CN214293151U - Air suction and clamping combined manipulator system - Google Patents

Abstract

The utility model discloses a gas is inhaled and is held compound manipulator system, include: the air suction mechanical arm comprises at least one air suction assembly for sucking the workpiece and an air suction driving assembly for driving the air suction assembly to move; the clamping manipulator comprises at least one clamping assembly for clamping a workpiece and a clamping driving assembly for driving the clamping assembly to move; the air suction driving assembly and the clamping driving assembly are arranged on the fixed frame; and the moving mechanism is connected with the fixed frame and is used for moving the fixed frame. Through implementing the utility model discloses can realize that gas suction manipulator and centre gripping manipulator share a moving mechanism, the two removes the track the same, again according to the needs of absorption or centre gripping, uses corresponding manipulator, effectively avoids taking place to interfere the collision between the different manipulators.

Description

Air suction and clamping combined manipulator system

Technical Field

The utility model relates to a technical field of manipulator especially relates to a gas is inhaled and is compound manipulator system of centre gripping.

Background

The manipulator is often used for carrying and removing product or work piece etc. among the industrial production manufacturing, can adopt the centre gripping manipulator to carry the centre gripping to the product in conventional scene, and to the high or comparatively fragile product of surface quality requirement, then often carry with the gas suction manipulator, can dispose different manipulators as required on a production facility, and every manipulator all needs independent removal track, leads to a plurality of removal tracks to occupy the huge space of equipment, leads to more easily to take place to interfere the collision between the different manipulators.

SUMMERY OF THE UTILITY MODEL

The utility model provides a gas is inhaled and is compound manipulator system of centre gripping aims at solving the problem that the collision is interfered to the manipulator of difference on the production facility among the prior art easy emergence.

The utility model provides a gas is inhaled and is compound manipulator system of centre gripping, include: a gas suction mechanical arm, a clamping mechanical arm, a fixing frame and a moving mechanism,

the air suction mechanical arm comprises at least one air suction assembly for sucking the workpiece and an air suction driving assembly for driving the air suction assembly to move;

the clamping manipulator comprises at least one clamping assembly for clamping a workpiece and a clamping driving assembly for driving the clamping assembly to move;

the air suction driving assembly and the clamping driving assembly are both arranged on the fixed frame;

and the moving mechanism is connected with the fixed frame and is used for moving the fixed frame.

Further, the drive assembly is inhaled to gas includes that gas inhales driving piece, coupling assembling and the first seat that removes, coupling assembling connects respectively the gas inhale the driving piece with the first seat that removes, the first seat that removes is connected the subassembly is inhaled to gas, the gas inhales the driving piece drive coupling assembling makes the first seat that removes.

Further, coupling assembling includes first ball screw, first guide rail and first slider, first guide rail is installed on the mount, the driving piece is connected to the gas absorption first ball screw's one end, first ball screw wears to establish first removal seat and rather than threaded connection, first removal seat is connected first slider, first slider can be followed first guide rail removes.

Further, the air suction assembly comprises a ventilation shaft, a suction nozzle and a control valve, the ventilation shaft is provided with a ventilation hole which penetrates along the axial direction, one end of the ventilation shaft penetrates through the first movable seat and is rotatably connected with the first movable seat, the other end of the ventilation shaft is connected with the suction nozzle, the ventilation hole is communicated with the suction nozzle, the control valve is connected with one end of the ventilation shaft and is communicated with the ventilation hole, and the control valve is used for controlling the ventilation shaft to exhaust air or deflate air.

Further, the air suction manipulator further comprises a rotating assembly, the rotating assembly comprises a rotating power piece and at least one rotating wheel, the ventilation shaft penetrates through the rotating wheel, and the rotating power piece drives the rotating wheel to rotate and drive the ventilation shaft to rotate synchronously.

Furthermore, the peripheral surface of the ventilation shaft is provided with a groove along the axial direction, the inner wall of the rotating wheel facing the ventilation shaft is provided with a convex strip, and the convex strip is embedded into the groove, so that the ventilation shaft and the rotating wheel synchronously rotate.

Furthermore, the clamping driving assembly comprises a clamping driving piece, a second movable seat, a second guide rail and a second sliding block, the clamping driving piece is connected with the second movable seat, the second movable seat is connected with the second sliding block and the clamping assembly, and the second sliding block can move along the second guide rail.

