CN212123292U - Efficient gripping and feeding manipulator - Google Patents

Abstract

The utility model relates to a high-efficiency clamping and transporting manipulator, comprising: a base, a rotating disk is rotatably connected to the base, a rotating driving mechanism for driving the rotating disk to rotate is arranged on the base, and a mounting table is arranged on the rotating disk; The first pick-up arm is rotatably assembled on the installation table through the first rotation shaft, the end of the first pick-up arm is provided with a first material pick-up mechanism, and the installation table is provided with a rotary drive mechanism; through the second rotation shaft a second pick-up arm rotatably assembled on the installation platform, the end of the second pick-up arm is provided with a second pick-up mechanism; and is used to drive the first pick-up arm and the second pick-up arm to synchronize Gear linkage assembly that turns in the opposite direction. While the first reclaiming mechanism is feeding the material, the second reclaiming mechanism simultaneously reclaims the material, so that the material feeding process can be carried out continuously and the efficiency of material taking and conveying is improved.

Description

Efficient gripping and feeding manipulator

technical field

The utility model relates to the technical field of material fetching and conveying equipment, in particular to an efficient clamping and fetching manipulator.

Background technique

With the popularization of intelligent technology, industrial production and processing are gradually developing towards the trend of automation, and automatic picking and feeding is an important part of intelligent production. When the existing picking and feeding equipment takes materials, it is necessary to place the picked materials in the processing After the processing station of the equipment, in the next reclaiming process, the interval time between two reclaiming is relatively long. For some products that can be rapidly molded, the efficiency of taking and conveying needs to be improved.

Utility model content

In order to solve the above technical problems, the utility model provides a high-efficiency clamping and fetching manipulator, which has the advantages of improving the fetching and feeding efficiency.

For achieving the above object, the technical scheme of the present utility model is as follows:

An efficient gripping and picking robot, comprising:

a base, a rotating disk is rotatably connected to the base, a rotating drive mechanism for driving the rotating disk to rotate is provided on the base, and an installation platform is provided on the rotating disk;

The first pick-up arm is rotatably assembled on the installation table through the first rotating shaft, the end of the first pick-up arm is provided with a first pick-up mechanism for picking up materials, and the installation table is provided with a first pick-up mechanism for picking up materials. a rotary drive mechanism that drives the first pick-and-feed arm to reciprocate;

The second pick-up arm is rotatably assembled on the installation platform through the second rotating shaft, the second pick-up arm and the first pick-up arm are arranged in an up-down position dislocation, and the first pick-up arm and the The second pick-up arm is vertically formed with a space for the first pick-up mechanism to pass through, and the end of the second pick-up arm is provided with a second pick-up mechanism for picking up materials; and,

A gear linkage assembly for driving the first pick-up arm and the second pick-up arm to rotate in opposite directions synchronously.

To realize the above technical solution, when picking up and feeding materials, firstly, the turntable is driven to rotate by the rotary drive mechanism, so that the first pick-up and delivery arm and the second pick-and-delivery arm are moved to appropriate positions, and then the first pick-and-delivery arm is driven to rotate to the appropriate position by the rotary drive mechanism. Right above the material to be picked up and sent, the second pick-and-feed arm is located at the loading station of the processing equipment. After the first pick-up mechanism picks up the material, the first pick-and-feed arm is driven by the rotary drive mechanism to the feeding station. Rotate, at this time, the second pick-up arm rotates in the opposite direction under the drive of the gear linkage assembly. When the first pick-up mechanism moves to the loading station of the processing equipment, the second pick-up mechanism is located at the material to be picked up and sent. Above, at this time, while the first reclaiming mechanism is feeding material, the second reclaiming mechanism simultaneously reclaims the material, so that the reciprocating process enables the material feeding process to be carried out continuously and improves the efficiency of material retrieval and delivery.

As a preferred solution of the present invention, the gear linkage group includes: a driving gear fixed on the first rotating shaft, and a driven gear fixed on the second rotating shaft and meshing with the driving gear , the size of the driving gear and the driven gear are the same.

