CN215438643U

CN215438643U - Workpiece taking and placing manipulator

Info

Publication number: CN215438643U
Application number: CN202121967498.0U
Authority: CN
Inventors: 林炜丰
Original assignee: Huizhou Hengdexin Precision Technology Co ltd
Current assignee: Huizhou Hengdexin Precision Technology Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2022-01-07
Anticipated expiration: 2031-08-20

Abstract

The utility model relates to a workpiece taking and placing mechanical arm which comprises a multi-shaft mechanical arm and a clamp, wherein a motor is arranged at the output end of the multi-shaft mechanical arm, the clamp comprises a main shaft, a flange plate, a mounting disc, a first clamping jaw, a second clamping jaw and a third clamping jaw, one end of the main shaft is connected with the output end of the motor through the flange plate, the mounting disc is sleeved on the main shaft, the fixed ends of the first clamping jaw and the second clamping jaw are detachably connected with the mounting disc, and the fixed end of the third clamping jaw is connected with one end of the main shaft, which is far away from the flange plate. The multi-shaft manipulator has high flexibility, is suitable for narrow and small space environments, can avoid collision with other objects, is provided with three different clamping jaws at the end part, can take different workpieces out of different stations, is more convenient to use, does not need to be provided with a plurality of manipulators for taking and placing the workpieces, reduces the manufacturing cost, and is more convenient to use.

Description

Workpiece taking and placing manipulator

Technical Field

The utility model relates to the technical field of production feeding equipment, in particular to a workpiece taking and placing manipulator.

Background

The loading and unloading manipulator mainly realizes the full automation of the machine tool manufacturing process, adopts an integrated processing technology, and is suitable for loading and unloading, workpiece overturning, workpiece sequence changing and the like of a production line. In domestic machining, most of the machines are loaded and unloaded by using special machines or manual work, which is very suitable for the conditions of single product and low productivity. However, with the progress and development of society and the increasing progress of science and technology, the product is updated and updated quickly, and a special machine or a worker is used for loading and unloading the machine tool, so that a plurality of defects and weaknesses are exposed, for example, the flexibility of the machine tool is not enough, the machine tool is difficult to adapt to the increasing change, the adjustment of the product structure is not facilitated, and the machine tool is not suitable for a narrow area; secondly, install a anchor clamps additional on current manipulator usually, the manipulator repeats an action and carries out the material loading processing, and anchor clamps have restricted the category of material loading work piece, carries out a plurality of spare part combination course of working, needs a plurality of manipulators to cooperate the material loading, leads to the installation area increase, and manipulator programming is complicated in coordination, very big improvement manufacturing cost.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a workpiece picking and placing manipulator for the situations that the existing manipulator is not suitable for a narrow space and only can feed workpieces of the same type in a period of production takt.

The utility model provides a manipulator is got and put to work piece, includes multi-axis manipulator and anchor clamps, multi-axis manipulator's output is provided with the motor, anchor clamps are including main shaft, ring flange, mounting disc, first clamping jaw, second clamping jaw and third clamping jaw, the one end of main shaft is passed through the ring flange with the output of motor is connected, the mounting disc cover is established on the main shaft, first clamping jaw reaches the stiff end of second clamping jaw all with the connection can be dismantled to the mounting disc, the stiff end of third clamping jaw with the main shaft is kept away from the one end of ring flange is connected.

Preferably, the first clamping jaw and the second clamping jaw respectively comprise a connecting rod, a first air cylinder and a three-jaw clamping jaw, one end of the connecting rod is connected with the mounting disc through a bolt, the other end of the connecting rod is connected with the first air cylinder, the three-jaw clamping jaw is mounted at the output end of the first air cylinder, and the first air cylinder drives the three-jaw clamping jaw to open and close.

Preferably, the third clamping jaw comprises a base, a second cylinder and a two-jaw clamping jaw, the second cylinder is connected with the end of the main shaft through the base, the two-jaw clamping jaw is installed at the output end of the second cylinder, and the second cylinder drives the two-jaw clamping jaw to open and close.

