CN212075674U - A multifunctional manipulator - Google Patents

Abstract

The utility model discloses a multifunctional manipulator, including first arm, second arm, base, anchor clamps and fixing base, the bottom of first arm rotates with the base level and links to each other, the top of first arm with the one end of second arm is vertical links to each other, first arm and second arm homoenergetic swing in vertical direction, the top of fixing base with the base level rotates and links to each other. The utility model provides a current manipulator pile up neatly function singleness, only can carry out the pile up neatly to the product of a specification, and can only adopt artifical pile up neatly when wanting multiple specification product pile up neatly, can't realize the problem of the pile up neatly of automatic many specifications product.

Description

A multifunctional manipulator

technical field

The utility model relates to the technical field of manipulators, in particular to a multifunctional manipulator.

Background technique

Most of the palletizing in the former market is manual palletizing for multi-specification products or robot palletizing for a single product. The former has low production efficiency due to the use of manual palletizing, while the latter can only target one product due to the single function of the manipulator. , unable to meet the requirements for palletizing a variety of products.

Utility model content

The purpose of the utility model is to provide a multifunctional manipulator, which can clamp boxes of various sizes for stacking while achieving high efficiency.

For this purpose, the utility model adopts the following technical solutions:

A multifunctional manipulator comprises a first manipulator, a second manipulator, a base, a clamp and a fixing seat, the bottom end of the first manipulator is vertically connected with the base, and the top end of the first manipulator is connected to the base. One end of the second manipulator is vertically connected, and the other end of the second manipulator is vertically connected to the fixture. Both the first manipulator and the second manipulator can swing in the vertical direction. The top of the base is horizontally rotatably connected with the base;

The clamp includes a main frame, a supporting frame, an upper clamping jaw, a lower clamping jaw, a first telescopic assembly and a second telescopic assembly; the supporting frame is arranged on the front side of the main frame, and one end of the first telescopic assembly is is fixed on the main frame, the other end of the first telescopic assembly is fixed on the support frame, and the first telescopic assembly is used to drive the main frame to move in the front-rear direction;

The lower jaws are fixed on the bottom end of the main frame, the upper jaws are arranged on the support frame, the upper jaws are located above the lower jaws, and the upper jaws are parallel to the lower jaws The second telescopic assembly is arranged on the support frame and is used to drive the upper jaw to move in the up-down direction.

Preferably, it also includes a connecting head, the top end of the connecting head is rotatably connected with the second mechanical arm, and the bottom end of the connecting head is rotatably connected with the clamp through the first rotating platform.

Preferably, the second telescopic assembly includes a telescopic element, a guide slider and a guide rail; the guide rail is vertically fixed to the support frame, the guide slider is fixed to the rear end of the upper jaw, and the The guide slider is slidably matched with the guide rail, the upper jaw is connected with the guide slider, and the telescopic piece can drive the upper jaw to move up and down along the guide rail through the guide slider.

Preferably, the support frame includes a baffle plate, the baffle plate is provided with an elongated slot hole, the guide rail is fixed on the rear side of the baffle plate, and the guide slider is located on the rear side of the baffle plate, so The front end of the upper clamping jaw passes through the elongated slot hole of the baffle plate.

Preferably, the telescopic element is a rodless cylinder, both ends of the rodless cylinder are fixed to the rear end of the baffle, and the movable slider of the rodless cylinder is connected to the guide slider.

Preferably, the lower jaws are in the shape of a rake.

Preferably, a plurality of suction cup assemblies are provided on the side of the main frame, and the suction cup assemblies are used for sucking cardboard.

Preferably, it also includes a third mechanical arm, one end of the third mechanical arm is rotatably connected to the second mechanical arm through a second rotating platform, and the other end of the third mechanical arm is rotatably connected to the connecting head through a rotating shaft. The third mechanical arm is axially rotatable.

The beneficial effects of the utility model are as follows: the existing manipulator has a single stacking function and can only stack products of one specification, and when multiple specifications of products are desired to be stacked, only manual stacking can be used, and automation cannot be realized. The problem of palletizing multi-specification products; the manipulator has a wide range of activities, flexible activities, and a wider range of applications.

Description of drawings

The accompanying drawings further illustrate the present utility model, but the contents in the accompanying drawings do not constitute any limitation to the present utility model.

1 is a schematic structural diagram of a multifunctional manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a clamp according to an embodiment of the present invention when a box is clamped;

Fig. 3 is the structural schematic diagram of the fixture of one embodiment of the present utility model when the box is placed;

4 is a schematic structural diagram of a second telescopic assembly according to one embodiment of the present invention;

Among them: the first robotic arm 10; the second robotic arm 20; the base 30; the fixture 40; the fixed seat 50; the connector 60; the third robotic arm 70; 211; upper jaw 3; lower jaw 4; first telescopic assembly 5; second telescopic assembly 6; telescopic element 61; slider 62; guide rail 63;

Detailed ways

The technical solutions of the present utility model will be further described below with reference to the accompanying drawings and through specific embodiments.

