CN213536519U - Press from both sides manipulator, mechanical device and extracting device of getting rodlike material - Google Patents

Abstract

The utility model belongs to a manipulator, in particular to a manipulator, a mechanical device and a material taking device for clamping rod-shaped materials, the manipulator for clamping rod-shaped materials comprises a fixed seat, a first connecting rod and a first clamp which are connected in sequence, the first connecting rod is hinged with the fixed seat, a limit component for limiting or allowing the first connecting rod to swing along the fixed seat is arranged on the fixed seat and/or the first connecting rod, a jogged groove matched with the surface of the rod-shaped materials is arranged on one side of the first clamp, which is far away from the first connecting rod, the direction of the jogged groove is parallel to the swing axis of the first connecting rod, the utility model hinges the first connecting rod with the fixed seat and is provided with the limit component for limiting or allowing the first connecting rod to swing along the fixed seat, in the process of grabbing the rod-shaped materials, the jogged groove arranged on the first clamp automatically slides to the top center of the rod-shaped materials and, after the positioning and grabbing, the limiting assembly limits the first connecting rod to swing along the fixing seat.

Description

Press from both sides manipulator, mechanical device and extracting device of getting rodlike material

Technical Field

The utility model belongs to a manipulator specifically is to a press from both sides manipulator, mechanical device and extracting device of getting rodlike material.

Background

At present, in the process of stacking rod-shaped materials with circular or oval cross sections, the rod-shaped materials stacked above cannot be neatly and regularly stacked due to the tolerance of the sizes of the rod-shaped materials, so that a manipulator is difficult to accurately position when clamping the rod-shaped materials in a material frame, and the method for eliminating the error generally comprises the steps of arranging a sensor or a camera on the manipulator to accurately position the rod-shaped materials.

As shown in fig. 1, taking a cylindrical rod-shaped material 13 with a circular cross section as an example, the rod-shaped material 13 is stacked in a rectangular material rack 11, and a plurality of rod-shaped materials 13 located at the bottom are stacked in order with uniform spacing and easy to be positioned, and when the rod-shaped materials 13 are stacked higher, the rod-shaped materials 13 located at both sides cannot be completely clamped or do not correspond in position due to the dimensional tolerance between the rod-shaped materials 13, the tolerance is larger and larger, the rod-shaped materials cannot be stacked in order and regularly as they go up, and the spacing between the rod-shaped materials 13 located at the upper end is also inconsistent, that is, the positioning is difficult. The positioning table 12 is also arranged at the bottom of the rectangular material rack 11, but the positioning table 12 of each rectangular material rack 11 has errors, which can cause different positioning points of the manipulator, so that the conventional manipulator is difficult to effectively and quickly position and grab the rod-shaped material 13.

In addition, as shown in fig. 2, when the conventional common manipulator 14 grabs the rod-shaped materials 13 at the edge of the rectangular material rack 11, the common manipulator 14 is blocked by the edge of the rectangular material rack 11, and if the common manipulator moves to the middle of the rectangular material rack 11 to avoid the side edges of the rectangular material rack 11 for clamping, it is difficult to position and clamp the rod-shaped materials 13 at the two sides.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a can eliminate positioning error's clamp and get manipulator, mechanical device and extracting device of bar-shaped material.

The utility model provides a press from both sides manipulator of getting bar-shaped material, including fixing base, head rod and the first anchor clamps that connect gradually, the head rod is articulated with the fixing base, be provided with on fixing base and/or the head rod and be used for the restriction or allow the head rod along the spacing subassembly of fixing base wobbling, the first anchor clamps deviate from head rod one side and offer with the gomphosis groove of bar-shaped material surface adaptation, the gomphosis groove set up the direction parallel with the swing axis of head rod.

Furthermore, the limiting assembly comprises a limiting clamping jaw which slides along the fixing seat and/or the first connecting rod, and a driving piece which drives the limiting clamping jaw to slide towards the first connecting rod.

Furthermore, the two limiting clamping jaws are oppositely arranged, and the first connecting rod is located between the two limiting clamping jaws.

Furthermore, the sliding direction of the limiting clamping jaw is perpendicular to the swinging axis of the first connecting rod.

Furthermore, an arc-shaped limiting block is arranged on one side, close to the first connecting rod, of the limiting clamping jaw.

Furthermore, the fixing seat and/or the first connecting rod are/is provided with a sliding groove on one side close to the limiting clamping jaw, the driving piece comprises a sliding block arranged in the sliding groove in a sliding mode and a sliding block driving piece driving the sliding block to move, and the limiting clamping jaw is fixedly arranged on the sliding block.

Furthermore, the slider driving part comprises a linear driving part and a driving block arranged at the output end of the linear driving part, a sliding inclined block is arranged on one side, close to the slider, of the driving block, and a sliding chute matched with the sliding inclined block is arranged on the slider.

Furthermore, the limiting assembly comprises a limiting clamping jaw which rotates along the fixing seat and/or the first connecting rod, and a driving piece which drives the limiting clamping jaw to rotate towards the first connecting rod.

