CN215432742U - Automatic feeding and discharging mechanical arm - Google Patents

Abstract

The utility model provides an automatic feeding and discharging manipulator which is provided with a transverse guide rail assembly, wherein a radial guide rail assembly is arranged on one side of the transverse guide rail assembly and is in sliding connection with the transverse guide rail assembly through a transmission assembly; the inside first cylinder that is equipped with of lower extreme of radial guide subassembly, the lower extreme of first cylinder is equipped with first connecting rod, and first connecting rod passes through cylinder piston and first cylinder fixed connection, and the inside second connecting rod that is equipped with in right side of first connecting rod, second connecting rod pass through first rotatory connecting axle and first connecting rod fixed connection and the second connecting rod can be rotatory around first rotatory connecting axle. The mechanical arm has a buffer structure, is high in control precision and convenient to use, does not damage workpieces easily, reduces production cost and improves working efficiency. The utility model can be widely applied to the field of mechanical automation.

Description

Automatic feeding and discharging mechanical arm

Technical Field

The utility model relates to the field of mechanical automation, in particular to an automatic feeding and discharging manipulator.

Background

A manipulator is an automated mechanical device which is most widely used in the field of mechanical automation. The suction type manipulator is also called as a vacuum chuck type manipulator, and a workpiece is adsorbed by utilizing pressure difference through vacuum or negative pressure generated in a sucker. In the injection molding process of the injection molding machine, the injection molding finished product is taken down by using machinery, so that manual operation can be avoided, the danger is reduced, and the production efficiency is improved. The existing mechanical arm has no buffer structure, is not high in control precision and inconvenient to use, easily damages a workpiece when materials are taken, increases the production cost and reduces the working efficiency.

Disclosure of Invention

The utility model provides an automatic feeding and discharging mechanical arm, aiming at the technical problems that the existing mechanical arm has no buffer structure, is not high in control precision and inconvenient to use, is easy to damage workpieces when materials are taken, increases the production cost and reduces the working efficiency, and the mechanical arm has the buffer structure, is high in control precision and convenient to use, is not easy to damage the workpieces, reduces the production cost and improves the working efficiency.

Therefore, the technical scheme of the utility model is that the automatic feeding and discharging manipulator is provided with a transverse guide rail assembly, wherein one side of the transverse guide rail assembly is provided with a radial guide rail assembly, and the radial guide rail assembly is in sliding connection with the transverse guide rail assembly through a transmission assembly;

a first cylinder is arranged inside the lower end of the radial guide rail assembly, a first connecting rod is arranged at the lower end of the first cylinder, the first connecting rod is fixedly connected with the first cylinder through a cylinder piston, a second connecting rod is arranged inside the right side of the first connecting rod, the second connecting rod is fixedly connected with the first connecting rod through a first rotating connecting shaft and can rotate around the first rotating connecting shaft, a third connecting rod is arranged at the lower end of the second connecting rod, one end of the third connecting rod is fixedly connected with the second connecting rod through the first rotating connecting shaft and can rotate around the first rotating connecting shaft, a connecting fixing plate is fixedly arranged at the other end of the third connecting rod, one end of the connecting fixing plate is fixedly connected with the radial guide rail assembly through the second rotating connecting shaft and can rotate around the second rotating connecting shaft;

the other end of the connecting and fixing plate is provided with a material taking component which comprises an upper supporting plate and a lower supporting plate, the support column, go up the backup pad and pass through support column and bottom suspension fagging fixed connection, the fixed surface who goes up the backup pad is equipped with radial cylinder, the fixed horizontal cylinder of establishing of lower extreme of radial cylinder, the bottom left and right sides of horizontal cylinder is equipped with mounting fixture, the fixed subassembly of control lever that is equipped with in inside of bottom suspension fagging, the fixed subassembly of control lever runs through the inside of bottom suspension fagging and extends to the both sides of bottom suspension fagging respectively, the inside of the fixed subassembly of control lever is equipped with the sucking disc control lever, the inside that the sucking disc control lever runs through the fixed subassembly of control lever, the fixed sucking disc fixed plate that is equipped with of one end of sucking disc control lever, the outside that just is located the sucking disc control lever between sucking disc fixed plate and the bottom suspension fagging is equipped with reset spring, the inside of sucking disc fixed plate is equipped with the sucking disc, sucking disc and sucking disc fixed plate fixed connection.

Preferably, the bottom left and right sides of radial guide subassembly is equipped with rotatory limiting plate, rotatory limiting plate and radial guide subassembly fixed connection.

Preferably, the inside of the fixing clamp is fixedly provided with a clamp cushion.

Preferably, the outer surface of the sucker control rod is provided with a control rod groove.

The buffer structure has the advantages that the reset spring is arranged outside the sucker control rod, so that the buffer structure enables the manipulator to have buffer force when absorbing materials, avoids hard contact between the sucker and the materials, avoids damage to the materials caused by the hard contact, and reduces production cost; meanwhile, the pressure of the reset spring acts on the sucker, so that the sucker is combined with materials more tightly, the suction is more reliable and efficient, and the working efficiency is improved.

