CN215589206U

CN215589206U - Novel stacking manipulator

Info

Publication number: CN215589206U
Application number: CN202121425983.5U
Authority: CN
Inventors: 汪国栋; 汪为良
Original assignee: Individual
Current assignee: Shandong Yanggu Wanlihang Cable Co ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2022-01-21
Anticipated expiration: 2031-06-25

Abstract

The utility model relates to the technical field of automatic mechanical equipment, in particular to a novel stacking manipulator which comprises a driving box, wherein a first air cylinder is arranged on the left side of the driving box, and a second air cylinder is arranged on the right side of the driving box; the bottom surface of the driving box is provided with a first sliding groove and a second sliding groove; a first vertical rod is arranged in the first sliding groove, a first transverse rod is arranged at the lower part of the first vertical rod, and a vacuum sucker is arranged at the tail end of the first transverse rod; a second vertical rod is arranged in the second sliding groove, a plurality of second cross rods are arranged at the lower parts of the second vertical rods, and vacuum suckers are arranged at the tail ends of the second cross rods; a third air cylinder is arranged in the center of the driving box and hinged with the top end of the herringbone connecting plate; the first connecting plate is hinged with the left side plate of the herringbone connecting plate, and the second connecting plate is hinged with the right side plate of the herringbone connecting plate; a first arc claw is arranged on the first connecting plate, and a second arc claw is arranged on the second connecting plate. The utility model improves the safety and stability of the manipulator when the manipulator is used for grabbing and transferring irregular-shaped materials.

Description

Novel stacking manipulator

Technical Field

The utility model relates to the technical field of automatic mechanical equipment, in particular to a novel stacking manipulator.

Background

With the development of national industry, the role of automatic mechanical equipment in industrial production is becoming more and more important. The manipulator has more and more outstanding advantages in improving production efficiency and saving labor cost, so that the manipulator is adopted by more and more enterprises. A plurality of raw materials or semi-finished products with irregular shapes exist in a plurality of industrial materials, and the raw materials or the semi-finished products are easy to have the problems of insufficient firmness in grabbing, shaking in the transfer process and poor stability when the traditional manipulator is used for grabbing and transferring in the processing process, so that certain potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides a novel stacking manipulator which can grasp materials more firmly and enable the materials to be stressed more stably and uniformly, so that the situation that the materials shake in the moving process is avoided, and the stability and the safety of equipment are improved.

The technical scheme adopted by the utility model for solving the technical problems is as follows: a novel stacking manipulator comprises a connecting frame, wherein a driving box is fixedly connected to the lower end of the connecting frame, a first air cylinder is arranged on the left side inside the driving box, and a second air cylinder is arranged on the right side inside the driving box; the bottom surface of the driving box is symmetrically provided with a first sliding groove and a second sliding groove; a first vertical rod is arranged in the first sliding groove, the upper end of the first vertical rod is fixedly connected with the output end of the first air cylinder, a plurality of first cross rods are uniformly arranged at the lower part of the first vertical rod, and vacuum suckers are arranged at the tail ends of the first cross rods; a second vertical rod is arranged in the second sliding groove, the upper end of the second vertical rod is fixedly connected with the output end of the second air cylinder, a plurality of second cross rods are uniformly arranged at the lower part of the second vertical rod, and vacuum suckers are arranged at the tail ends of the second cross rods; the central position of the vacuum chuck is provided with an air suction channel; the central point of drive case put and be provided with No. three cylinders, the bottom surface that the output of No. three cylinders worn out the drive case be provided with fixture.