Furthermore, a movable pin is fixedly arranged on the fixed seat, and a hinged part matched with the movable pin is arranged on the first connecting rod.

Furthermore, the hinge part is a circular hole or a strip-shaped groove, and the long axis of the strip-shaped groove is parallel to the axis of the first connecting rod.

Furthermore, the first clamp is provided with clamping jaws close to two end sides of the rod-shaped material.

Furthermore, the first jig is provided with rolling bodies on both sides of the fitting groove, and one ends of the rolling bodies protrude from the fitting groove.

Further, the section of the embedding groove is V-shaped, U-shaped, circular arc-shaped or polygonal.

The utility model also provides a mechanical device for clamping the rod-shaped materials, which comprises a connecting shaft, a mechanical arm and a fixed mechanical arm, wherein the mechanical arm and the fixed mechanical arm are arranged on the connecting shaft through a first connecting block and a second connecting block;

the manipulator for clamping the rod-shaped materials comprises a first connecting block, a fixing seat, a first connecting rod and a first clamp, wherein the first connecting block, the fixing seat, the first connecting rod and the first clamp are sequentially connected with the first connecting block, the first connecting rod and the fixing seat are hinged with a hinged plate arranged on the fixing seat through a hinged portion arranged at the end portion of the first connecting rod, a limiting component used for limiting or allowing the first connecting rod to swing along the fixing seat is arranged on the fixing seat and comprises a first limiting clamping jaw and a second limiting clamping jaw which are arranged in the fixing seat in a sliding mode, the first limiting clamping jaw and the second limiting clamping jaw are arranged oppositely and are positioned on two sides of the first connecting rod, the limiting component further comprises a driving piece used for driving the first limiting clamping jaw and the second limiting clamping jaw to be relatively close to or relatively far away from, a sliding groove is formed in the fixing seat, and, A driving block matched with the two sliding blocks and a linear driving piece for driving the driving block to do linear motion, wherein the two sliding blocks are arranged in the sliding groove in a sliding way, one side of the two sliding blocks, which is opposite to each other, is provided with a sliding chute, the driving block is provided with a sliding inclined block matched with the two sliding chutes, one side of the fixed seat, which is connected with the first connecting block, is provided with a through hole, the linear driving piece is arranged on one side of the fixed seat, which is connected with the first connecting block, the output end of the linear driving piece penetrates through the through hole to be connected with the driving block, the output end of the, the linear driving piece is an air cylinder, the first limiting clamping jaw and the second limiting clamping jaw are provided with arc limiting blocks at one sides close to the first connecting rod, the swing axis of the first connecting rod is perpendicular to the sliding direction of the sliding chute, the hinged part is a strip-shaped groove, and the long axis of the strip-shaped groove is parallel to the axis of the first connecting rod;

the fixed mechanical arm comprises a second connecting rod and a second clamp which are sequentially and fixedly connected with a second connecting block;

the first clamp and the second clamp respectively comprise a connecting plate and a suction clamp arranged on the connecting plate, one side of the suction clamp, which is far away from the first connecting rod and the second connecting rod, is provided with an embedded groove matched with the surface of the rod-shaped material, the direction of the embedded groove is parallel to the swing axis of the first connecting rod, the embedded groove is provided with a magnetic suction block, two sides of the embedded groove are provided with rolling bodies, and one end of each rolling body protrudes out of the embedded groove.

The utility model also provides a rod-shaped material extracting device, press from both sides the manipulator of getting rod-shaped material, be provided with magnetism on the gomphosis groove of manipulator and inhale the piece.

The rod-shaped material taking device further comprises a rectangular material rack for storing rod-shaped materials.

Furthermore, the size of the rectangular material rack in the direction perpendicular to the axis of the rod-shaped material is a multiple of the diameter of the rod-shaped material.

Furthermore, the magnetic blocks are symmetrically arranged relative to the mirror image on which the axis of the first connecting rod and the swing axis are located.

The beneficial effects of the utility model are that, the utility model provides a pair of press from both sides manipulator of getting bar-shaped material, it is articulated with the fixing base to be provided with and be used for the restriction or allow the head rod along the spacing subassembly of fixing base wobbling, in the course of snatching of carrying out bar-shaped material, loosen spacing subassembly when bar-shaped material is close to or contacts bar-shaped material at first anchor clamps, the swing of permission connecting rod, make the gomphosis groove automatic slip that sets up on the first anchor clamps to the top center of bar-shaped material and fix a position, snatch the back in the location, spacing subassembly restriction head rod swings along the fixing base, avoid bar-shaped material to rock in the transportation, unloading is accurate and efficiency when guaranteeing to carry to the destination.

The utility model provides a press from both sides mechanical device who gets rodlike material, press from both sides the manipulator and the fixed manipulator of getting rodlike material including setting up on the connecting axle, mechanical device passes through the connecting axle and is connected with mobile robot, press from both sides the manipulator and a set of fixed manipulator of getting rodlike material through setting up a set of clamp, the manipulator of rodlike material is got and is transported to the target station in rectangle material frame to stick-like material is put things in good order irregularly in solving rectangle material frame, the difficult condition with the location, fixed manipulator then is used for carrying the rodlike material of target station to second target station, carry with the accurate material in location, very big improvement work efficiency, and the work efficiency is improved.