A multifunctional manipulator of this embodiment, as shown in FIG. 1 , includes a first manipulator 10 , a second manipulator 20 , a base 30 , a clamp 40 and a fixing seat 50 . The bottom end of the first manipulator 10 It is vertically connected to the base 30, the top end of the first mechanical arm 10 is vertically connected to one end of the second mechanical arm 20, and the other end of the second mechanical arm 20 is vertically connected to the fixture 40, so Both the first mechanical arm 10 and the second mechanical arm 20 can swing in a vertical direction, and the top of the fixing seat 50 is connected to the base 30 for horizontal rotation;

As shown in Fig. 2 and Fig. 3, the main frame 1, the supporting frame 2, the upper clamping jaw 3, the lower clamping jaw 4, the first telescopic assembly 5 and the second telescopic assembly 6 are included; the supporting frame 2 is arranged in the On the front side of the main frame 1, one end of the first telescopic assembly 5 is fixed to the main frame 1, the other end of the first telescopic assembly 5 is fixed to the support frame 2, and the first telescopic assembly 5 for driving the main frame 1 to move in the front-rear direction;

The lower jaw 4 is fixed on the bottom end of the main frame 1 , the upper jaw 3 is arranged on the support frame 2 , the upper jaw 3 is located above the lower jaw 4 , and the The upper jaw 3 is arranged in parallel with the lower jaw 4 , and the second telescopic assembly 6 is used to drive the upper jaw 3 to move in the up-down direction.

The multi-functional manipulator solves the problem that the existing manipulator has a single palletizing function, and can only palletize products (boxes) of one specification. When palletizing products of multiple specifications, only manual palletizing can be used, which cannot be realized. The problem of automating the palletizing of multi-format products.

When palletizing is required, the vertical swing of the first robotic arm 10 and the second robotic arm 20 and the horizontal rotation of the base 30 are used to control the jig 40 to approach the product, and then the jig 40 clamps the product, and then The control jig 40 is close to the product palletizing area, and finally the jig 40 places the product in the palletizing placing area.

Further, when the box needs to be clamped, the support frame 2 is fixed, the first telescopic assembly 5 drives the main frame 1 to move forward, the lower clamping jaw 4 is inserted into the bottom of the box, and the second telescopic assembly 6 drives the upper clamping jaw 3. Move down and press the top of the box, the upper jaw 3 and the lower jaw 4 act at the same time to achieve the purpose of clamping the box; after the clamping is completed, the manipulator clamps the box to the discharge area, and when it needs to discharge, it is still The support clip 2 is fixed, the first telescopic assembly 5 drives the main frame 1 to move backwards, the lower jaw 4 is withdrawn from the bottom of the box, the second telescopic assembly 6 drives the upper jaw 3 to move upward to complete the stacking of the box, and the manipulator continues Hold the box.

Preferably, as shown in FIG. 1 , a connecting head 60 is further included, the top end of the connecting head 60 is rotatably connected with the second mechanical arm 20 , and the bottom end of the connecting head 60 is rotatably connected with the fixture 40 through the first rotating platform.

The second manipulator 20 and the clamp 40 are respectively connected in rotation by the connecting heads 60, so that the manipulator has a wider range of activities, more dexterity, and a wider range of applications.

Preferably, as shown in FIG. 4 , the second telescopic assembly 6 includes a telescopic element 61 , a guide slider 62 and a guide rail 63 ; the guide rail 63 is vertically fixed to the support frame 2 , and the guide slider 62 Fixed on the rear end of the upper jaw 3, the guide slider 62 is slidingly matched with the guide rail 63, the upper jaw 3 is connected with the guide slider 62, and the telescopic piece 61 can pass through the The guide slider 62 drives the upper jaw 3 to move up and down along the guide rail 63 .

When the upper jaw 3 needs to be controlled to move up or down, the telescopic element 61 drives the upper jaw 3 to move up and down along the guide rail 63 , and the guide and support of the guide rail 63 improve the stability of the upper jaw 3 moving up and down.

Preferably, as shown in FIG. 2 and FIG. 3 , the support frame 2 includes a baffle plate 21 , the baffle plate 21 is provided with an elongated slot 211 , and the guide rail 63 is fixed on the rear side of the baffle plate 21 . The guide slider 62 is located at the rear side of the baffle 21 , and the front end of the upper clamping jaw 3 passes through the elongated slot 211 of the baffle 21 .

The baffle 21 is used for blocking and limiting the box during the clamping process. By arranging the second telescopic assembly 6 on the rear side of the baffle 2, the clamp will not interfere with the box when clamping the box, and the structure Simple and small use space.

Preferably, as shown in FIG. 4 , the telescopic element 61 is a rodless cylinder, both ends of the rodless cylinder are fixed to the rear end of the baffle 21 , and the movable slider of the rodless cylinder is connected to the The guide slides 62 are connected.