Further, the clamping assembly comprises a clamping power piece, a first clamping piece and a second clamping piece, wherein the clamping power piece is connected with the first clamping piece and the second clamping piece simultaneously and drives the first clamping piece and the second clamping piece to move relatively.

Furthermore, the moving mechanism comprises a first moving assembly, the first moving assembly comprises a first power part, a second ball screw, a third guide rail and a third sliding block, the first power part is connected with the second ball screw, the second ball screw is connected with the third sliding block, the third sliding block is connected with the fixing frame, and the third sliding block can move along the third guide rail.

Further, the moving mechanism comprises a second moving assembly, the second moving assembly comprises a second power part, a third ball screw, a fourth guide rail and a fourth slider, the first moving assembly further comprises a fixing plate, the first power part and the third guide rail are mounted on the fixing plate, the fourth guide rail is perpendicular to the third guide rail, the second power part is connected with the third ball screw, the third ball screw is connected with the fourth slider, the fourth slider is connected with the fixing plate, and the fourth slider can move along the fourth guide rail to drive the fixing plate to enable the first moving assembly to move.

Compared with the prior art, the beneficial effects of the utility model are that: the air suction mechanical arm and the clamping mechanical arm are installed on the fixing frame together, when a workpiece needs to be sucked, the fixing frame is moved by the moving mechanism, the air suction mechanical arm is moved to the position of the workpiece, the air suction driving assembly drives the air suction assembly to abut against the workpiece, the workpiece is sucked by the air suction assembly, the air suction driving assembly resets again, and the moving mechanism moves to the next station. Through implementing the utility model discloses can realize that gas suction manipulator and centre gripping manipulator share a moving mechanism, the two removes the track the same, again according to the needs of absorption or centre gripping, uses corresponding manipulator, effectively avoids taking place to interfere the collision between the different manipulators.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

FIG. 1 illustrates a perspective view of a robot system;

FIG. 2 illustrates an exploded view of a robot system;

FIG. 3 illustrates a perspective view of the air suction robot;

figure 4 shows an exploded view of the suction robot;

FIG. 5 illustrates a bottom view of the air suction robot;

FIG. 6 shows a cut-away schematic view A-A of FIG. 5;

FIG. 7 shows a perspective view of the clamping robot;

fig. 8 shows an exploded view of the clamping robot.

In the figure:

an air suction manipulator 1; an air suction assembly 11; a ventilation shaft 111; a vent 1111; a groove 1112; a suction nozzle 112; a control valve 113;

an air suction drive assembly 12; an air suction driving member 121; a connecting assembly 122; a first ball screw 1221; a first guide rail 1222; a first slider 1223; a first movable base 123;

a rotating assembly 13; a rotary power member 131; a rotating wheel 132;

a clamping manipulator 2; a clamping assembly 21; a clamping power piece 211; a first clamp 212; a second clamping member 213; a clamp drive assembly 22; a clamp drive 221; a second movable base 222; the second guide rail 223; a second slider 224;

a fixed frame 3;

a moving mechanism 4; a first moving assembly 41; a first power member 411; a third slider 412; a fixing plate 413;

a second moving assembly 42; a second power member 421; and a fourth slider 422.

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 some, not all, of the embodiments of the present invention. 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.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1-8, the preferred embodiment of the present invention is shown.

The manipulator system provided by this embodiment, as shown in fig. 1-2, includes: the air suction manipulator 1 comprises at least one air suction assembly 11 for sucking a workpiece and an air suction driving assembly 12 for driving the air suction assembly 11 to move; the clamping manipulator 2 comprises at least one clamping assembly 21 for clamping a workpiece and a clamping driving assembly 22 for driving the clamping assembly 21 to move; the fixed frame 3, the air suction driving component 12 and the clamping driving component 22 are all arranged on the fixed frame 3; and the moving mechanism 4 is connected with the fixed frame 3 and is used for moving the fixed frame 3.

Through installing gas suction manipulator 1 and centre gripping manipulator 2 on mount 3 jointly, when needing to absorb the work piece, moving mechanism 4 removes mount 3, make gas suction manipulator 1 remove to the work piece position, gas suction drive assembly 12 drive gas suction assembly 11 to the butt work piece, gas suction assembly 11 absorbs the work piece, gas suction drive assembly 12 resets again, remove to next station by moving mechanism 4, and in the same way, when needing the centre gripping work piece, moving mechanism 4 removes mount 3, make centre gripping manipulator 2 remove to the work piece position, centre gripping drive assembly 22 drives centre gripping subassembly 21 and is close to the work piece, centre gripping subassembly 21 presss from both sides tight work piece, centre gripping drive assembly 22 resets, remove to next station by moving mechanism 4. Through implementing the utility model discloses can realize that gas suction manipulator 1 and clamping manipulator 2 share a moving mechanism 4, the two removes the track the same, again according to the needs of absorption or centre gripping, uses corresponding manipulator, effectively avoids taking place to interfere the collision between the different manipulators.