The utility model provides a rod-shaped material taking device, which takes rod-shaped materials from a rectangular material rack through a manipulator for clamping the rod-shaped materials, wherein the manipulator for clamping the rod-shaped materials clamps the materials in a magnetic suction mode and is matched with the swinging property of the first connecting rod, when the tabling groove and the rod-shaped material have deviation in the descending process of the manipulator, the first clamp contacts the rod-shaped material and continues the descending process, so that the tabling groove slides along the center of the rod-shaped material, meanwhile, the magnetic suction block is matched with the suction function of the magnetic suction block to guide the first connecting rod to swing according to the position of the rod-shaped material, so that the auxiliary grabbing function and the effect of re-positioning before grabbing are achieved, the positioning efficiency and the positioning effect are greatly improved, the magnetic suction block is adopted for positioning and clamping, the clamping speed is high, the clamping is stable and reliable, the overall structure is simpler, in addition, the manipulator for clamping the rod-shaped materials solves the problem that the rod-shaped materials on the side edge of the rectangular material rack are difficult to clamp.

Drawings

FIG. 1 is a schematic view of stacking prior art rod-shaped materials;

FIG. 2 is a schematic diagram of a manipulator clamping a rod-shaped material on the side of a rectangular material rack in the prior art;

FIG. 3 is a schematic view of the manipulator clamping the rod-shaped material at the side of the rectangular material rack;

fig. 4 is a schematic view of a first angular structure of the present invention;

fig. 5 is a schematic view of a second angle structure of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

fig. 7 is a schematic view of the local explosion of the present invention;

fig. 8 is a schematic view of the utility model with only one limiting clamping jaw;

fig. 9 is a side view showing a preferred sectional shape of the suction jig of the present invention.

In the figures, 1-connecting shaft; 2 a-first connection block; 2 b-a second connection block; 3-a linear drive; 4-fixing the base; 401-a chute; 402-a via; 403-hinge plate; 5-a slide block; 501-sliding chute; 6-a drive block; 601-sliding oblique blocks; 602-connecting hole; 7 a-a first limiting jaw; 7 b-a second limiting jaw; 8 a-first connecting rod; 8 b-a second connecting rod; 801-a hinge; 9-a movable pin; 10 a-a first clamp; 10 b-a second clamp; 1001-connecting plate; 1002-sucking a clamp; 1003-magnetic block; 1004-rolling elements; 11-a rectangular material rack; 12-a positioning table; 13-rod-like material.

Detailed Description

The following detailed description will illustrate the general principles of the invention, examples of which are additionally illustrated in the accompanying drawings. In the drawings, like reference numbers indicate identical or functionally similar elements.

As shown in fig. 1-9, the present invention provides a manipulator for clamping a rod-shaped material, comprising a fixing base 4, a first connecting rod 8a and a first clamp 10a connected in sequence, wherein the first connecting rod 8a is hinged to the fixing base 4, a limiting component for limiting or allowing the first connecting rod 8a to swing along the fixing base 4 is arranged on the fixing base 4 and/or the first connecting rod 8a, a tabling groove adapted to the surface of the rod-shaped material 13 is formed on a side of the first clamp 10a away from the first connecting rod 8a, the direction of the tabling groove is parallel to the swing axis of the first connecting rod 8a, the first connecting rod 8a is hinged to the fixing base 4, and a limiting component for limiting or allowing the first connecting rod 8a to swing along the fixing base 4 is arranged, during the grabbing process of the rod-shaped material 13, the limiting component is loosened when the first clamp 10a approaches the rod-shaped material 13 or contacts the rod-shaped material 13, the swing of the first connecting rod 8a is allowed, the embedding groove arranged on the first clamp 10a automatically slides to the top center of the rod-shaped material 13 and is positioned, after the rod-shaped material is grabbed in the positioning mode, the limiting assembly limits the first connecting rod 8a to swing along the fixing seat 4, the rod-shaped material 13 is prevented from swinging in the transportation process, and feeding accuracy and work efficiency are improved when the rod-shaped material is conveyed to a destination.