The above technical solution is achieved by meshing the driving gear with the driven gear, so that the first rotating shaft and the second rotating shaft rotate in opposite directions synchronously, thereby driving the reciprocating movement of the first pick-up arm and the second pick-up arm.

As a preferred solution of the present invention, the first reclaiming mechanism includes: a first reclaiming cylinder carried on the first taking and conveying arm, and a first reclaiming cylinder fixed on a piston rod of the first reclaiming cylinder Gas clamp.

To achieve the above technical solution, the material can be clamped by driving the first reclaiming air clip to move down through the first reclaiming cylinder.

As a preferred solution of the present invention, the end of the first pick-up arm is provided with a rotary cylinder, an assembly block is fixed on the piston rod of the rotary cylinder, and the first pick-up cylinder is fixed on the assembly piece.

To achieve the above technical solution, after the first reclaiming mechanism has finished gripping the material, the first reclaiming mechanism is rotated to the upper side by the rotating cylinder, so that the distance between the first fetching arm and the second fetching arm can be set. It is smaller and can reduce interference with the second pick-up arm.

As a preferred solution of the present invention, the second reclaiming mechanism comprises: a second reclaiming cylinder carried on the second taking and conveying arm, and a second reclaiming cylinder fixed to the piston rod of the second reclaiming cylinder Second, take the gas clamp.

To achieve the above technical solution, the second material reclaiming air clamp is driven to move down by the second material reclaiming cylinder, so that the material can be clamped.

As a preferred solution of the present invention, the rotary drive mechanism and the rotary drive mechanism are selected from the following structures for use alone or in combination: a drive motor, a belt transmission mechanism, a gear transmission mechanism or a chain transmission mechanism.

As a preferred solution of the present invention, the rotating disk includes a rotating part and a supporting part, and the rotating part is rotatably connected to the base through a bearing.

The above technical solution is realized, which facilitates the installation of the rotating disk.

To sum up, the utility model has the following beneficial effects:

The embodiment of the present utility model provides a high-efficiency clamping and transporting manipulator, comprising: a base, a rotating disk is rotatably connected to the base, and a rotating drive mechanism for driving the rotating disk to rotate is provided on the base , an installation table is arranged on the rotating plate; a first pick-up arm is rotatably assembled on the installation table through a first rotating shaft, and the end of the first pick-up arm is provided with a first pick-up arm for picking up materials The installation table is provided with a rotary drive mechanism for driving the reciprocating rotation of the first pick-up and delivery arm; the second pick-up and delivery arm is rotatably assembled on the installation table through the second rotating shaft, and the second pick-up and delivery arm is rotatably assembled on the installation table. The pick-up arm and the first pick-up arm are arranged in an up and down dislocation, and the first pick-up arm and the second pick-up arm are vertically formed with a passage for the first pick-up mechanism to pass through. space, the end of the second pick-up arm is provided with a second pick-up mechanism for picking up materials; Gear linkage assembly. When picking up and transporting materials, firstly drive the turntable to rotate through the rotary drive mechanism, so that the first pick-up arm and the second pick-up arm move to the appropriate position, and then drive the first pick-up arm to rotate to the position of the material to be picked up and transported by the rotary drive mechanism. Right above, at this time, the second pick-up arm is located at the feeding station of the processing equipment. After the first pick-up mechanism picks up the material, the first pick-and-feed arm is driven by the rotary drive mechanism to rotate to the upper material station. The second pick-up arm rotates in the opposite direction driven by the gear linkage assembly. When the first pick-up mechanism moves to the loading station of the processing equipment, the second pick-up mechanism is located above the material to be picked up and sent. While the first reclaiming mechanism is feeding material, the second material reclaiming mechanism simultaneously reclaims material, so that the reciprocating process enables the material feeding process to be carried out continuously and improves the efficiency of material fetching and conveying.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

2 is a cross-sectional view of a base in an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of removing the top of the installation platform in an embodiment of the present invention.