In this embodiment, as shown in fig. 3 and 4, the manipulator system further includes a control component, the control component may be disposed at a fixed frame or other positions, not shown in the drawings of the specification, the air suction driving component 12 includes an air suction driving component 121, a connecting component 122 and a first moving seat 123, the air suction driving component 121 and the control component are electrically connected through a wire, the connecting component 122 is respectively connected with the air suction driving component 121 and the first moving seat 123, the first moving seat 123 is connected with the air suction component 11, after the air suction manipulator 1 reaches a workpiece position, the control component controls the air suction driving component 121 to drive the connecting component 122, so that the first moving seat 123 moves, after the moving mechanism 4 moves the fixed frame 3 to the workpiece position, the air suction driving component 121 moves the first moving seat 123 downward until the air suction component 11 abuts against the workpiece and sucks the workpiece, the air suction driving component 121 resets, so that the first moving seat 123 moves upward, the air suction component 11 sucks up the workpiece, and then the moving mechanism 4 drives the workpiece to the next station.

Specifically, as shown in fig. 4, the connection assembly 122 includes a first ball screw 1221, a first guide rail 1222 and a first slider 1223, the first guide rail 1222 is installed on the fixing frame 3, the air-suction driving member 121 is connected to one end of the first ball screw 1221, the first ball screw 1221 penetrates through the first moving seat 123 and is connected to the first moving seat 123 in a threaded manner, the first moving seat 123 is connected to the first slider 1223, the first slider 1223 can move along the first guide rail 1222, the air-suction driving member 121 is a motor module, the motor module drives the first ball screw 1221 to rotate, so that the first moving seat 123 moves up and down along the first guide rail 1222, and the air-suction assembly 11 is driven to move up and down.

In this embodiment, as shown in fig. 3-6, the suction assembly 11 includes a ventilation shaft 111, a suction nozzle 112 and a control valve 113, the ventilation shaft 111 has a ventilation hole 1111 passing through along an axial direction, one end of the ventilation shaft 111 passes through the first movable seat 123 and is rotatably connected to the first movable seat 123, the other end is connected to the suction nozzle 112, the ventilation hole 1111 is communicated with the suction nozzle 112, the control valve 113 is connected to one end of the ventilation shaft 111 and is communicated with the ventilation hole 1111, the control valve 113 is used for controlling the suction or the air release of the ventilation shaft 111, the first movable seat 123 drives the ventilation shaft 111 to move downward until the suction nozzle 112 abuts against the surface of the workpiece, the ventilation hole 1111 of the ventilation shaft 111 allows the suction nozzle 112 to suck the workpiece tightly, the first movable seat 123 further drives the ventilation shaft 111 to lift the workpiece to suck the workpiece up, the suction hole is deflated after moving to a next station, the suction nozzle 112 loosens the workpiece, the movement of the workpiece is completed, the control valve 113 is electrically connected to the control assembly, the air suction or air discharge of the air shaft 111 is realized by a control component and a control valve 113, so that the suction nozzle 112 sucks or releases the workpiece, and the control valve 113 is specifically an electromagnetic valve.

In this embodiment, as shown in fig. 3 and 4, the pneumatic manipulator 1 further includes a rotating assembly 13, the rotating assembly 13 includes a rotating power element 131 and at least one rotating wheel 132, the vent shaft 111 passes through the rotating wheel 132, a groove 1112 is axially formed on an outer circumferential surface of the vent shaft 111, a protrusion is formed on an inner wall of the rotating wheel 132 facing the vent shaft 111, the protrusion is embedded in the groove 1112, the rotating power element 131 is electrically connected to the control assembly, when the moving mechanism 4 moves the pneumatic manipulator 1 to a corresponding station, the rotating power element 131 drives the rotating wheel 132 to rotate, the vent shaft 111 is driven to synchronously rotate by the embedding of the protrusion and the groove 1112, so that the suction nozzle 112 adjusts an angle of the workpiece, thereby facilitating the mounting or processing of the workpiece, when the pneumatic driving element 121 drives the vent shaft 111 to move up and down, the protrusion moves in the groove 1112, and does not hinder the up and down movement of the vent shaft 111, further, the rotating power member 131 is a motor module, the motor module comprises a motor, a driving wheel and a belt, the belt is connected with the driving wheel and rotates the wheel 132, the motor drives the driving wheel, so that the driving wheel 132 is driven to rotate, the number of the rotating wheel 132 and the air suction assembly 11 is increased or reduced as required, and two sets of rotating wheels are arranged in the embodiment.