When the transverse cylinder works, the fixing clamp is driven to clamp the sucker control rod; the radial cylinder during operation can drive horizontal cylinder and sucking disc control lever and do radial motion, realizes the micro motion control of the fore-and-aft direction of sucking disc, has improved the control accuracy of manipulator, can be nimble, the operation of unloading in the realization.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is another directional schematic view of FIG. 1;

FIG. 3 is a front view of FIG. 1;

FIG. 4 is a cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is an enlarged view of a portion of FIG. 3 at Z;

FIG. 6 is a schematic view of a take-off assembly;

FIG. 7 is a side view of FIG. 6;

FIG. 8 is a cross-sectional view taken at B-B of FIG. 7;

FIG. 9 is a cross-sectional view taken at C-C of FIG. 7;

FIG. 10 is a front view of FIG. 6;

fig. 11 is a cross-sectional view taken at D-D in fig. 10.

The symbols in the drawings illustrate that:

1. a transverse rail assembly; 2 a radial guide rail assembly; 201. a first cylinder; 202. a cylinder piston; 203. a first link; 204. a first rotating connecting shaft; 205. a second link; 206. a third link; 207. connecting the fixed plate; 208. a second rotating connecting shaft; 209. rotating the limiting plate; 3. a transmission assembly; 4. a material taking assembly; 401. an upper support plate; 402. a lower support plate; 403. a support pillar; 404. a radial cylinder; 405. a transverse cylinder; 4051. fixing the clamp; 4052. a clamp cushion; 406. a control rod fixing assembly; 407. a suction cup lever; 408. a return spring; 409. a sucker fixing plate; 410. and (4) sucking discs.

Detailed Description

The present invention will be further described with reference to the following examples.

Fig. 1-11 show an embodiment of an automatic loading and unloading robot according to the present invention, which includes a transverse guide assembly 1, a radial guide assembly 2 disposed on one side of the transverse guide assembly 1, and the radial guide assembly 2 slidably connected to the transverse guide assembly 1 through a transmission assembly 3. The design enables the manipulator to realize free combined motion in the up-down direction and the front-back direction by means of the transverse guide rail assembly 1 and the radial guide rail assembly 2, and then the manipulator is matched with the rotary motion in the left-right direction of the main machine of the controller, so that the manipulator can flexibly and conveniently realize free movement in a three-dimensional space, and the control precision is high and the use is convenient.

In this embodiment, a first cylinder 201 is disposed inside the lower end of the radial guide assembly 2, a first connecting rod 203 is disposed at the lower end of the first cylinder 201, the first connecting rod 203 is fixedly connected to the first cylinder 201 through a cylinder piston 202, a second connecting rod 205 is disposed inside the right side of the first connecting rod 203, the second connecting rod 205 is fixedly connected to the first connecting rod 203 through a first rotating connecting shaft 204, and the second connecting rod 205 can rotate around the first rotating connecting shaft 204, a third connecting rod 206 is disposed at the lower end of the second connecting rod 205, one end of the third connecting rod 206 is fixedly connected to the second connecting rod 205 through the first rotating connecting shaft 204, and the third connecting rod 206 can rotate around the first rotating connecting shaft 204, a connecting and fixing plate 207 is fixedly disposed at the other end of the third connecting rod 206, one end of the connecting and fixing plate 207 is fixedly connected to the radial guide assembly 2 through a second rotating connecting shaft 208, and the connecting and fixing plate 207 can rotate around the second rotating shaft 208, the bottom left and right sides of radial guide subassembly 2 is equipped with rotatory limiting plate 209, rotatory limiting plate 209 and radial guide subassembly 2 fixed connection. When the first cylinder 201 works, the cylinder piston 202 drives the first connecting rod 203, the second connecting rod 205 and the third connecting rod 206 to move respectively, so that the connecting and fixing plate 207 can rotate around the second rotating connecting shaft 208, and the connecting and fixing plate 207 can move freely between the vertical direction and the horizontal direction. Due to the existence of the rotation limiting plate 209, the rotation precision of the connecting and fixing plate 207 is ensured, and the limiting and protecting effects are achieved.

