CN211708452U - Swing manipulator, feeding device and discharging device - Google Patents
Swing manipulator, feeding device and discharging device Download PDFInfo
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- CN211708452U CN211708452U CN201922182621.7U CN201922182621U CN211708452U CN 211708452 U CN211708452 U CN 211708452U CN 201922182621 U CN201922182621 U CN 201922182621U CN 211708452 U CN211708452 U CN 211708452U
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Abstract
The utility model relates to a swing manipulator, a feeding device and a discharging device, which comprises a bracket, a first driving component, a guide rail component and a guide block which are respectively arranged on the bracket, a fixed block which is arranged on the guide rail component in a sliding way, a swing component which is rotationally connected on the fixed block and a clamping component which is fixedly connected with the swing component; the first driving assembly is used for driving the fixed block to slide along the guide rail assembly; the clamping assembly is used for clamping a workpiece; a sliding groove is arranged on the guide block; an included angle smaller than 180 degrees is formed between the length direction of the sliding chute and the moving direction of the fixed block; the swing piece is fixedly provided with a first rotating shaft, one end of the first rotating shaft is positioned in the sliding groove, and when the fixed block drives the swing piece, the first rotating shaft slides and rotates relative to the sliding groove. The purpose of accurate discharging can be achieved, the structure is simple, the use cost is low, and the stability is high.
Description
Technical Field
The utility model belongs to the technical field of the manipulator, especially, relate to swing manipulator, loading attachment and unloader.
Background
In automatic processing equipment, in order to improve production efficiency, a manipulator is often adopted to grab and transfer workpieces, for example, in the battery production process, a rotary turntable type layout mode is often adopted in a power battery sealing welding link, at the moment, when a battery receives materials, the initial placement angle is different from the placement angle of the battery after discharging, when the battery needs to be discharged, the battery can be accurately placed on a discharging platform after the battery is rotated by a certain angle, at present, the battery is generally transferred and adjusted by a plurality of cylinders, but the stability of the mode is poor; the four-axis manipulator greatly increases the required cost and causes unnecessary waste, and the manipulator occupies a large space, is clumsy and consumes a large amount of energy.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the swing manipulator, the feeding device and the discharging device are provided for solving the problems of poor stability, complex structure and high energy consumption of the existing manipulator.
In order to solve the technical problem, an embodiment of the present invention provides a swing manipulator, which includes a bracket, a first driving assembly, a guide rail assembly and a guide block respectively disposed on the bracket, a fixed block slidably disposed on the guide rail assembly, a swing member rotatably connected to the fixed block, and a clamping assembly fixedly connected to the swing member;
the first driving assembly is used for driving the fixed block to slide along the guide rail assembly;
the clamping assembly is used for clamping a workpiece;
the guide block is provided with a sliding chute; an included angle smaller than 180 degrees is formed between the length direction of the sliding groove and the moving direction of the fixed block;
the swing piece is fixedly provided with a first rotating shaft, one end of the first rotating shaft is located in the sliding groove, and the first rotating shaft slides and rotates relative to the sliding groove when the fixed block drives the swing piece.
Optionally, a driven roller is rotatably disposed on the first rotating shaft, and the driven roller is located in the sliding groove and can roll along the sliding groove.
Optionally, the first driving assembly includes a first driving member, and an output end of the first driving member is fixedly connected to the fixing block.
Optionally, the clamping device further comprises a second driving assembly, the second driving assembly is fixedly connected to the swinging member, and the clamping assembly is fixedly connected to the second driving assembly;
the second driving assembly is used for driving the clamping assembly to move close to or away from the clamped workpiece.
Optionally, the second driving assembly includes a second driving member and a mounting table disposed at an output end of the second driving member;
the clamping assembly comprises a third driving piece and a clamping jaw arranged at the output end of the third driving piece;
the third driving piece is arranged on the mounting table.
Optionally, the guide rail assembly includes a slide rail fixedly disposed on the bracket and a slide block slidably disposed on the slide rail, and the fixed block is fixedly disposed on the slide block.
