced the volume of.

Description

Multifunctional manipulator

Technical Field

The application relates to a multifunctional manipulator.

Background

The magnetic separator is a screening device for removing iron powder and the like in recycled powder particles, is widely used for resource recovery, and other industrial fields such as wood industry, mining industry, kiln industry, chemistry, food and the like, is suitable for wet magnetic separation of materials such as magnetite, pyrrhotite, roasted ore, ilmenite and the like with the particle size of less than 3mm, is also used for iron removal operation of materials such as coal, non-metal ore, building materials and the like, and is one of the most widely used machines in the industry and high in universality; in the manufacture of the medium box for bearing the elements, a plurality of elements are required to be welded on the main body respectively, and the operations of feeding, welding, turning and blanking of rectangular workpieces and lug-shaped workpieces are included.

The inventor discovers that in-process of present traditional preparation magnet separator medium box needs a plurality of manipulators to carry out centre gripping material loading, upset unloading to different components respectively, still need dispose welding machines hand and location manipulator, and a plurality of manipulators combined action, though can divide the work operation, has nevertheless occupied a large amount of manipulator resources, has mutual interference's hidden danger between the manipulator.

SUMMERY OF THE UTILITY MODEL

The utility model provides a multi-functional manipulator is provided to the defect that prior art exists, adopts the integrated multiple functions of a manipulator, corresponds different components and carries out the centre gripping to the cooperation is with welding and upset, and the preparation of whole medium box can be accomplished to a manipulator butt joint of a mechanical arm, has reduced the volume of occuping of whole in-process to the manipulator resource.

In order to realize the purpose, the following technical scheme is adopted:

a multifunctional manipulator comprises a rack, wherein a butt flange is arranged on the rack and used for being matched with an external mechanical arm, a lead screw is matched on the rack, two clamping jaws which are parallel to each other are matched on the lead screw, the lead screw is used for adjusting the distance between the two clamping jaws to be reduced or increased through rotation and used for clamping or releasing an external workpiece, a notch is formed in one end, away from the lead screw, of each clamping jaw, and the notches corresponding to the two clamping jaws are arranged oppositely to form a clamping part used for being matched with an external rectangular workpiece; the end of the clamping jaw is provided with an electromagnetic chuck for absorbing an external ferromagnetic workpiece, and one side of the rack is provided with a welding gun for welding and forming the workpiece of the external positioning tool.

Furthermore, the frame is a portal support formed by a first plate, a fixed plate and a second plate which are connected in sequence, the butt flange is installed on the fixed plate, two ends of the lead screw are respectively matched with the first plate and the second plate, a welding gun support is arranged on the second plate, and a welding gun is installed on the welding gun support.

Further, the first plate is parallel to the second plate, a guide rail parallel to the lead screw is arranged between the first plate and the second plate, and the clamping jaw is matched with the lead screw and the guide rail respectively and moves in a reciprocating mode along the axial direction of the lead screw.

Furthermore, the end part of the screw rod is matched with a driving mechanism, and the driving mechanism is fixed on the rack and used for driving the screw rod to rotate around the axis of the screw rod.

Furthermore, the two guide rails are respectively positioned at two sides of the screw rod and used for restraining the clamping jaws to be perpendicular to the axis of the screw rod.

Furthermore, the rack is matched with baffles which are positioned on two sides of the rack, and an open cavity for protecting other elements is formed by matching with the rack.

Further, the notch is arranged on the side surface of the clamping jaw, a clamping part formed by the two grooves is positioned between the two clamping jaws, and the two clamping jaws adjust the size of the clamping part by changing the distance.

Furthermore, a boss is arranged on the butt flange and used for assisting in positioning when being matched with an external mechanical arm.

Compared with the prior art, the application has the advantages and positive effects that:

(1) the rectangular workpiece is clamped by a clamping part formed by a notch, an electromagnetic chuck is used for adsorbing an ear-shaped workpiece, two clamping jaws are used for overturning, elements are positioned by an external positioning tool, welding guns are used for welding the workpieces, and by matching with a 6-degree-of-freedom mechanical arm, the medium box feeding, the automatic feeding of a connecting ear, welding, the medium box overturning and the medium box blanking operation after the welding ear is finished are realized; the occupied amount of mechanical arms and mechanical arm resources is reduced, the current manual operation is replaced, the manual labor intensity is greatly reduced, and the operation efficiency and the automation level are improved;

(2) the electromagnetic chuck and the clamping part are both positioned on the clamping jaw, and are configured at different positions of the clamping jaw and are matched with time-sharing work, so that the interference between the electromagnetic chuck and the clamping jaw and the interference when a workpiece is clamped and placed can be avoided, the positions of the electromagnetic chuck and the clamping part are adjusted by the screw rod in a matching manner, the configuration quantity of the transmission mechanism is reduced, the structure of the mechanical arm is simplified, the integral load of the mechanical arm is reduced, and the action efficiency of the mechanical arm is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a schematic view of the overall structure of a multifunctional manipulator according to embodiment 1 of the present application.