The upper clamping jaw 3 is moved up and down by the movable slider outside the rodless cylinder. The rodless cylinder has a simple structure and small volume, which further saves installation space.

Preferably, as shown in FIG. 2 and FIG. 3 , the lower jaw 4 is in the shape of a rake.

The manipulator grabs the box through the drum line, and sets the lower jaw 4 into a rake shape, which is conducive to grabbing the box from the drum line, and can also be adapted to grab various types of boxes. The contact area of the bottom is small, the friction force is small when the lower jaw 4 is withdrawn from the bottom of the box, and the work of the second telescopic assembly 6 is reduced.

Preferably, as shown in FIG. 2 and FIG. 3 , a plurality of suction cup assemblies 8 are provided on the side of the main frame 1 , and the suction cup assemblies 8 are used for sucking cardboard.

During the stacking process, according to customer requirements, it is necessary to pick up the cardboard and place it on the card board before stacking, or put a piece of cardboard after the stacking is completed. The cardboard is absorbed and placed, and the structure is simple and the operation is convenient.

Preferably, it also includes a third robotic arm 70 , one end of the third robotic arm 70 is rotatably connected to the second robotic arm 20 through the second rotating platform, and the other end of the third robotic arm 70 is connected to the connector 60 through a rotating shaft Rotatingly connected, the third mechanical arm 70 can rotate axially.

The axial rotation of the third mechanical arm 70 is for the purpose of swinging the clamp 40 in the vertical direction, so as to realize the suction and placement of the paper separator.

The technical principle of the present invention has been described above with reference to the specific embodiments. These descriptions are only for explaining the principle of the present invention, and should not be construed as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can think of other specific embodiments of the present invention without creative efforts, and these methods will fall within the protection scope of the present invention.

Claims (8)

1. A multifunctional manipulator which is characterized in that: the clamp comprises a first mechanical arm, a second mechanical arm, a base, a clamp and a fixed seat, wherein the bottom end of the first mechanical arm is vertically connected with the base, the top end of the first mechanical arm is vertically connected with one end of the second mechanical arm, the other end of the second mechanical arm is vertically connected with the clamp, the first mechanical arm and the second mechanical arm can swing in the vertical direction, and the top end of the fixed seat is horizontally and rotatably connected with the base;

the clamp comprises a main frame, a bearing frame, an upper clamping jaw, a lower clamping jaw, a first telescopic assembly and a second telescopic assembly; the supporting frame is arranged on the front side of the main frame, one end of the first telescopic assembly is fixed to the main frame, the other end of the first telescopic assembly is fixed to the supporting frame, and the first telescopic assembly is used for driving the main frame to move in the front-back direction;

the lower clamping jaw is fixed in the bottom of body frame, the supporting rack is located to the upper clamping jaw, the upper clamping jaw is located the top of lower clamping jaw, just the upper clamping jaw with lower clamping jaw parallel arrangement, the flexible subassembly of second sets up in the supporting rack and is used for the drive the upper clamping jaw removes along upper and lower direction.

2. The multi-functional manipulator of claim 1, characterized in that: still include the connector, the top and the second arm of connector rotate to be connected, the bottom of connector is rotated through first rotary platform and anchor clamps and is connected.

3. The multi-functional manipulator of claim 1, characterized in that: the second telescopic assembly comprises a telescopic piece, a guide sliding block and a guide rail; the guide rail is vertically fixed on the supporting frame, the guide sliding block is fixed at the rear end of the upper clamping jaw, the guide sliding block is in sliding fit with the guide rail, the upper clamping jaw is connected with the guide sliding block, and the telescopic piece can drive the upper clamping jaw to move up and down along the guide rail through the guide sliding block.

4. A multi-functional manipulator according to claim 3, characterized in that: the supporting frame comprises a baffle, the baffle is provided with a long slotted hole, the guide rail is fixed on the rear side of the baffle, the guide sliding block is positioned on the rear side of the baffle, and the front end of the upper clamping jaw penetrates through the long slotted hole of the baffle.

5. The multi-functional manipulator of claim 4, characterized in that: the telescopic piece is a rodless cylinder, two ends of the rodless cylinder are fixed at the rear end of the baffle, and a movable sliding block of the rodless cylinder is connected with the guide sliding block.

6. The multi-functional manipulator of claim 1, characterized in that: the lower clamping jaw is in a rake shape.

7. The multi-functional manipulator of claim 1, characterized in that: the side of body frame is equipped with a plurality of sucking disc subassemblies, the sucking disc subassembly is used for absorbing the cardboard.

8. The multi-functional manipulator of claim 7, characterized in that: still include the third arm, the one end of third arm is rotated through second rotary platform with the second arm and is connected, the other end of third arm is rotated through pivot and connector and is connected, but the axial rotation of third arm.

Images