Optionally, the bracket is further provided with a first limiting assembly and a second limiting assembly for limiting the fixing block; the first limiting assembly is arranged at the return position, and the second limiting assembly is arranged at the process position.
Optionally, the first and second limiting assemblies each comprise a limiting screw and a buffer for buffering.
On the other hand, the utility model also provides a loading attachment, including first conveyor and as above swing manipulator, swing manipulator be used for with the work piece clamp that first conveyor carried and come is got and is placed the blowing bench.
On the other hand, the utility model also provides a discharging device, including second conveyor and as above swing manipulator, swing manipulator is used for pressing from both sides the work piece clamp on the blowing bench and places carry out the unloading on the second conveyor.
Compared with the prior art, the swing manipulator, the feeding device and the discharging device provided by the embodiment of the utility model have the advantages that by arranging the guide block, the swing piece, the first rotating shaft and the first driving assembly, the clamping assembly can rotate a workpiece by a certain angle after clamping the clamped workpiece and conveying the clamped workpiece to the upper part of the discharging table so as to adapt to the angle of the discharging position, thereby achieving the purpose of accurate discharging; after the clamping assembly clamps and gets the work piece of being got by the clamp, first drive assembly drive fixed block motion for press from both sides the subassembly and be located the top of putting the material level, at the in-process of fixed block motion, the swing piece drives first pivot and slides along the spout, and the spout plays the effect of direction, and in the gliding in first pivot, the swing piece can use first pivot to swing as the axis, thereby drives the clamp and gets the subassembly and rotate, makes the clamp that gets to get the work piece of being got by the clamp and can rotate certain angle.
Drawings
Fig. 1 is a reference diagram of a use state of a feeding device according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 1 from another perspective;
fig. 4 is a second view of a usage status of the feeding device according to an embodiment of the present invention;
fig. 5 is a third diagram of a reference state of the feeding device according to an embodiment of the present invention.
The reference numerals in the specification are as follows:
1. a support;
2. a first drive assembly; 21. a first driving member; 22. a fixed seat;
3. a guide rail assembly; 31. a slide rail; 32. a slider;
4. a guide block; 41. a chute;
5. a fixed block;
6. a swinging member; 61. a first rotating shaft; 62. a driven roller; 63. a swing lever; 64. a second rotating shaft;
7. a gripping assembly; 71. a third driving member; 72. a clamping jaw;
8. a second drive assembly; 81. a second driving member; 82. an installation table;
9a, a first limiting component; 9b, a second limiting component; 91. a limit screw; 92. a buffer;
10. a discharge table; 101. discharging the material;
20. a first conveying device.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
As shown in fig. 1 and 2, an oscillating manipulator provided in an embodiment of the present invention includes a support 1, a first driving assembly 2, a guide rail assembly 3 and a guide block 4 respectively disposed on the support 1, a fixed block 5 slidably disposed on the guide rail assembly 3, an oscillating member 6 rotatably connected to the fixed block 5, and a clamping assembly 7 fixedly connected to the oscillating member 6;
the first driving assembly 2 is used for driving the fixed block 5 to slide along the guide rail assembly 3;
the clamping assembly 7 is used for clamping a workpiece;
the guide block 4 is provided with a chute 41; an included angle smaller than 180 degrees is formed between the length direction of the sliding groove 41 and the moving direction of the fixed block 5;
the swinging member 6 is fixedly provided with a first rotating shaft 61, one end of the first rotating shaft 61 is positioned in the sliding groove 41, and when the fixed block 5 drives the swinging member 6, the first rotating shaft 61 slides and rotates relative to the sliding groove 41.
When the first driving component 2 drives the fixing block 5 to slide along the guide rail component 3, the fixing block 5 drives the swinging component 6 to move, at the moment, the first rotating shaft 61 slides along the sliding groove 41 and rotates relative to the sliding groove 41, and the first rotating shaft 61 is fixedly arranged on the swinging component 6, so that the swinging component 6 swings by taking the first rotating shaft 61 as an axis in the moving process, and the clamping component 7 is driven to rotate.