In this embodiment, as shown in fig. 7 and 8, the clamping driving assembly 22 includes a clamping driving member 221, a second moving seat 222, a second guide rail 223 and a second slider 224, the clamping driving member 221 is connected to the second moving seat 222, the second moving seat 222 is connected to the second slider 224 and the clamping assembly 21, the second slider 224 can move along the second guide rail 223, the clamping driving member 221 is electrically connected to the control assembly, after the moving mechanism 4 moves the clamping robot 2 to the position of the workpiece, the control assembly controls the clamping driving member 221 to drive the second moving seat 222 to move downward along the second guide rail 223, the clamping assembly 21 approaches the workpiece, and after the clamping operation is completed, the control assembly controls the clamping driving member 221 to reset, and the second moving seat 222 ascends, specifically, the clamping driving member 221 can be a linear driving element such as an air cylinder, an electric cylinder, a hydraulic cylinder, and the like.

In this embodiment, as shown in fig. 7 and 8, the clamping assembly 21 includes a clamping power member 211, a first clamping member 212, and a second clamping member 213, the clamping power member 211 is connected to the first clamping member 212 and the second clamping member 213 at the same time and drives them to move relatively, the clamping power member 211 is electrically connected to the control assembly, and when the clamping driving member 221 drives the second movable base 222 to move to a corresponding position above the workpiece, the control assembly controls the clamping power member 211 to move, so that the first clamping member 212 and the second clamping member 213 approach each other to clamp the workpiece.

In this embodiment, as shown in fig. 1 and fig. 2, the moving mechanism 4 includes a first moving assembly 41, the first moving assembly 41 includes a first power element 411, a second ball screw, a third guide rail and a third slider 412, the first power element 411 is connected to the second ball screw, the second ball screw is connected to the third slider 412, the third slider 412 is connected to the fixing frame 3, the third slider 412 is movable along the third guide rail, the first power element 411 is electrically connected to the control assembly, the control assembly controls the first power element 411 to operate, and drives the third slider 412 to move along the third guide rail, so as to drive the fixing frame 3 to move, and realize the movement of the positions of the air suction manipulator 1 and the holding manipulator 2, and the first power element 411 is a motor module.

In this embodiment, as shown in fig. 1 and fig. 2, the moving mechanism 4 includes a second moving assembly 42, the second moving assembly 42 includes a second power element 421, a third ball screw, a fourth guide rail and a fourth slider 422, the first moving assembly 41 further includes a fixing plate 413, the first power element 411 and the third guide rail are mounted on the fixing plate 413, the fourth guide rail is perpendicular to the third guide rail, the second power element 421 is connected to the third ball screw, the third ball screw is connected to the fourth slider 422, the fourth slider 422 is connected to the fixing plate 413, the fourth slider 422 can move along the fourth guide rail to drive the fixing plate 413 to move the first moving assembly 41, the second power element 421 is electrically connected to the control assembly, the control assembly controls the second power element 421 to operate, and drives the fourth slider 422 to move along the fourth guide rail, so as to drive the fixing plate 413 to move, and move the first moving assembly 41, the movement of the positions of the air suction manipulator 1 and the clamping manipulator 2 is realized, and the fourth guide rail is perpendicular to the third guide rail, so that the two-dimensional movement of the air suction manipulator 1 and the clamping manipulator 2 on a plane can be realized through the first moving assembly 41 and the second moving assembly 42, and specifically, the second power part 421 is a motor module.