Corresponding part names represented by numbers and letters in the figure:

1. Base; 11. Rotating plate; 111. Rotating part; 112. Supporting part; 113. Bearing; 12. Rotating drive mechanism; 2. Mounting table; 21. First rotating shaft; 22. Second rotating shaft; 3. The first take-and-feed arm; 31. The first reclaiming mechanism; 311, The first reclaiming cylinder; 312, The first taking-up air clamp; 32, The rotary drive mechanism; 33, The rotary cylinder; 34, The assembly block; 41, the second reclaiming mechanism; 411, the second reclaiming cylinder; 412, the second reclaiming air clamp; 5, the gear linkage assembly; 51, the driving gear; 52, the driven gear.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Example

A high-efficiency gripping and transporting manipulator, as shown in Figures 1 to 3, comprises: a base 1, a rotating disk 11 is rotatably connected to the base 1, and a rotating drive for driving the rotating disk 11 to rotate is provided on the base 1 Mechanism 12, an installation table 2 is arranged on the rotating disk 11; the first pick-up arm 3 is rotatably assembled on the installation table 2 through the first rotating shaft 21, and the end of the first pick-up arm 3 is provided with a first pick-up arm 3 for picking up materials. A reclaiming mechanism 31, the installation table 2 is provided with a rotary drive mechanism 32 for driving the first reciprocating rotation of the reciprocating arm 3; The second pick-up arm 4 and the first pick-and-delivery arm 3 are arranged in an up-and-down position, and the first pick-up arm 3 and the second pick-up arm 4 are vertically formed with a space for the first pick-up mechanism 31 to pass through, The end of the second pickup arm 4 is provided with a second pickup mechanism 41 for picking up materials; and a gear linkage assembly 5 for driving the first pickup arm 3 and the second pickup arm 4 to rotate in opposite directions synchronously .

Specifically, the rotating plate 11 includes: a rotating part 111 and a supporting part 112. The rotating part 111 is rotatably connected to the base 1 through a bearing 113, so as to facilitate the rotating plate 11; 12 is selected from the following structures alone or in combination: a drive motor, a belt drive mechanism, a gear drive mechanism or a chain drive mechanism. In this embodiment, the rotation drive mechanism 12 selects a drive motor, the drive motor is a servo motor, and the mounting platform 2 is hollow. box.

The first reclaiming mechanism 31 includes: a first reclaiming cylinder 311 carried on the first taking and conveying arm 3, and a first reclaiming air clip 312 fixed to the piston rod of the first reclaiming cylinder 311. The air cylinder 311 drives the first material-receiving air clamp 312 to move down, and the material can be clamped. The rotary drive mechanism 32 is suitable for use alone or in combination from the following structures: a drive motor, a belt drive mechanism, a gear drive mechanism or a chain drive mechanism. In the embodiment, the rotary pick-up and delivery mechanism selects a drive motor, and the drive motor is a servo motor; correspondingly, the second pick-up mechanism 41 includes: a second pick-up cylinder 411 carried on the second pick-and-delivery arm 4, and a second pick-up cylinder 411 fixed on the second pick-up and delivery arm 4. The second reclaiming air clamp 412 of the piston rod of the reclaiming cylinder 411 drives the second reclaiming air clamp 412 to move down through the second reclaiming cylinder 411, so that the material can be clamped.

Further, a rotating cylinder 33 is provided at the end of the first fetching arm 3, an assembly block 34 is fixed on the piston rod of the rotating cylinder 33, and the first reclaiming cylinder 311 is fixed on the assembly block 34. 31 After the material is clamped, the first reclaiming mechanism 31 is rotated to the upper side by the rotating cylinder 33, so that the distance between the first taking and conveying arm 3 and the second taking and conveying arm 4 can be set smaller and can be reduced. Interference with the second pick-and-feed arm 4 .