In one embodiment of the limiting assembly, the limiting assembly comprises a limiting clamping jaw sliding along the fixing seat 4 and/or the first connecting rod 8a, and a driving member driving the limiting clamping jaw to slide towards the first connecting rod 8a, as shown in fig. 8, only one limiting clamping jaw can be provided, when only one limiting clamping jaw is provided, after the manipulator completes positioning and grabbing, the first limiting clamping jaw 7a limits the first connecting rod 8a to rotate along one side, and the first connecting rod 8a is obliquely arranged along the direction opposite to the direction of limiting rotation, the rod-shaped material 13 and the first connecting rod 8a are in close contact with the first limiting clamping jaw 7a through gravity, so as to avoid shaking during transportation, as shown in fig. 7, in the utility model, two limiting clamping jaws are preferably correspondingly arranged on two sides of the first connecting rod 8a, namely the first limiting clamping jaw 7a and the second limiting clamping jaw 7b, the first connecting rod 8a is arranged between the first limiting clamping jaw 7a and the second limiting clamping jaw 7b, in addition, the limiting component is preferably arranged on the fixed seat 4, the sliding driving component can loosen and limit the swing of the first connecting rod 8a, the limiting clamping jaw is connected with the fixed seat 4 or the first connecting rod 8a in a sliding mode, the whole structure is simple, the structural strength is high, the situation of bending or limiting failure caused by overweight of the rod-shaped material 13 is effectively avoided, the limiting clamping jaw is arranged in a sliding mode, the swinging force of the first connecting rod 8a does not affect the position of the limiting clamping jaw when the limiting clamping jaw is in a limiting state, the limiting clamping jaw has self-locking capacity, for example, when the limiting clamping jaw slides to the limiting state, the first limiting clamping jaw 7a and the second limiting clamping jaw 7b tightly clamp the opposite side of the first connecting rod 8a, at the moment, when the first connecting rod 8a swings along the movable pin 9 under the gravity of the rod-shaped material 13, the limiting clamping jaw is under the swinging force along the, the first connecting rod 8a can restrict the first limiting clamping jaw 7a and the second limiting clamping jaw 7b from sliding along the swinging force of the movable pin 9, gravity self-locking is formed, and the fixing strength and the stability are improved.

The sliding direction of the limiting clamping jaw is perpendicular to the swinging axis of the first connecting rod 8a, in the embodiment, the sliding direction is also perpendicular to the axis of the first connecting rod 8a, and the sliding direction of the limiting clamping jaw 7 is perpendicular to the swinging axis of the first connecting rod 8a, so that the limitation of the swinging of the first connecting rod 8a in a limiting state is facilitated, and the stability and reliability after limiting are ensured.

In this embodiment, limiting clamping jaw 7 is close to head rod 8a one side and is provided with the arc stopper, as shown in fig. 7, the arc stopper is unanimous with head rod 8a cross-section, closely laminates, and for material saving, weight reduction, the arc stopper sets up in limiting clamping jaw 7's upper and lower both sides, sets up the arc stopper, improves spacing back head rod 8 a's stability, effectively avoids head rod 8a to rock. Wherein the designations of top and bottom are relative to the orientation on the page for illustrative purposes and are not limited to the orientation shown when used with a robotic arm

Specifically, fixing base 4 and/or head rod 8a are close to spacing clamping jaw one side and are provided with spout 401, the driving piece is including the slider driving piece that slides setting slider 5 and drive slider 5 in spout 401 removed, spacing clamping jaw 7 is fixed to be set up on slider 5, when spacing clamping jaw sets up one, spout 401 and slider 5 also can only set up one, when spacing clamping jaw sets up two relatively, slider 5 corresponds equally and sets up two, drive spacing clamping jaw 7 through slider 5 and remove, improve gliding smoothness nature of spacing clamping jaw 7 and spacing effect, slider 5 and spacing clamping jaw can the components of a whole that can function independently design and pass through bolt or other mounting interconnect, also can integrated into one piece.

The sliding block driving member may be two oppositely disposed air cylinders, hydraulic cylinders, linear stepping motors, or screw sliders, as shown in fig. 7, in this embodiment, the sliding block driving member includes a linear driving member 3 and a driving block 6 disposed at an output end of the linear driving member 3, one side of the driving block 6 close to the sliding block 5 is provided with a sliding oblique block 601, the sliding block 5 is provided with a sliding oblique slot 501 matched with the sliding oblique block 601, the number of the sliding block 5 corresponding to the limiting clamping jaw is set to be one or two, the sliding block 5 is provided with a sliding oblique slot 501, the sliding block driving member includes a linear driving member 3 and a driving block 6 disposed at an output end of the linear driving member 3, the driving block 6 is provided with a sliding oblique block 601 correspondingly matched with the sliding oblique slot 501, the linear driving member 3 drives the driving block 6 to move up and down, one or two sliding oblique blocks 601 on the driving block 6 drive the sliding oblique block or blocks 5, wherein, the preferred cylinder that adopts of sharp driving piece 3, convenient to control, and therefore the cost is reduced, adopt this kind of cooperation mode, the auto-lock is effectual, only set up a power component and can drive two slider 5 relative movement when setting up two spacing clamping jaws, and therefore the cost is reduced, the preferred slider driving piece that will adopt of this embodiment, spout 401, slider 5 and one or two spacing clamping jaws set up on fixing base 4, specifically, sharp driving piece 3 sets up in fixing base 4 upper end, it is provided with through-hole 402 to correspond on fixing base 4, the output of sharp driving piece 3 passes through-hole 402 and is connected with slider 5, slider 5 terminal surface is provided with the connecting hole 602 that corresponds with sharp driving piece 3, guarantee overall structure compactness, effectively reduce overall dimension.