The clamping mechanism comprises a herringbone connecting plate, a first arc-shaped claw and a second arc-shaped claw; the top end of the herringbone connecting plate is hinged with the output end of the third air cylinder; the bottom surface of the driving box is provided with a first articulated shaft at the intersection with the front side surface of the driving box, a second articulated shaft is arranged at the intersection of the bottom surface of the driving box and the rear side surface of the driving box, the first articulated shaft is articulated with a first connecting plate, and the second articulated shaft is articulated with a second connecting plate; the lower part of the first connecting plate is provided with a third articulated shaft, the lower part of the second connecting plate is provided with a fourth articulated shaft, the third articulated shaft is articulated with the left side plate of the herringbone connecting plate, and the fourth articulated shaft is articulated with the right side plate of the herringbone connecting plate; the position that the leading flank of a connecting plate is close to the bottom be provided with an arc claw No. one, the position that the trailing flank of No. two connecting plates is close to the bottom be provided with No. two arc claws.

Preferably, the first arc-shaped claw and the second arc-shaped claw are uniformly provided with a plurality of anti-slip pads, and the anti-slip pads are made of rubber materials and have saw-toothed surfaces.

As optimization, the first cross rod and the second cross rod are symmetrically arranged, the first cross rod and the second cross rod are both provided with hollow parts, vacuum generators are arranged in the hollow parts, and the vacuum generators are communicated with air suction channels on the vacuum suckers.

Preferably, the vacuum chuck is a corrugated chuck.

Compared with the prior art, the utility model has the beneficial effects that: due to the arrangement of the serrated anti-slip pads on the first arc claw and the second arc claw, the mechanical arm can be more firmly grabbed; by arranging the vacuum chuck, the material with irregular surface shape can be effectively sucked; through the arrangement of the first sliding groove and the second sliding groove, the vacuum chuck can be moved to the position where the surface of the material is most suitable for sucking. The utility model greatly improves the safety and stability of the manipulator when the manipulator is used for grabbing and transferring irregular-shaped materials.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a partial structural schematic diagram of the present invention.

Fig. 3 is a bottom view of the present invention.

FIG. 4 is an enlarged view of the structure of the present invention at A.

FIG. 5 is a schematic view of the internal structure of the driving box of the present invention.

FIG. 6 is a front view of the vacuum chuck of the present invention.

Wherein, 1 link, 2 drive case, No. 3 cylinders, No. 4 cylinders, No. 5 spouts, No. 6 spouts, No. 7 montants, No. 8 horizontal poles, 9 vacuum chuck, No. 10 montants, No. 11 horizontal poles, 12 suction channel, No. 13 cylinders, 14 chevron shape connecting plate, No. 15 articulated shaft, No. 16 articulated shaft, No. 17 connecting plate, No. 18 connecting plate, No. 19 articulated shaft, No. 20 articulated shaft, No. 21 cambered jaw, No. 22 cambered jaw, 23 slipmat, 24 fretwork portion, 25 vacuum generator.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present specification.

In the embodiment shown in fig. 1-3, the novel stacking manipulator comprises a connecting frame 1, wherein a driving box 2 is fixedly connected to the lower end of the connecting frame 1, a first air cylinder 3 is arranged on the left side inside the driving box 2, and a second air cylinder 4 is arranged on the right side inside the driving box 2; the bottom surface of the driving box 2 is symmetrically provided with a first sliding groove 5 and a second sliding groove 6; a first vertical rod 7 is arranged in the first sliding groove 5, the upper end of the first vertical rod 7 is fixedly connected with the output end of the first air cylinder 3, a plurality of first cross rods 8 are uniformly arranged on the lower portion of the first vertical rod 7, and vacuum suckers 9 are arranged at the tail ends of the first cross rods 8; a second vertical rod 10 is arranged in the second sliding groove 6, the upper end of the second vertical rod 10 is fixedly connected with the output end of the second air cylinder 4, a plurality of second cross rods 11 are uniformly arranged on the lower portion of the second vertical rod 10, and vacuum suckers 9 are arranged at the tail ends of the second cross rods 11; the central position of the vacuum chuck 9 is provided with a suction channel 12; the central point of drive case 2 put and be provided with No. three cylinder 13, the bottom surface that the output of No. three cylinder 13 worn out drive case 2 be provided with fixture. The first chute 5 and the second chute 6 are arranged so that the vacuum chuck 9 can be moved to a position where the surface of the material is most suitable for suction.