Can see in the drawing, the other end of connecting fixed plate 207 is equipped with gets material subassembly 4, it includes backup pad 401 to get material subassembly 4, lower support plate 402, support column 403, it passes through support column 403 and lower support plate 402 fixed connection to go up backup pad 401, the lower fixed surface who goes up backup pad 401 is equipped with radial cylinder 404, horizontal cylinder 405 is fixed to be established to the lower extreme of radial cylinder 404, the bottom left and right sides of horizontal cylinder 405 is equipped with mounting fixture 4051, mounting fixture 4051's inside is fixed and is equipped with anchor clamps cushion 4052, anchor clamps cushion 4052 can play the buffering guard action. The fixed subassembly 406 of the fixed control rod that is equipped with in inside of bottom suspension fagging 402, the fixed subassembly 406 of control rod runs through the inside of bottom suspension fagging 402 and extends to the both sides of bottom suspension fagging 402 respectively, the inside of the fixed subassembly 406 of control rod is equipped with sucking disc control rod 407, the surface of sucking disc control rod 407 is equipped with control rod recess 4071, sucking disc control rod 407 runs through the inside of the fixed subassembly 406 of control rod, the fixed sucking disc fixed plate 409 that is equipped with of one end of sucking disc control rod 407, between sucking disc fixed plate 409 and the bottom suspension fagging 402 and the outside that is located sucking disc control rod 407 is equipped with reset spring 408, the inside of sucking disc fixed plate 409 is equipped with sucking disc 410, sucking disc 410 and sucking disc fixed plate 409 fixed connection. Because the reset spring 408 is arranged outside the sucker control rod 407, the buffer structure enables the manipulator to have buffer force when absorbing materials, avoids the hard contact between the sucker 410 and the materials, avoids the damage of the hard contact to the materials, and reduces the production cost; meanwhile, the pressure of the return spring 408 acts on the sucker, so that the sucker and the material can be combined more tightly, the suction is more reliable and efficient, and the working efficiency is improved. When the transverse cylinder 405 works, the fixing clamp 4051 is driven to clamp the sucker control rod 407; radial cylinder 404 during operation can drive horizontal cylinder 405 and sucking disc control lever 407 and be radial motion, realizes the micro motion control of the fore-and-aft direction of sucking disc, has improved the control accuracy of manipulator, can be nimble, the operation of gentle realization unloading. And because the control rod groove 4071 is used in cooperation with the clamp cushion 4052, the suction cup control rod 407 can be reliably fixed, preventing the suction cup control rod 407 from loosening, sliding and rotating.

The utility model provides an automatic feeding and discharging mechanical arm which is provided with a buffer structure, high in control precision, convenient to use and not easy to damage workpieces, production cost is reduced, and working efficiency is improved.

However, the above description is only exemplary of the present invention, and the scope of the present invention should not be limited thereby, and the replacement of the equivalent components or the equivalent changes and modifications made according to the protection scope of the present invention should be covered by the claims of the present invention.

Claims (4)

1. The utility model provides an automatic go up unloading manipulator, characterized by: the device is provided with a transverse guide rail assembly, wherein a radial guide rail assembly is arranged on one side of the transverse guide rail assembly and is in sliding connection with the transverse guide rail assembly through a transmission assembly;

a first cylinder is arranged inside the lower end of the radial guide rail assembly, a first connecting rod is arranged at the lower end of the first cylinder, the first connecting rod is fixedly connected with the first cylinder through a cylinder piston, a second connecting rod is arranged inside the right side of the first connecting rod, the second connecting rod is fixedly connected with the first connecting rod through a first rotating connecting shaft and can rotate around the first rotating connecting shaft, a third connecting rod is arranged at the lower end of the second connecting rod, one end of the third connecting rod is fixedly connected with the second connecting rod through the first rotating connecting shaft and can rotate around the first rotating connecting shaft, a connecting and fixing plate is fixedly arranged at the other end of the third connecting rod, and one end of the connecting and fixing plate is fixedly connected with the radial guide rail assembly through the second rotating connecting shaft and can rotate around the second rotating connecting shaft;

the other end of the connecting and fixing plate is provided with a material taking assembly, the material taking assembly comprises an upper supporting plate, a lower supporting plate and a supporting column, the upper supporting plate is fixedly connected with the lower supporting plate through the supporting column, the lower surface of the upper supporting plate is fixedly provided with a radial cylinder, the lower end of the radial cylinder is fixedly provided with a transverse cylinder, the left side and the right side of the bottom of the transverse cylinder are provided with fixing clamps, the inner part of the lower supporting plate is fixedly provided with a control rod fixing assembly, the control rod fixing assembly penetrates through the inner part of the lower supporting plate and respectively extends to the two sides of the lower supporting plate, the inner part of the control rod fixing assembly is provided with a sucker control rod, the sucker control rod penetrates through the inner part of the control rod fixing assembly, one end of the sucker control rod is fixedly provided with a sucker fixing plate, a reset spring is arranged between the sucker fixing plate and the lower supporting plate and positioned outside the sucker control rod, the inside of sucking disc fixed plate is equipped with the sucking disc, sucking disc and sucking disc fixed plate fixed connection.

2. The automatic loading and unloading manipulator as claimed in claim 1, wherein: the left side and the right side of the bottom of the radial guide rail assembly are provided with rotary limiting plates, and the rotary limiting plates are fixedly connected with the radial guide rail assembly.

3. The automatic loading and unloading manipulator as claimed in claim 1 or 2, wherein a clamp cushion is fixedly arranged inside the fixing clamp.

4. The automatic loading and unloading manipulator as claimed in claim 3, wherein the outer surface of the sucker control rod is provided with a control rod groove.

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