Preferably, the included angle between the first clamping jaw and the second clamping jaw is degree.

Preferably, a fixed seat is arranged at the bottom of the multi-axis manipulator, and the multi-axis manipulator is installed in the rack through the fixed seat.

The utility model has the advantages that: 1. the multi-axis manipulator has high flexibility, is suitable for the environment with narrow space, can avoid colliding with other objects, is provided with three different clamping jaws at the end part of the multi-axis manipulator, can take different workpieces out of different stations, is more convenient to use, does not need to be provided with a plurality of manipulators to take and place the workpieces, reduces the manufacturing cost, and is more convenient to use.

Drawings

Fig. 1 is a perspective view illustrating an assembly of a workpiece pick-and-place robot and a rack according to an embodiment of the present invention;

FIG. 2 is a perspective view of the clamp;

fig. 3 is an exploded view of the clamp.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1-3, a workpiece picking and placing manipulator comprises a multi-axis manipulator 1 and a clamp 2, wherein an output end of the multi-axis manipulator 1 is provided with a motor 11, the clamp 2 comprises a main shaft 21, a flange plate 22, a mounting plate 23, a first clamping jaw 24, a second clamping jaw 25 and a third clamping jaw 26, one end of the main shaft 21 is connected with an output end of the motor 11 through the flange plate 22, the mounting plate 23 is sleeved on the main shaft 21, the fixed ends of the first clamping jaw 24 and the second clamping jaw 25 are both detachably connected with the mounting plate 23, and the fixed end of the third clamping jaw 26 is connected with one end, far away from the main shaft 21, of the flange plate 22. Specifically, in this embodiment, the multi-axis manipulator 1 is six-axis, and the flexibility ratio is higher, can rotate in a flexible way in a narrower and narrow environment, snatchs the work piece (not shown in the figure) of taking processing. Further, motor 11 is equipped with additional at the tip of multi-axis manipulator 1, utilizes motor 11 to drive main shaft 21 and rotates, and the cover is equipped with a mounting disc 23 on main shaft 21, and mounting disc 23 is the square type, and first clamping jaw 24 and second clamping jaw 25 tip all are connected with mounting disc 23, and when mounting disc 23 rotated along with main shaft 21 is synchronous, first clamping jaw 24 followed with second clamping jaw 25 and rotated, can snatch corresponding work piece. The third clamping jaw 26 installed at the end of the main shaft 21 is matched with each other, different workpieces can be grabbed from different stations to perform feeding processing under the driving of the multi-shaft manipulator 1, the use of a plurality of manipulators for assisting feeding is avoided, and the production and manufacturing cost is reduced. The feeding and discharging device is suitable for feeding and discharging workpieces at different stations, and is more convenient to use. It should be noted that, in this embodiment, only two clamping jaws are additionally mounted on the mounting disc 23 according to the practical use requirement of loading and unloading and the restriction of space environment, and in other embodiments, other numbers of clamping jaws, such as three or four clamping jaws, may also be additionally mounted as long as the use requirement can be met.

As shown in fig. 2 to 3, each of the first clamping jaw 24 and the second clamping jaw 25 includes a connecting rod 241, a first cylinder 242, and a three-jaw clamp 243, one end of the connecting rod 241 is connected to the mounting plate 23 by a bolt, the other end of the connecting rod 241 is connected to the first cylinder 242, the three-jaw clamp 243 is mounted at an output end of the first cylinder 242, and the first cylinder 242 drives the three-jaw clamp 243 to open and close. Specifically, in this embodiment, the working principle of the first clamping jaw 24 and the second clamping jaw 25 is the prior art, that is, the output end of the first cylinder 242 is connected to the end of the three-jaw clamping jaw 243 through a gear plate or a precision hinge structure, and when the output end of the first cylinder 242 moves, the three-jaw clamping jaw 243 can be driven to open and close, and the multi-axis manipulator 1 is matched to grab and place a workpiece. The connecting rod 241 is used for extending and installing the first air cylinder 242, so that the first clamping jaw 24 and the second clamping jaw 25 can conveniently grab and place the workpiece, and the collision between the installation disc 23 and a station for placing the workpiece in the process of grabbing and placing the workpiece is avoided.