The utility model is suitable for a snatch the work piece when material loading or unloading and move the year, the mechanism that the blowing angle is different after the initial angle of placing and the blowing of specially adapted supplied materials on being located first conveyor, for example, as shown in fig. 3, be equipped with material level 101 on the blowing platform 10, when the work piece was placed on material level 101, the angle of work piece was different with the angle when first conveyor 20 had just carried the work piece to come, can be accurate place the work piece on material level 101 through swing manipulator.
Compared with the prior art, the swing manipulator provided by the embodiment of the utility model has the advantages that by arranging the guide block 4, the swing piece 6, the first rotating shaft 61 and the first driving assembly 2, the clamping assembly 7 can rotate a workpiece by a certain angle after clamping the clamped workpiece and conveying the clamped workpiece to the upper part of the discharging table 10 so as to adapt to the angle of the discharging position 101, thereby achieving the purpose of accurate discharging; after the work piece is got to the clamp of getting subassembly 7 clamp, first drive assembly 2 drive fixed block 5 motion for it is located the top of putting material level 101 to get subassembly 7 to press from both sides, at the in-process of fixed block 5 motion, swinging member 6 drives first pivot 61 and slides along spout 41, spout 41 plays the effect of direction, when first pivot 61 is gliding, swinging member 6 can use first pivot 61 to swing as the axis, thereby it rotates to drive the clamp subassembly 7 of getting, make the work piece of getting to be got to the clamp of getting to rotate certain angle.
The swing angle of the swing piece 6 is related to the size of an included angle formed between the length direction of the sliding groove 41 and the moving direction of the fixed block 5, and the size of the included angle formed between the length direction of the sliding groove 41 and the moving direction of the fixed block 5 can be designed according to actual needs.
In an embodiment, as shown in fig. 1, the swing member 6 includes a swing rod 63 and a second rotating shaft 64, the swing rod 63 is fixedly connected to the second rotating shaft 64, the second rotating shaft 64 is rotatably connected to the fixed block 5, the clamping assembly 7 is fixedly connected to the second rotating shaft 64, and the first rotating shaft 61 is fixedly connected to the swing rod 63, so that when the swing rod 63 swings, the second rotating shaft 64 can be driven to rotate, and the clamping assembly 7 can be driven to rotate.
The swing lever 63 and the second rotating shaft 64 may be an integrally formed structure, or may be a separate structure, which is not limited herein, and when the swing lever 63 and the second rotating shaft 64 are separate structures, the swing lever 63 and the second rotating shaft 64 may be connected by a key.
Preferably, the second rotating shaft 64 is rotatably connected to the fixed block 5 through a bearing (not shown), so that the smoothness of rotation can be improved.
In one embodiment, as shown in fig. 2, the first rotating shaft 61 is rotatably provided with a driven roller 62, and the driven roller 62 is located in the chute 41 and can roll along the chute 41. By providing the driven roller 62, friction can be reduced, and the smoothness of the swinging member 6 during movement can be improved.
In one embodiment, as shown in fig. 1, the first driving assembly 2 includes a first driving member 21, and an output end of the first driving member 21 is fixedly connected to the fixing block 5. The fixed block 5 is driven to slide along the guide rail assembly 3 by the first driving member 21.
In one embodiment, as shown in FIG. 1, the first driver 21 is a push rod cylinder. The push rod cylinder is adopted, so that the structure is simple, the response is fast, and the cost is low.
For example, when the piston rod of the push rod cylinder is contracted, the clamping assembly 7 is located above the clamped workpiece, after the clamping assembly 7 clamps the clamped workpiece, the piston rod of the push rod cylinder extends out, and the clamping assembly 7 is pushed to move to the discharging table 10 for discharging.
Wherein, the push rod cylinder can be fixed on the bracket 1 through the fixing seat 22. The structure is more compact.
In an embodiment, as shown in fig. 1, the swing manipulator further includes a second driving assembly 8, the second driving assembly 8 is fixedly connected to the swing member 6, and the gripping assembly 7 is fixedly connected to the second driving assembly 8;
the second driving assembly 8 is used for driving the clamping assembly 7 to move close to or away from the clamped workpiece. By arranging the second driving assembly 8, the clamping assembly 7 is driven to be close to the clamped workpiece, so that the clamping assembly 7 clamps the clamped workpiece.