In another embodiment of the limiting assembly, the limiting assembly includes a limiting jaw rotating along the fixing seat 4 and/or the first connecting rod 8a, and a driving member driving the limiting jaw to rotate towards the first connecting rod 8a, and similarly, the limiting jaw of this embodiment may be provided as one or two, which is different from the previous embodiment in that the limiting jaw is hinged to the fixing seat 4 and/or the first connecting rod 8a and is driven to rotate along the hinging direction by the driving member to loosen or limit the swing of the first connecting rod 8a, in the case that the limiting assembly is provided on the fixing seat 4, a finger cylinder or other power equipment may be provided on the fixing seat 4, one end of the limiting jaw 7 is hinged to the fixing seat 4, the other end is connected to the output end of the power equipment, and the other end of the limiting jaw 7 is driven to rotate by the power equipment, when spacing subassembly is fixed to be set up on head rod 8a, spacing clamping jaw one end is articulated with head rod 8a, and spacing clamping jaw other end block is to fixing base 4 on to the swing of restriction head rod 8a, when spacing subassembly adopted this embodiment, simple structure, control is quick sensitive.

Specifically, the fixed seat 4 is fixedly provided with a movable pin 9, two hinged plates 403 are arranged on two sides of the fixed seat 4 in a downward protruding manner, the movable pin 9 is fixedly arranged on the hinged plates 403, a hinged portion 801 matched with the movable pin 9 is arranged on the first connecting rod 8a, when the first connecting rod 8a is allowed to swing, the first connecting rod 8a can swing along the movable pin 9, and the swing range is within a range that the first connecting rod 8a contacts the limiting clamping jaw 7.

The hinged portion 801 is a circular hole or a strip-shaped groove, a long axis of the strip-shaped groove is parallel to an axis of the first connecting rod 8a, when the hinged portion 801 is set to be a circular hole, only the connecting rod 8 is allowed to swing, when the hinged portion 801 is set to be a strip-shaped groove, the long axis of the strip-shaped groove is parallel to the axis of the connecting rod 8, namely, the first connecting rod 8a and the first clamp 10a are allowed to displace for a certain distance along the axis of the first connecting rod 8a, when the first clamp 10a approaches or contacts the rod-shaped material 13, the first connecting rod 8a can be continuously pressed downwards for a certain distance, and in the process, the first clamp 10a slides along the surface of the rod-shaped material 13 to align to a positioning center.

In the embodiment, the first clamp 10a is only used for positioning the rod-shaped material 13, and after the positioning is completed, the clamping jaws arranged on the two end sides clamp the rod-shaped material 13, and the length of the first clamp 10a is smaller than that of the rod-shaped material 13, so that the clamping jaws on the two sides are matched to clamp the rod-shaped material 13.

The first fixture 10a is provided with rolling bodies 1004 at two sides of the fitting groove, one end of each rolling body 1004 protrudes from the fitting groove, the rolling bodies 1004 at two sides of the first fixture 10a are provided at two sides of the fitting groove, one end of each rolling body 1004 protrudes from the fitting groove, and the rolling bodies 1004 are in surface contact with the rod-shaped material 13, so that abrasion is reduced, sliding smoothness is improved, and positioning efficiency is improved.

The opening surface of the embedding groove can be in a circular, oval or other polygonal form to match the shape of the 13 radian of the rod-shaped material, as shown in fig. 9, the cross section of the embedding groove preferably adopts a V shape, a U shape, an arc shape or a polygon shape, so that the production and processing are convenient, the cost is reduced, the guiding and positioning effect is good, and the working efficiency is improved.

The utility model provides a mechanical device for clamping rod-shaped materials, which comprises a connecting shaft 1, a mechanical arm and a fixed mechanical arm, wherein the mechanical arm and the fixed mechanical arm are arranged on the connecting shaft 1 through a first connecting block 2a and a second connecting block 2 b;

the manipulator for clamping the rod-shaped materials comprises a fixed seat 4, a first connecting rod 8a and a first clamp 10a which are sequentially connected with a first connecting block 2a, the first connecting rod 8a and the fixed seat 4 are hinged with each other through a hinged part 801 arranged at the end part of the first connecting rod 8a and a hinged plate 403 arranged on the fixed seat 4, a limiting component for limiting or allowing the first connecting rod 8a to swing along the fixed seat 4 is arranged on the fixed seat 4 and comprises a first limiting clamping jaw 7a and a second limiting clamping jaw 7b which are arranged in the fixed seat 4 in a sliding manner, the first limiting clamping jaw 7a and the second limiting clamping jaw 7b are oppositely arranged and positioned at two sides of the first connecting rod 8a, the limiting component further comprises a driving piece for driving the first limiting clamping jaw 7a and the second limiting clamping jaw 7b to relatively approach or relatively move away from each other, a sliding groove 401 is arranged on the fixed seat 4, the driving piece comprises two sliding blocks 5 connected with a first limiting clamping jaw 7a and a second limiting clamping jaw 7b, a driving block 6 matched with the two sliding blocks 5 and a linear driving piece 3 for driving the driving block 6 to do linear motion, the two sliding blocks 5 are arranged in a sliding groove 401 in a sliding mode, one opposite side of each sliding block 5 is provided with a sliding chute 501, the driving block 6 is provided with a sliding inclined block 601 matched with the two sliding chutes 501, one side, connected with a first connecting block 2a, of a fixed seat 4 is provided with a through hole 402, the linear driving piece 3 is arranged on one side, connected with the first connecting block 2a, of the fixed seat 4, the output end penetrates through the through hole 402 and is connected with the driving block 6, the output end of the linear driving piece 3 drives the driving block 6 to move linearly, the sliding inclined block 601 drives the two sliding chutes 501 to slide relatively along the sliding groove 401, the linear driving piece 3 is an air cylinder, and arc-shaped limiting blocks are arranged on, the swing axis of the first connecting rod 8a is perpendicular to the sliding direction of the sliding chute 401, the hinged part is a strip-shaped groove, and the long axis of the strip-shaped groove is parallel to the axis of the first connecting rod 8 a;

