CN212601872U

CN212601872U - Manipulator taking and placing equipment

Info

Publication number: CN212601872U
Application number: CN202020928786.4U
Authority: CN
Inventors: 别军义; 赵义; 别松涛
Original assignee: Kunshan Unicorn Robot Co ltd
Current assignee: Suzhou Dongrui Technology Co., Ltd.
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2021-02-26
Anticipated expiration: 2030-05-28

Abstract

The utility model discloses a manipulator taking and placing device, which comprises an installation block, wherein the right side inside the installation block is rotatably connected with a clamping block II, the inside of the clamping block II is rotatably connected with a rotating shaft II which runs through the clamping block II and the front and back sides of the installation block, the two sides of the rotating shaft are fixedly provided with a clamping block I, the inside of the installation block is fixedly provided with a double-shaft motor, and the front and back both ends of the double-shaft motor and the front and back both ends of the clamping block II are fixedly provided with a gear I, the clamping block II and the clamping block III are arranged, so that the two clamping blocks at the front side of the taking and placing device can adjust the proper included angle according to the size of an object, thereby being suitable for clamping the object with a larger size difference interval, and the clamping of the object is carried out through the clamping blocks I and the clamping block II by fixing angles, and the clamping blocks III, can stably clamp articles of different sizes.

Description

Manipulator taking and placing equipment

Technical Field

The utility model relates to a manipulator specifically is a manipulator is got and is put equipment.

Background

In recent years, the industry of the injection molding machine in China is rapidly developed and is increased at an excessive speed every year, and meanwhile, the requirement of users on the mechanical arm of the injection molding machine is increased more and more. At present, only a few enterprises in China design and produce the injection molding machine manipulator, a large number of products are imported from Taiwan, Japan and Europe and America, and the domestic injection molding machine manipulator industry is in the rapid development period at present. It is anticipated that five-axis and multi-axis smart servo manipulators will gradually replace pneumatic traversing injection molding machine manipulators with their higher precision, reliability and stability.

The picking and placing equipment is used as an important component of the manipulator and plays a vital role in clamping the picking piece, however, most of the existing manipulator picking and placing equipment are single in structure, can only clamp articles with fixed intervals, and cannot be adjusted to the optimal picking and placing posture according to the appearances of the articles, so that the picking and placing are unstable, and the articles fall off. Therefore, the utility model provides a manipulator is got and is put equipment to solve the problem that proposes in the above-mentioned background art.

Disclosure of Invention

An object of the utility model is to provide a manipulator is got and is put equipment to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the manipulator taking and placing equipment comprises an installation block, wherein the right side in the installation block is rotatably connected with a clamping block II, the inside of the clamping block II is rotatably connected with a rotating shaft II which penetrates through the clamping block II and the front side and the rear side of the installation block, the two peripheral sides of the rotating shaft are fixedly provided with a clamping block I, the inside of the installation block is fixedly provided with a double-shaft motor, the peripheral sides of the front end and the rear end of the double-shaft motor and the front end and the rear end of the clamping block II are fixedly provided with a gear I, the gear I on the double-shaft motor is meshed with the gear I on the clamping block II, the front end and the rear end of the double-shaft motor and the front end and;

the right side of getting piece one and getting piece two is all rotated to be connected with and is got piece three, and two right sides of getting piece three are all welded and are got piece four, get piece four fixed surface and install the connecting block, the outside fixed mounting of installation piece has driving motor, and the inside rotation of driving motor is connected with and is located the left pivot one of biax motor, and pivot one and driving motor's motor shaft fixed connection, and all is connected with the metal rope between two connecting blocks and the pivot one.

As a further aspect of the present invention: the first clamping block and the second clamping block are different in size and consistent in length, and the first clamping block is matched with the interior of the second clamping block.

As a further aspect of the present invention: the motor shaft of the double-shaft motor is in transmission connection with the clamping block II through the two gears I, and is in transmission connection with the clamping block II through the two gears II, the toothed belt and the rotating shaft II.

As a further aspect of the present invention: the clamping block III, the clamping block I and the clamping block II are both provided with mounting frames, the mounting frames are rotatably connected with guide wheels, and the metal ropes are wound around the guide wheels.

As a further aspect of the present invention: the clamping block I, the clamping block III, the clamping block II and the clamping block III are rotatably connected in the mounting frame, and torsion springs are arranged between the mounting frame and the clamping block I, the clamping block II and the clamping block III.