As shown in fig. 2 to 3, the third clamping jaw 26 includes a base 261, a second cylinder 262 and a two-jaw claw 263, the second cylinder 262 is connected to the end of the spindle 21 through the base 261, the two-jaw claw 263 is installed at an output end of the second cylinder 262, and the second cylinder 262 drives the two-jaw claw 263 to open and close. Specifically, in the present embodiment, the third clamping jaw 26 is a two-jaw structure, and the working principle thereof is the same as that of the second clamping jaw 24 and the second clamping jaw 25, which is not described herein again. The two-jaw claw 263 can correspondingly grab and place workpieces in different shapes and is positioned at the end part of the main shaft 21, so that the limited installation space on the main shaft 21 is fully utilized, and the utilization rate of the main shaft 21 is better.

As shown in fig. 2, the included angle between the first jaw 24 and the second jaw 25 is 90 degrees. Specifically, in the present embodiment, since only the first clamping jaw 24 and the second clamping jaw 25 are disposed on the mounting plate 23, the included angle therebetween is set to 90 degrees, which is more convenient for programming and controlling.

As shown in fig. 1, a fixing base 12 is provided at the bottom of the multi-axis robot 1, and the multi-axis robot 1 is installed in a rack 100 through the fixing base 12. Specifically, in this embodiment, in order to enable the multi-axis manipulator 1 to be loaded and unloaded, the multi-axis manipulator 1 is integrally installed in the rack 100, and is close to a material storage point in the rack 100, the fixing seat 12 is arranged at the bottom of the multi-axis manipulator 1, so that the contact area between the multi-axis manipulator 1 and the rack 100 is increased, the stability of the multi-axis manipulator 1 is improved, and the multi-axis manipulator 1 is prevented from shaking or even turning on one side during movement.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a work piece is got and is put manipulator which characterized in that: including multi-axis manipulator and anchor clamps, multi-axis manipulator's output is provided with the motor, anchor clamps are including main shaft, ring flange, mounting disc, first clamping jaw, second clamping jaw and third clamping jaw, the one end of main shaft is passed through the ring flange with the output of motor is connected, the mounting disc cover is established on the main shaft, first clamping jaw reaches the stiff end of second clamping jaw all with the connection can be dismantled to the mounting disc, the stiff end of third clamping jaw with the main shaft is kept away from the one end of ring flange is connected.

2. A workpiece pick and place robot as recited in claim 1, wherein: the first clamping jaw and the second clamping jaw respectively comprise a connecting rod, a first air cylinder and a three-jaw clamping jaw, one end of the connecting rod is connected with the mounting disc through a bolt, the other end of the connecting rod is connected with the first air cylinder, the three-jaw clamping jaw is mounted on the output end of the first air cylinder, and the first air cylinder drives the three-jaw clamping jaw to open and close.

3. A workpiece pick and place robot as recited in claim 2, wherein: the third clamping jaw comprises a base, a second cylinder and two jaw clamping jaws, the second cylinder passes through the base and is connected with the end of the main shaft, the two jaw clamping jaws are installed on the output end of the second cylinder, and the second cylinder drives the two jaw clamping jaws to open and close.

4. A workpiece pick and place robot as recited in claim 3, wherein: the included angle between the first clamping jaw and the second clamping jaw is degree.

5. A workpiece pick and place robot as recited in claim 4, wherein: the bottom of the multi-axis manipulator is provided with a fixed seat, and the multi-axis manipulator is installed in the rack through the fixed seat.