the fixed manipulator comprises a second connecting rod 8b and a second clamp 10b which are sequentially and fixedly connected with the second connecting block 2 b;

the first clamp 10a and the second clamp 10b both comprise a connecting plate 1001 and a suction clamp 1002 arranged on the connecting plate 1001, one side of the suction clamp 1002, which is far away from the first connecting rod 8a and the second connecting rod 8b, is provided with an embedding groove matched with the surface of the rod-shaped material 13, the opening direction of the embedding groove is parallel to the swing axis of the first connecting rod 8a, the embedding groove is provided with a magnetic suction block 1003, two sides of the embedding groove are provided with rolling bodies 1004, and one end of each rolling body 1004 protrudes out of the embedding groove.

The mechanical device for clamping the rod-shaped materials comprises a connecting shaft 1, and a mechanical hand and a fixed mechanical hand which are arranged on the connecting shaft 1 and used for clamping the rod-shaped materials, wherein the mechanical device is connected with a mobile robot (such as a six-axis robot) through the connecting shaft 1, the connecting shaft 1 is respectively connected with the mechanical hand and the fixed mechanical hand for clamping the rod-shaped materials through a first connecting block 2a and a second connecting block 2b, the mechanical hand and the fixed mechanical hand for clamping the rod-shaped materials can be used for taking the rod-shaped materials in a rectangular material frame 11 and transporting the rod-shaped materials to a target station (such as a processing station) through arranging a group of mechanical hands for clamping the rod-shaped materials and a group of fixed mechanical hands, so that the problems that the rod-shaped materials 13 in the rectangular material frame 11 are irregularly stacked and difficult to be positioned can be solved, carry with the material to the location accuracy, this mechanical device very big improvement work efficiency, improvement work efficiency.

The utility model discloses still provide another kind of bar-shaped material extracting device, press from both sides the manipulator of getting the bar-shaped material, be provided with magnetism on the gomphosis groove of manipulator and inhale piece 1003.

The rodlike material taking device takes rodlike materials 13 from a rectangular material frame 11 or a V-shaped material frame through a manipulator for clamping the rodlike materials, is suitable for the situation that two ends of the rodlike materials 13 are tightly attached to the material frame and are not easy to be clamped by clamping jaws, wherein the manipulator for clamping the rodlike materials clamps the materials in a magnetic suction mode, is matched with the swinging property of a first connecting rod 8a, when an embedded groove and the rodlike materials 13 have deviation in the descending process of the manipulator, the first clamp 10a contacts the rodlike materials 13 and continues the descending process, so that the embedded groove slides along the center of the rodlike materials 13, and is matched with the suction function of a magnetic suction block 1003 at the same time, so that the first connecting rod 8a is guided to swing according to the position of the rodlike materials 13, and has the auxiliary grabbing function and the re-positioning effect before grabbing, the greatly improves the positioning efficiency and the positioning effect, the clamping speed is high, the clamping is stable and reliable, and the overall structure is simpler.

The rodlike material taking device further comprises a rectangular material frame 11 used for storing rodlike materials 13, the rectangular material frame 11 is the largest in the number of the same size of materials to be loaded and the application is the most extensive compared with other (such as V-shaped) material frames, and a common mechanical hand cannot grab the rodlike materials 13 on two sides of the rectangular material frame 11 at present, so that the rodlike material storage frame needing to be clamped through the common mechanical hand is commonly designed into a V-shaped structure at present, the rodlike material taking device adopts the mechanical hand for clamping the rodlike materials, the end face of a first clamp 10a of the rodlike material taking device is provided with an embedded groove, the rodlike materials are grabbed through a magnetic attraction block 1003, the problem that the rodlike materials 13 on the side of the rectangular material frame 11 are difficult to clamp is solved, and more rodlike materials 13 can be stored at one time for processing on the premise of the.