Wherein: 1. the welding device comprises a boss, 2, a butt flange, 3, a first guide rail, 4, a rack, 5, a stepping motor, 6, a coupler, 7, a screw rod, 8, a first clamping jaw, 9, a second clamping jaw, 10, a second guide rail, 11, an electromagnetic chuck, 12, an electromagnetic chuck, 13, a welding gun, 14 and a welding gun support.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the application and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and specific meanings of the above terms in the present application will be understood by those skilled in the art according to specific situations.

Just as introducing in the background art, the in-process of prior art preparation magnet separator medium box needs a plurality of manipulators to carry out centre gripping material loading, upset unloading to different components respectively, still needs to dispose welding manipulator and location manipulator, and a plurality of manipulators combined action, though can divide the worker operation, has nevertheless occupied a large amount of manipulator resources, has the hidden danger of mutual interference between the manipulator, to above-mentioned technical problem, this application has provided a multifunctional manipulator.

Example 1

In one exemplary embodiment of the present application, as shown in FIG. 1, a multi-function gripper for use with a magnetic separator media cassette is provided.

A multifunctional manipulator comprises a rack 4, wherein a butt flange 2 is arranged on the rack and used for being matched with an external mechanical arm, a boss 1 is arranged on the butt flange and used for performing auxiliary positioning when being matched with the external mechanical arm, the butt flange is connected with a flange at the tail end of the external mechanical arm through a connecting bolt, so that a manipulator claw is connected and fixed with the mechanical arm together, and the manipulator claw can rotate along with a bowl joint at the tail end of the mechanical arm during working so as to realize posture adjustment when clamping a workpiece or welding the workpiece;

the frame is a door-shaped bracket consisting of a first plate, a fixed plate and a second plate which are connected in sequence, the butt flange is installed on the fixed plate, a lead screw 7 is matched between the first plate and the second plate, the second plate is provided with a welding gun bracket 14, and a welding gun 13 is installed on the welding gun bracket and used for welding and forming a workpiece of an external positioning tool; the clamping device comprises a screw rod, a clamping jaw and a clamping part, wherein the screw rod is matched with the two clamping jaws which are parallel to each other, the screw rod is used for clamping or releasing an external workpiece by rotating and adjusting the distance between the two clamping jaws to be reduced or increased, one end of the clamping jaw, which is far away from the screw rod, is provided with a notch, and the notches corresponding to the two clamping jaws are oppositely arranged to form the clamping; and the tail end of the clamping jaw is provided with an electromagnetic chuck for sucking an external ferromagnetic workpiece.

Of course, it can be understood that the electromagnetic chuck can select the existing electromagnet structure, and can obtain magnetism when current is introduced, so that a ferromagnetic workpiece is adsorbed, the magnetism disappears when the current is cut off, the workpiece falls under the action of gravity, and the workpiece is grabbed and released in the whole process.

Furthermore, the end part of the lead screw is matched with a driving mechanism, and the driving mechanism is fixed on the rack;

the driving mechanism adopts a stepping motor 5, the stepping motor is connected with a lead screw through a coupler 6, and the lead screw is driven to rotate around the axis of the lead screw.

It should be pointed out that the lead screw be two-way transmission lead screw, the lead screw divide into two parts from the middle, is equipped with the screw thread on the two parts respectively, and the turning of screw thread is opposite, two parts cooperate two clamping jaws respectively, when the lead screw dwang, two clamping jaws can be close to simultaneously and reduce the interval or keep away from simultaneously and increase the interval along lead screw axial direction.

Furthermore, the first plate is parallel to the second plate, a guide rail parallel to the lead screw is arranged between the first plate and the second plate, and the clamping jaw is respectively matched with the lead screw and the guide rail and moves in a reciprocating manner along the axial direction of the lead screw; the two guide rails are respectively a first guide rail 3 and a second guide rail 10, are respectively positioned at the upper side and the lower side of the screw rod, are matched with the screw rod to restrain the clamping jaw from three positions, avoid deviation and enable the clamping jaw to be perpendicular to the axis of the screw rod.

Of course, the guide rail can be a cylindrical guide rail or a rectangular guide rail, and the guide rail can be selected according to actual requirements; in this embodiment, a cylindrical guide rail is preferable.

Further, the notches are arranged on the side surfaces of the clamping jaws, the two clamping jaws are a first clamping jaw 8 and a second clamping jaw 9 respectively, a clamping part formed by the two notches is located between the first clamping jaw and the second clamping jaw, and the two clamping jaws adjust the size of the clamping part by changing the distance;

of course, in order to clamp a corresponding rectangular workpiece, the notch is of a rectangular structure, and the clamping portion is formed to be capable of matching the workpiece to be clamped from two sides.