The gear linkage group includes: a driving gear 51 fixed on the first rotating shaft 21, and a driven gear 52 fixed on the second rotating shaft 22 and meshing with the driving gear 51. The driving gear 51 and the driven gear 52 are the same in size, through The driving gear 51 and the driven gear 52 are engaged, so that the first rotating shaft 21 and the second rotating shaft 22 rotate in opposite directions synchronously, thereby driving the reciprocating movement of the first pick-up arm 3 and the second pick-up arm 4 .

When picking up and transporting materials, firstly drive the turntable to rotate through the rotating drive mechanism 12 to move the first pickup arm 3 and the second pickup arm 4 to the appropriate position, and then drive the first pickup arm 3 to rotate to the appropriate position through the rotary drive mechanism 32. Right above the material to be picked up and sent, the second pick-up and delivery arm 4 is located at the loading station of the processing equipment. After the first pick-up mechanism 31 picks up the material, the first pick-up and delivery arm 3 is driven by the rotary drive mechanism 32 Rotate to the feeding station. At this time, the second feeding arm 4 rotates in the opposite direction under the driving of the gear linkage assembly 5. When the first feeding mechanism 31 moves to the feeding station of the processing equipment, the second feeding mechanism 41 is located above the material to be taken and conveyed. At this time, while the first reclaiming mechanism 31 is feeding the material, the second reclaiming mechanism 41 simultaneously takes the material. This reciprocation enables the feeding process to be carried out continuously and improves the material taking and conveying. s efficiency.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. a high-efficiency gripping pick-and-delivery manipulator is characterized in that, comprising: a base, a rotating disk is rotatably connected to the base, a rotating drive mechanism for driving the rotating disk to rotate is provided on the base, and an installation platform is provided on the rotating disk; The first pick-up arm is rotatably assembled on the installation table through the first rotating shaft, the end of the first pick-up arm is provided with a first pick-up mechanism for picking up materials, and the installation table is provided with a first pick-up mechanism for picking up materials. a rotary drive mechanism that drives the first pick-and-feed arm to reciprocate; The second pick-up arm is rotatably assembled on the installation platform through the second rotating shaft, the second pick-up arm and the first pick-up arm are arranged in an up-down position dislocation, and the first pick-up arm and the The second pick-up arm is vertically formed with a space for the first pick-up mechanism to pass through, and the end of the second pick-up arm is provided with a second pick-up mechanism for picking up materials; and, A gear linkage assembly for driving the first pick-up arm and the second pick-up arm to rotate in opposite directions synchronously. 2 . The high-efficiency clamping and transporting manipulator according to claim 1 , wherein the gear linkage group comprises: a driving gear fixed on the first rotating shaft, and a driving gear fixed on the second rotating shaft and connected to the second rotating shaft. 3 . The driven gear meshed with the driving gear, the driving gear and the driven gear have the same size. 3. The high-efficiency gripping and picking-up manipulator according to claim 1 or 2, wherein the first reclaiming mechanism comprises: a first reclaiming cylinder carried on the first picking-up arm, and a first reclaiming cylinder fixed on the The first reclaiming air clamp of the piston rod of the first reclaiming cylinder. 4 . The high-efficiency clamping and transporting manipulator according to claim 3 , wherein the end of the first transporting arm is provided with a rotary cylinder, and an assembly block is fixed on the piston rod of the rotary cylinder. 5 . The first reclaiming cylinder is fixed on the assembly block. 5. The high-efficiency gripping and picking-up manipulator according to claim 3, wherein the second reclaiming mechanism comprises: a second reclaiming cylinder carried on the second picking-up arm, and a second reclaiming cylinder fixed on the The second reclaiming air clamp of the piston rod of the second reclaiming cylinder. 6. The high-efficiency gripping and picking-up manipulator according to claim 1, wherein the rotary drive mechanism and the rotary drive mechanism are selected from the following structures individually or in combination: a drive motor, a belt drive mechanism, a gear Transmission mechanism or chain transmission mechanism. 7 . The high-efficiency clamping and transporting manipulator according to claim 1 , wherein the rotating disk comprises: a rotating part and a supporting part, and the rotating part is rotatably connected to the base through a bearing. 8 .

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