In order to further increase the storage quantity and improve the storage precision of the rod-shaped materials 13, the dimension of the rectangular material rack 11 perpendicular to the axis of the rod-shaped materials 13 is a multiple of the diameter of the rod-shaped materials 13, that is, as shown in fig. 2, the rod-shaped materials 13 are placed in the rectangular material rack 11 in order, and the rod-shaped materials 13 at two ends correspond to two sides of the rectangular material rack 11.

As shown in fig. 6, in order to further improve the positioning effect, the magnetic attraction block 1003 is symmetrically arranged with respect to the axis of the first connecting rod 8a and the mirror at the swing axis, that is, in the positioning process of the rod-shaped material 13, when one side of the magnetic attraction block 1003 absorbs one side of the rod-shaped material 13, the other side of the magnetic attraction block 1003, which is in mirror symmetry, can drive the rod-shaped material 13 or the first connecting rod 8a to swing, so that the magnetic attraction block 1003 on the side contacts with the rod-shaped material 13, thereby completing the positioning and improving the positioning efficiency.

Additionally, the utility model also provides a method is got to manipulator clamp, get the manipulator of bar-shaped material and hold the material frame of bar-shaped material 13 including mobile robot, clamp, including following step:

s1, the mobile robot drives the mechanical arm to move to the upper part of the material rack in a vertical state;

s2, the mobile robot drives the manipulator to move downwards, the limiting assembly is controlled to release the limitation on the first connecting rod 8a before moving downwards or when the manipulator approaches the rod-shaped material 13, the first connecting rod 8a can swing relative to the fixed seat 4, and after the first clamp 10a contacts the rod-shaped material 13, the embedded groove slides along the surface of the rod-shaped material 13 until the first clamp is aligned with the rod-shaped material 13;

s3, the first clamp 10a clamps the rod-shaped material 13, and the mobile robot drives the manipulator to move upwards for a certain distance;

and S4, controlling the limit component to limit the swing of the first connecting rod 8a, and conveying the rod-shaped materials 13 to the target station through the mobile robot.

The first clamp 10a clamps the rod-shaped material 13 through the magnet 1003 or clamps the material through the clamping jaws on both sides of the first clamp 10 a.

The target station is a rod-shaped object processing station.

In step S3, the mobile robot moves the manipulator upward by a predetermined distance to separate the gripped rod-shaped material 13 from the limit of the other rod-shaped material 13, and the limit member limits the swing of the first connecting rod 8a after the rod-shaped material returns to the vertical state.

The manipulator clamping method further comprises a connecting shaft 1 and a fixed manipulator connected with the connecting shaft 1, and further comprises the following steps:

and S5, the rod-shaped materials 13 at the target station are clamped by the fixed manipulator and conveyed to a second target station.

The second target station may be a second processing station or a blanking station.

The method is adopted to grab the rod-shaped materials 13 from the material frame to the blanking, the manipulator for clamping the rod-shaped materials is used for grabbing the rod-shaped materials, the problem that the rod-shaped materials 13 are not orderly stacked to cause large positioning errors can be solved, the rod-shaped materials 13 at the target station are grabbed to the second target station through the fixed manipulator, and the rod-shaped materials 13 at the target station are high in positioning accuracy and convenient to directly clamp, so that the working efficiency can be integrally improved.

Having described the invention in detail and by reference to specific embodiments thereof, it will be apparent that modifications and variations are possible without departing from the inventive concept defined in the appended claims.

Claims (18)

1. A manipulator for clamping rod-shaped materials is characterized by comprising a fixed seat, a first connecting rod and a first clamp which are sequentially connected, wherein the first connecting rod is hinged with the fixed seat, a limiting component for limiting or allowing the first connecting rod to swing along the fixed seat is arranged on the fixed seat and/or the first connecting rod, an embedding groove matched with the surface of the rod-shaped materials is formed in one side, away from the first connecting rod, of the first clamp, and the forming direction of the embedding groove is parallel to the swinging axis of the first connecting rod.

2. A manipulator for picking up rod-shaped materials as claimed in claim 1, wherein said limiting member comprises a limiting jaw sliding along the fixing base and/or the first connecting rod, and a driving member for driving the limiting jaw to slide toward the first connecting rod.

3. The manipulator for gripping rod-shaped materials as claimed in claim 2, wherein said two holding jaws are disposed opposite to each other, and said first connecting rod is disposed between the two holding jaws.

4. A manipulator for picking up rod-shaped materials as claimed in claim 2 or 3, wherein the sliding direction of said holding jaw is perpendicular to the swing axis of the first connecting rod.

5. A manipulator for picking up rod-shaped materials as claimed in claim 2 or 3, wherein an arc-shaped stopper is provided on a side of the stopper jaw adjacent to the first connecting rod.

6. A manipulator for picking up rod-shaped materials as claimed in claim 2 or 3, wherein the fixing base and/or the first connecting rod is provided with a sliding slot on one side near the limiting jaw, the driving member includes a sliding block slidably disposed in the sliding slot and a sliding block driving member for driving the sliding block to move, and the limiting jaw is fixedly disposed on the sliding block.