In one embodiment, as shown in fig. 1, the second driving assembly 8 includes a second driving member 81 and a mounting table 82 provided at an output end of the second driving member 81;
the clamping assembly 7 comprises a third driving piece 71 and a clamping jaw 72 arranged at the output end of the third driving piece 71;
the third driving member 71 is provided on the mounting table 82. The third driving piece 71 drives the clamping jaws 72 to open and close, so that the clamped workpiece is clamped.
Preferably, the second driving member 81 employs a sliding table cylinder, which is compact in structure, fast in response and low in cost.
In one embodiment, as shown in fig. 1, the third driving member 71 is a finger cylinder, and the clamping jaw 72 is disposed on a finger of the finger cylinder. The clamping device has the advantages that the clamping device is simple in structure and convenient to install by clamping the clamped workpiece through the finger cylinder.
In one embodiment, as shown in fig. 2, the guide rail assembly 3 includes a slide rail 31 fixed on the bracket 1 and a slide block 32 slidably disposed on the slide rail 31, and the fixing block 5 is fixed on the slide block 32. Through the guide effect of guide rail assembly 3, the drive of first drive assembly 2 is again cooperated, can make to press from both sides the subassembly 7 and move to blowing platform 10 top and carry out the blowing.
In an embodiment, as shown in fig. 5, the bracket 1 is further provided with a first limiting component 9a and a second limiting component 9b for limiting the fixing block 5; the first limiting component 9a is arranged at the return position, and the second limiting component 9b is arranged at the process position. When the fixed block 5 is in top contact with the first limiting component 9a, the fixed block 5 stops sliding continuously, the fixed block 5 reaches the original point at the moment, when the fixed block 5 is in top contact with the second limiting component 9b, the fixed block 5 stops sliding continuously, the fixed block 5 just moves to the position above the material placing position 101 of the material placing table 10 at the moment, and the clamping component 7 rotates by a certain angle, so that the clamped workpiece is corresponding to the angular position of the material placing position 101, and the clamped workpiece is accurately placed at the material placing position 101.
Specifically, by adjusting the position where the second limit component 9b is provided, the angle of rotation of the gripping component 7 can be adjusted, when the sliding distances of the fixed block 5 are different, so that the strokes of the driven rollers 62 sliding in the sliding grooves 41 are different, and at this time, the angles of swinging of the swinging member 6 are different, so that the angles of rotation of the gripping component 7 are different.
In one embodiment, as shown in fig. 5, the first and second stop assemblies 9a and 9b each include a stop screw 91 and a bumper 92 for cushioning. So as to limit the fixed block 5, and the buffer 92 also plays a role of buffering, so that the whole process is more stable.
On the other hand, the utility model also provides a loading attachment, as shown in fig. 3 and 4, including first conveyor 20 and the swing manipulator as above, the swing manipulator is used for pressing from both sides the work piece clamp that comes and place the blowing platform 10 that first conveyor 20 carried.
The discharging table 10 is provided with a discharging position 101, and when a workpiece is placed on the discharging position 101, the angle of the workpiece is different from the angle when the workpiece is conveyed by the first conveying device 20; the first conveyor 20 may be a servo platform and a clamp provided on the servo platform, on which the workpiece is placed.
The working process of the feeding device comprises the following steps: as shown in fig. 3, when the first conveying device 20 conveys the workpiece, the first driving assembly 2 drives the clamping assembly 7 to the position above the workpiece, the second driving assembly 8 drives the clamping assembly 7 to approach the workpiece, after the clamping assembly 7 clamps the workpiece, the second driving assembly 8 drives the clamping assembly 7 to be far away from the first conveying device 20, and the first driving assembly 2 drives the clamping assembly 7 to move to the position above the discharging table 10, as shown in fig. 4, in the moving process of the clamping assembly 7, due to the effects of the guide block 4, the swinging member 6 and the first rotating shaft 61, the clamping assembly 7 rotates by a certain angle, and when the clamping assembly 7 is located on the discharging position 101, the clamping assembly 7 just rotates to enable the angle of the clamped workpiece to be matched with the angle of the discharging position 101, so that the workpiece can be accurately placed on the discharging position 101.