In this embodiment, the work flow of the manipulator system is as follows:

1. the first power part 411 and the second power part 421 respectively work to move the fixing frame 3, and the air suction manipulator 1 or the clamping manipulator 2 is positioned above the workpiece according to requirements;

2. if the air suction manipulator 1 is located above the workpiece, the air suction driving part 121 works to move the first moving seat 123 downwards until the suction nozzle 112 abuts against the surface of the workpiece, the control valve 113 controls the air suction shaft 111 to suck air, the suction nozzle 112 tightly sucks the workpiece, the air suction driving part 121 resets to move the first moving seat 123 upwards, and the first power part 411 and the second power part 421 work again to move the workpiece to the next station;

3. when the workpiece is positioned above the next station, the rotary power piece 131 works to rotate the ventilation shaft 111, so that the angle of the workpiece is adjusted;

4. if the clamping manipulator 2 is located above the workpiece, the clamping driving component 221 drives the second moving seat 222 to move downwards to a designated height, and stops moving, when the clamping power component 211 works, the first clamping component 212 and the second clamping component 213 approach each other to clamp the workpiece, the clamping driving component 221 resets to move the second moving seat 222 upwards, the first power component 411 and the second power component 421 work again to move the workpiece to the next station;

5. and (4) circulating the steps 1-4.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a compound manipulator system of air suction and centre gripping which characterized in that includes:

the air suction mechanical arm comprises at least one air suction assembly for sucking the workpiece and an air suction driving assembly for driving the air suction assembly to move;

the clamping manipulator comprises at least one clamping assembly for clamping a workpiece and a clamping driving assembly for driving the clamping assembly to move;

the air suction driving assembly and the clamping driving assembly are both arranged on the fixed frame;

and the moving mechanism is connected with the fixed frame and is used for moving the fixed frame.

2. The manipulator system according to claim 1, wherein the suction driving assembly includes a suction driving member, a connecting assembly and a first moving seat, the connecting assembly is connected to the suction driving member and the first moving seat respectively, the first moving seat is connected to the suction driving member, and the suction driving member drives the connecting assembly to move the first moving seat.

3. The manipulator system according to claim 2, wherein the connecting assembly includes a first ball screw, a first guide rail and a first slider, the first guide rail is mounted on the fixed frame, the air suction driving member is connected to one end of the first ball screw, the first ball screw penetrates through the first movable base and is in threaded connection with the first movable base, the first movable base is connected to the first slider, and the first slider can move along the first guide rail.

4. The manipulator system according to claim 3, wherein the air suction assembly includes a vent shaft having a vent hole extending therethrough in an axial direction, a suction nozzle, and a control valve, one end of the vent shaft passes through the first movable seat and is rotatably connected to the first movable seat, the other end is connected to the suction nozzle, and the vent hole communicates with the suction nozzle, the control valve is connected to one end of the vent shaft and communicates with the vent hole, and the control valve is used for controlling the air suction or the air discharge of the vent shaft.

5. The manipulator system of claim 4, wherein the suction manipulator further comprises a rotation assembly, the rotation assembly comprises a rotation power member and at least one rotation wheel, the ventilation shaft passes through the rotation wheel, and the rotation power member drives the rotation wheel to rotate so as to drive the ventilation shaft to rotate synchronously.

6. The manipulator system according to claim 5, wherein the outer circumferential surface of the vent shaft is provided with a groove in the axial direction, and the inner wall of the rotary wheel facing the vent shaft is provided with a rib which engages in the groove to rotate the vent shaft and the rotary wheel synchronously.

7. The robot system of claim 1, wherein the clamp drive assembly includes a clamp drive coupled to the second motion block, a second motion block coupled to the second slide block and the clamp assembly, a second guide rail, and a second slide block movable along the second guide rail.

8. The manipulator system of claim 7, wherein the clamping assembly comprises a clamping power member, a first clamping member and a second clamping member, and the clamping power member is connected with the first clamping member and the second clamping member simultaneously and drives the first clamping member and the second clamping member to move relatively.

9. The manipulator system according to any of claims 1-8, wherein the moving mechanism comprises a first moving assembly comprising a first power member, a second ball screw, a third guide rail, and a third slider, the first power member being coupled to the second ball screw, the second ball screw being coupled to the third slider, the third slider being coupled to the holder, the third slider being movable along the third guide rail.

10. The manipulator system according to claim 9, wherein the moving mechanism includes a second moving assembly, the second moving assembly includes a second power member, a third ball screw, a fourth guide rail and a fourth slider, the first moving assembly further includes a fixed plate, the first power member and the third guide rail are mounted on the fixed plate, the fourth guide rail and the third guide rail are perpendicular to each other, the second power member is connected to the third ball screw, the third ball screw is connected to the fourth slider, the fourth slider is connected to the fixed plate, and the fourth slider is movable along the fourth guide rail to drive the fixed plate to move the first moving assembly.

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