7. The manipulator for gripping rod-shaped materials as claimed in claim 6, wherein the slide block driving member comprises a linear driving member and a driving block provided at an output end of the linear driving member, the driving block is provided with a slide inclined block at a side thereof adjacent to the slide block, and the slide block is provided with a slide inclined groove engaged with the slide inclined block.

8. A manipulator for picking up rod-shaped materials as claimed in claim 1, wherein said limiting member comprises a limiting jaw which is rotatable along the fixing base and/or the first connecting rod, and a driving member for driving the limiting jaw to rotate toward the first connecting rod.

9. The manipulator for gripping rod-shaped materials according to any one of claims 1, 2, 3, 7 or 8, wherein the fixed base is fixedly provided with a movable pin, and the first connecting rod is provided with a hinge portion engaged with the movable pin.

10. The manipulator for gripping rod-shaped materials as claimed in claim 9, wherein the hinge is a circular hole or a strip-shaped groove, and the long axis of the strip-shaped groove is parallel to the axis of the first connecting rod.

11. A manipulator for picking up rod-shaped articles as claimed in claim 1, 2, 3, 7 or 8, wherein said first gripper is provided with gripping jaws near both end sides of the rod-shaped articles.

12. The manipulator for gripping rod-shaped materials as claimed in claim 1, 2, 3, 7 or 8, wherein the first gripper is provided with rolling elements at both sides of the fitting groove, and one end of the rolling element is protruded from the fitting groove.

13. The manipulator for gripping rod-shaped materials as claimed in any one of claims 1, 2, 3, 7 or 8, wherein the fitting groove has a V-shaped, U-shaped, circular arc-shaped or polygonal cross-section.

14. A mechanical device for clamping rod-shaped materials is characterized by comprising a connecting shaft, a manipulator and a fixed manipulator, wherein the manipulator and the fixed manipulator are arranged on the connecting shaft through a first connecting block and a second connecting block;

the manipulator for clamping the rod-shaped materials comprises a fixed seat, a first connecting rod and a first clamp which are sequentially connected with a first connecting block, the first connecting rod and the fixed seat are mutually hinged through a hinged part arranged at the end part of the first connecting rod and a hinged plate arranged on the fixed seat, a limiting component for limiting or allowing the first connecting rod to swing along the fixed seat is arranged on the fixed seat, the limiting component comprises a first limiting clamping jaw and a second limiting clamping jaw which are arranged in the fixed seat in a sliding manner, the first limiting clamping jaw and the second limiting clamping jaw are oppositely arranged and are positioned at two sides of the first connecting rod, the limiting component also comprises a driving piece for driving the first limiting clamping jaw and the second limiting clamping jaw to be relatively close to or relatively far away, a sliding groove is arranged on the fixed seat, the driving piece comprises two sliding blocks connected with the first limiting clamping jaw and the second limiting clamping jaw, a driving block matched with the two sliding blocks and a linear driving piece, the two sliding blocks are arranged in the sliding grooves in a sliding mode, sliding chutes are formed in the opposite sides of the two sliding blocks, sliding inclined blocks matched with the two sliding chutes are arranged on the driving block, through holes are formed in the connecting side of the fixing seat and the first connecting block, the linear driving piece is arranged on the connecting side of the fixing seat and the first connecting block, the output end penetrates through the through holes and is connected with the driving block, the output end of the linear driving piece drives the driving block to move linearly, the sliding inclined blocks drive the two sliding chutes to slide relatively along the sliding grooves, the linear driving piece is an air cylinder, arc-shaped limiting blocks are arranged on the sides, close to the first connecting rod, of the first limiting clamping jaw and the second limiting clamping jaw, the swinging axis of the first connecting rod is perpendicular to the sliding direction of the sliding grooves;

the fixed mechanical arm comprises a second connecting rod and a second clamp which are sequentially and fixedly connected with a second connecting block;

the first clamp and the second clamp respectively comprise a connecting plate and a suction clamp arranged on the connecting plate, one side of the suction clamp, which is far away from the first connecting rod and the second connecting rod, is provided with an embedded groove matched with the surface of the rod-shaped material, the direction of the embedded groove is parallel to the swing axis of the first connecting rod, the embedded groove is provided with a magnetic suction block, two sides of the embedded groove are provided with rolling bodies, and one end of each rolling body protrudes out of the embedded groove.

15. A rod-shaped material taking device, which is characterized by comprising a manipulator as claimed in any one of claims 1 to 13 for clamping rod-shaped materials, wherein a magnetic block is arranged on a tabling groove of the manipulator.

16. The rod material extracting apparatus as claimed in claim 15, further comprising a rectangular material rack for storing the rod material.

17. The rod-shaped material taking device according to claim 16, wherein the dimension of the rectangular material rack perpendicular to the axis of the rod-shaped material is a multiple of the diameter of the rod-shaped material.

18. The rod-shaped material taking device as defined in claim 15, wherein the magnetic attraction blocks are symmetrically arranged with respect to the mirror where the axis of the first connecting rod and the swing axis are located.

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