On the other hand, the utility model also provides a blanking device, including second conveyor (not shown) and as above-mentioned swing manipulator, swing manipulator is used for pressing from both sides the work piece clamp on the blowing platform 10 and places the second conveyor on and carry out the unloading. The working principle is the same as that of the feeding device, so the working process is not described herein.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A swing manipulator is characterized by comprising a support, a first driving assembly, a guide rail assembly and a guide block which are respectively arranged on the support, a fixed block which is arranged on the guide rail assembly in a sliding manner, a swing piece which is rotatably connected to the fixed block and a clamping assembly which is fixedly connected with the swing piece;
the first driving assembly is used for driving the fixed block to slide along the guide rail assembly;
the clamping assembly is used for clamping a workpiece;
the guide block is provided with a sliding chute; an included angle smaller than 180 degrees is formed between the length direction of the sliding groove and the moving direction of the fixed block;
the swing piece is fixedly provided with a first rotating shaft, one end of the first rotating shaft is located in the sliding groove, and the first rotating shaft slides and rotates relative to the sliding groove when the fixed block drives the swing piece.
2. The oscillating manipulator according to claim 1, characterized in that the first shaft is rotatably provided with driven rollers which are located in the slide grooves and can roll along the slide grooves.
3. The oscillating manipulator according to claim 1, wherein the first driving assembly comprises a first driving member, and an output end of the first driving member is fixedly connected to the fixed block.
4. The oscillating manipulator according to claim 1, further comprising a second drive assembly fixedly connected to the oscillating member, the gripping assembly being fixedly connected to the second drive assembly;
the second driving assembly is used for driving the clamping assembly to move close to or away from the clamped workpiece.
5. The oscillating manipulator of claim 4, wherein the second drive assembly includes a second drive member and a mounting platform disposed at an output end of the second drive member;
the clamping assembly comprises a third driving piece and a clamping jaw arranged at the output end of the third driving piece;
the third driving piece is arranged on the mounting table.
6. The oscillating manipulator according to claim 1, wherein the rail assembly comprises a slide rail fixed to the support and a slider slidably disposed on the slide rail, and the fixed block is fixed to the slider.
7. The oscillating manipulator according to claim 1, characterized in that the support is further provided with a first limiting assembly and a second limiting assembly for limiting the fixed block; the first limiting assembly is arranged at the return position, and the second limiting assembly is arranged at the process position.
8. The oscillating manipulator of claim 7, wherein the first and second stop assemblies each include a stop screw and a buffer for buffering.
9. A loading apparatus comprising a first conveying device, and further comprising an oscillating manipulator according to any one of claims 1 to 8, for gripping and placing a workpiece conveyed by the first conveying device on a discharge table.
10. A blanking device comprising a second conveying device, and further comprising an oscillating manipulator according to any one of claims 1 to 8, wherein the oscillating manipulator is used for clamping and placing a workpiece on a blanking table onto the second conveying device for blanking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922182621.7U CN211708452U (en) | 2019-12-06 | 2019-12-06 | Swing manipulator, feeding device and discharging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922182621.7U CN211708452U (en) | 2019-12-06 | 2019-12-06 | Swing manipulator, feeding device and discharging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211708452U true CN211708452U (en) | 2020-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922182621.7U Active CN211708452U (en) | 2019-12-06 | 2019-12-06 | Swing manipulator, feeding device and discharging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211708452U (en) |
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2019
- 2019-12-06 CN CN201922182621.7U patent/CN211708452U/en active Active
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Effective date of registration: 20220830 Address after: 518000 workshop 501, building 3, intelligent manufacturing center park, No. 12, Chongqing Road, Heping community, Fuhai street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Han's lithium battery intelligent equipment Co.,Ltd. Address before: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. |