As a further aspect of the present invention: and a control switch is fixedly arranged on one side of the outside of the mounting block and is electrically connected with the double-shaft motor and the driving motor respectively.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a set up the clamp and get piece one, press from both sides and get piece two, press from both sides and get piece three, make two clamp that get the equipment front side press from both sides and get the piece according to the suitable contained angle size of the size adjustment of article to can adapt to the interval great article clamp of big or small difference and get.

2. The utility model discloses earlier through pressing from both sides the piece one and two fixed angles of clamp splice, press from both sides the piece three through two and press from both sides and get the piece, respectively by biax motor and driving motor drive, can stabilize the clamp to the not article of equidimension and get.

Drawings

Fig. 1 is a schematic structural diagram of a manipulator pick-and-place device.

Fig. 2 is a schematic top view of a robot pick-and-place apparatus.

Fig. 3 is an enlarged schematic structural view of fig. 2A of a robot pick-and-place apparatus.

Fig. 4 is a schematic bottom view of a robot pick-and-place device.

In the figure: 1. mounting blocks; 2. a first clamping block; 3. a second clamping block; 4. a third clamping block; 5. a clamping block IV; 6. a mounting frame; 7. a metal cord; 8. a control switch; 9. a first rotating shaft; 10. a first gear; 11. a toothed belt; 12. a guide wheel; 13. connecting blocks; 14. a drive motor; 15. a double-shaft motor; 16. a second rotating shaft; 17. and a second gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 4, in an embodiment of the present invention, a manipulator taking and placing apparatus includes a mounting block 1, a clamping block two 3 is rotatably connected to a right side inside the mounting block 1, the clamping block two 3 is rotatably connected to a rotating shaft two 16 penetrating through the clamping block two 3 and front and rear sides of the mounting block 1, a clamping block one 2 is fixedly installed around the rotating shaft two 16, the clamping block one 2 is different in size from the clamping block two 3 but identical in length, the clamping block one 2 is engaged with the clamping block two 3, a double-shaft motor 15 is fixedly installed inside the mounting block 1, a gear one 10 is fixedly installed around front and rear ends of the double-shaft motor 15 and front and rear ends of the clamping block two 3, the gear one 10 on the double-shaft motor 15 is engaged with the gear one 10 on the clamping block two 3, and a gear two 17 is fixedly installed around front and rear ends of the double-shaft motor 15 and front and rear ends of the, and the periphery of the two gears 17 is sleeved with a toothed belt 11, the motor shaft of the double-shaft motor 15 is in transmission connection with the clamping block two 3 through the two gears one 10, the motor shaft of the double-shaft motor 15 is in transmission connection with the clamping block two 2 through the two gears two 17, the toothed belt 11 and the rotating shaft two 16, according to the size of a clamped object, the included angle between the clamping block one 2 and the clamping block two 3 is firstly adjusted, the double-shaft motor 15 drives the gears one 10 and the gears two 17 at two ends to rotate, the gear one 10 is meshed with the other gear one 10 to enable the clamping block two 3 to rotate clockwise or anticlockwise, the clamping block one 2 driven by the gears two 17 and the toothed belt 11 rotates in the direction opposite to the clamping block two 3, the included angle between the clamping block one 2 and the clamping block two 3 is increased or decreased, particularly according to the size of the object, if the object is smaller, the included angle is decreased, if the object is larger, increasing the included angle;

the right sides of the first clamping block 2 and the second clamping block 3 are rotatably connected with a first clamping block 4, the right sides of the first clamping block 2 and the second clamping block 3 are welded with a second clamping block 5, the first clamping block 4 is fixedly connected with a connecting block 13, a driving motor 14 is fixedly mounted outside the first clamping block 1, a first rotating shaft 9 located on the left side of a double-shaft motor 15 is rotatably connected with the inside of the driving motor 14, the first rotating shaft 9 is fixedly connected with a motor shaft of the driving motor 14, a metal rope 7 is connected between the two connecting blocks 13 and the first rotating shaft 9, the first clamping block 4, the first clamping block 2, the second clamping block 3, an installation frame 6 is rotatably connected between the first clamping block 2 and the second clamping block 3, a guide wheel 12 is rotatably connected on the installation frame 6, the metal rope 7 bypasses the guide wheel 12, the first clamping block 2, the third clamping block 4, the second clamping block 3, the second clamping, Press from both sides and get piece two 3, press from both sides and get between the piece three 4 and all be equipped with torsion spring, after confirming the angle, control driving motor 14 work, driving motor 14 rotates and strains metal rope 7, and until the article is located two and get between the piece four 5, control driving motor 14 reversal, because torsion spring's elasticity, two are got piece three 4 and are pressed close to each other, make two press from both sides and get the piece between the piece four 5 and press from both sides and get, installation 1 outside one side fixed mounting of piece has control switch 8, and control switch 8 respectively with biax motor 15 and driving motor 14 electric connection.