Specifically, when the manipulator is working:

feeding operation of a rectangular workpiece to be welded: the stepping motor rotates forwards under the control of the controller, the first clamping jaw and the second clamping jaw synchronously move to proper distances towards two sides under the guide action of the bidirectional lead screw transmission and the cylindrical guide rail, then the manipulator moves downwards to a proper height position, the stepping motor rotates backwards under the control of the controller, the first clamping jaw and the second clamping jaw synchronously move to proper distances towards the middle, and the rectangular workpiece to be welded is clamped; and then the mechanical arm drives the mechanical arm to move, and the rectangular workpiece to be welded is placed in the welding positioning tool to complete the feeding operation of the rectangular workpiece to be welded.

Feeding the to-be-welded lug type workpiece: the stepping motor rotates forwards or backwards under the control of the controller, the first clamping jaw and the second clamping jaw synchronously move to the two sides or the middle to a proper distance under the guiding action of the cylindrical guide rail through the transmission of the bidirectional screw nut, then the mechanical arm moves downwards to a proper height position, the first electromagnetic chuck 11 and the second electromagnetic chuck 12 are electrified to absorb a workpiece to be welded with the lug shape, then the mechanical arm drives the mechanical arm to move, the workpiece to be welded with the lug shape is placed at the corresponding position of the welding positioning tool, and the feeding operation of the workpiece to be welded with the lug shape is completed.

Welding operation: and moving or rotating the manipulator, adjusting the welding gun to a proper posture and position, and welding the upper surface of the ear-shaped workpiece and the rectangular workpiece together.

Turning the rectangular workpiece: in order to weld a welding seam between the lower surface of the lug-shaped workpiece and the rectangular workpiece conveniently, the rectangular workpiece needs to be turned over by 180 degrees, the stepping motor rotates forwards under the control of the controller, the first clamping jaw and the second clamping jaw synchronously move to proper distances from two sides under the guiding action of the cylindrical guide rail, then the clamping jaw of the mechanical gripper is adjusted to be in a horizontal posture and moved to the 1/2 height position of the rectangular workpiece, the stepping speed reduction motor is driven to rotate backwards under the control of the controller, and the first clamping jaw and the second clamping jaw synchronously move to proper distances from the middle to clamp the rectangular workpiece; then the mechanical arm drives the mechanical paw to rotate 180 degrees, the clamping jaw is loosened, the mechanical hand is moved away, and the turnover operation of the rectangular workpiece is completed.

Finishing the blanking operation of the welded rectangular workpiece: the stepping motor rotates forwards under the control of the controller, the first clamping jaw and the second clamping jaw synchronously move to proper distances towards two sides under the guiding action of the cylindrical guide rail through the transmission of the bidirectional screw nut, then the manipulator moves downwards to a proper height position, the stepping speed reduction motor is driven to rotate backwards under the control of the controller, and the first clamping jaw and the second clamping jaw synchronously move to proper distances towards the middle to clamp the rectangular workpiece; and then the mechanical arm drives the mechanical arm to move, the welded rectangular workpieces are stacked on the tray, and the blanking operation of the rectangular workpieces of the welded lug type workpieces is completed.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multifunctional manipulator is characterized by comprising a rack, wherein a butt flange is arranged on the rack and used for being matched with an external mechanical arm, a lead screw is matched on the rack, two clamping jaws which are parallel to each other are matched on the lead screw, the lead screw is used for clamping or releasing an external workpiece by adjusting the distance between the two clamping jaws to be reduced or increased through rotation, a notch is formed in one end, away from the lead screw, of each clamping jaw, and the notches corresponding to the two clamping jaws are oppositely arranged to form a clamping part used for being matched with an external rectangular workpiece; the end of the clamping jaw is provided with an electromagnetic chuck for absorbing an external ferromagnetic workpiece, and one side of the rack is provided with a welding gun for welding and forming the workpiece of the external positioning tool.

2. The multifunctional manipulator according to claim 1, wherein the frame is a gate-shaped support formed by a first plate, a fixed plate and a second plate which are connected in sequence, the docking flange is mounted on the fixed plate, two ends of the screw rod are respectively matched with the first plate and the second plate, a welding gun support is arranged on the second plate, and a welding gun is mounted on the welding gun support.

3. The multi-function manipulator according to claim 2, wherein the first plate is parallel to the second plate, and a guide rail parallel to the lead screw is disposed between the first plate and the second plate, and the holding jaw is engaged with the lead screw and the guide rail, respectively, and reciprocates in the axial direction of the lead screw.

4. The multi-function manipulator of claim 3, wherein the end of said threaded spindle is fitted with a drive mechanism, the drive mechanism being fixed to the frame for driving the threaded spindle to rotate about its axis.

5. A multi-function manipulator as claimed in claim 3, wherein there are two of said guides, one on each side of the screw, for constraining the jaws to remain perpendicular to the axis of the screw.

6. The multi-function manipulator of claim 1, wherein said housing is fitted with a shield plate positioned on both sides of the housing, the cooperating housing forming an open cavity for protecting other components.

7. The multi-function manipulator of claim 1, wherein the notches are disposed on the sides of the jaws, and wherein the two notches form a gripping portion located between the two jaws, the two jaws being sized by varying the spacing between the gripping portions.

8. The multi-function manipulator of claim 1 wherein said docking flange has a boss for assisting in positioning when engaged by an external robotic arm.