The utility model discloses a theory of operation is:

when the manipulator taking and placing equipment is used, according to the size of a clamped object, an included angle between a first clamping block 2 and a second clamping block 3 is adjusted, a double-shaft motor 15 drives a first gear 10 and a second gear 17 at two ends to rotate, the first gear 10 is meshed with the first gear 10 to enable the second clamping block 3 to rotate clockwise or anticlockwise, the first clamping block 2 driven by the second gear 17 and a toothed belt 11 rotates in the direction opposite to the second clamping block 3, the included angle between the first clamping block 2 and the second clamping block 3 is increased or decreased, the included angle is selected according to the size of the object, if the object is smaller, the included angle is decreased, if the object is larger, the double-shaft motor 15 is controlled to turn over to increase the included angle, after the angle is determined, the driving motor 14 is controlled to work, the driving motor 14 rotates to tighten a metal rope 7 until the object is positioned between the two clamping blocks four 5, the driving motor 14 is controlled to rotate reversely, and due, the two clamping blocks III 4 are close to each other, so that the two clamping blocks IV 5 clamp the object between the two clamping blocks III.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The manipulator taking and placing device comprises an installation block (1) and is characterized in that a second clamping block (3) is rotatably connected to the right side inside the installation block (1), the second clamping block (3) is rotatably connected inside a second rotating shaft (16) which penetrates through the second clamping block (3) and the front side and the rear side of the installation block (1), a clamping block I (2) is fixedly arranged on the peripheral side of the rotating shaft II (16), a double-shaft motor (15) is fixedly arranged in the mounting block (1), and the peripheral sides of the front end and the rear end of the double-shaft motor (15) and the front end and the rear end of the clamping block II (3) are both fixedly provided with a gear I (10), and a first gear (10) on the double-shaft motor (15) is meshed with a first gear (10) on the clamping block II (3), a second gear (17) is fixedly arranged at the front end and the rear end of the double-shaft motor (15) and the front end and the rear end of the second rotating shaft (16), and a toothed belt (11) is sleeved on the peripheral sides of the two second gears (17);

the right side of getting piece one (2) and getting piece two (3) of clamp all rotates to be connected with and gets piece three (4), and two right sides of getting piece three (4) all weld and get piece four (5), press from both sides and get piece four (5) fixed surface and install connecting block (13), installation piece (1) outside fixed mounting has driving motor (14), and driving motor (14) internal rotation connect to be located the left pivot (9) of double-shaft motor (15), and the motor shaft fixed connection of pivot (9) and driving motor (14), and all be connected with between two connecting blocks (13) and pivot (9) metal rope (7).

2. The manipulator pick-and-place device according to claim 1, wherein the first gripping block (2) and the second gripping block (3) are different in size and same in length, and the first gripping block (2) is engaged with the inside of the second gripping block (3).

3. The manipulator taking and placing device according to claim 1, wherein a motor shaft of the double-shaft motor (15) is in transmission connection with the first clamping block (3) through two first gears (10), and the motor shaft of the double-shaft motor (15) is in transmission connection with the first clamping block (2) through two second gears (17), the toothed belt (11) and the second rotating shaft (16).

4. The manipulator taking and placing device according to claim 1, wherein a mounting rack (6) is installed between the three clamping blocks (4) and the first clamping block (2) and the second clamping block (3), a guide wheel (12) is rotatably connected to the mounting rack (6), and the metal rope (7) bypasses the guide wheel (12).

5. The manipulator taking and placing device according to claim 4, wherein the first clamping block (2) and the third clamping block (4) and the second clamping block (3) and the third clamping block (4) are rotatably connected in the mounting frame (6), and torsion springs are arranged among the mounting frame (6), the first clamping block (2), the second clamping block (3) and the third clamping block (4).

6. The manipulator pick-and-place device according to claim 1, wherein a control switch (8) is fixedly installed on one side of the outer portion of the installation block (1), and the control switch (8) is electrically connected with the double-shaft motor (15) and the driving motor (14) respectively.