The clamping mechanism comprises a herringbone connecting plate 14, a first arc-shaped claw 21 and a second arc-shaped claw 22; the top end of the herringbone connecting plate 14 is hinged with the output end of the third air cylinder 13; hinged with the top end of the herringbone connecting plate 14; a first articulated shaft 15 is arranged at the intersection of the bottom surface of the driving box 2 and the front side surface of the driving box 2, a second articulated shaft 16 is arranged at the intersection of the bottom surface of the driving box 2 and the rear side surface of the driving box 2, the first articulated shaft 15 is articulated with a first connecting plate 17, and the second articulated shaft 16 is articulated with a second connecting plate 18; a third hinge shaft 19 is arranged at the lower part of the first connecting plate 17, a fourth hinge shaft 20 is arranged at the lower part of the second connecting plate 18, the third hinge shaft 19 is hinged with the left side plate of the herringbone connecting plate 14, and the fourth hinge shaft 20 is hinged with the right side plate of the herringbone connecting plate 14; a first arc-shaped claw 21 is arranged at the position, close to the bottom, of the front side face of the first connecting plate 17, and a second arc-shaped claw 22 is arranged at the position, close to the bottom, of the rear side face of the second connecting plate 18. The output end of the third air cylinder 13 controls the opening and closing of the first arc-shaped claw 21 and the second arc-shaped claw 22.

The first cross rod 8 and the second cross rod 11 are symmetrically arranged, a plurality of anti-slip pads 23 are uniformly distributed on the first arc-shaped claw 21 and the second arc-shaped claw 22, and the anti-slip pads 23 are made of rubber materials and have saw-toothed surfaces. Due to the arrangement of the serrated anti-slip pad 23, the grabbing is firmer.

As shown in fig. 4, the first cross bar 8 and the second cross bar 11 are both provided with a hollow portion 24, a vacuum generator 25 is arranged in the hollow portion 24, the vacuum generator 25 is communicated with the air suction channel 12 on the vacuum chuck 9, and the vacuum chuck 9 is a corrugated chuck. The hollow-out part 24 reduces the self weight of the equipment.

When the material regulation device is used, when the output end of the third cylinder 13 extends out, the first arc-shaped claw 21 and the second arc-shaped claw 22 are opened to accommodate the main body of the material regulation part; when the output end of the third cylinder 13 is retracted, the first arc-shaped claw 21 and the second arc-shaped claw 22 are closed to tightly grasp the main body of the material regular part; the arrangement of the serrated anti-slip pads 23 on the first arc-shaped claw 21 and the second arc-shaped claw 22 enables the grabbing to be firmer. Then, the first cylinder 3 controls the first vertical rod 7 to move in the first sliding groove 5, and the second cylinder 4 controls the second vertical rod 10 to move in the second sliding groove 6, so that the vacuum chuck 9 is driven to move, and the vacuum chuck 9 can be moved to a position which is most suitable for being sucked on the surface of a material; after the vacuum chuck 9 is moved to the right position, the vacuum generator 25 starts to work, so that the vacuum chuck 9 generates suction force on the surface of the material to suck the irregular parts of the material. On the basis of the traditional manipulator, the utility model is additionally provided with the serrated antiskid pad 23 and the movable vacuum chuck 9, thereby improving the safety and stability of the manipulator when grabbing and transferring irregular-shaped materials.

The above embodiments are only specific examples of the present invention, and the protection scope of the present invention includes but is not limited to the product forms and styles of the above embodiments, and any new type of stacking manipulator according to the claims of the present invention and any suitable changes or modifications thereof by those of ordinary skill in the art shall fall within the protection scope of the present invention.

Claims

1. The utility model provides a novel pile up neatly machinery hand which characterized in that: the air cylinder device comprises a connecting frame (1), wherein the lower end of the connecting frame (1) is fixedly connected with a driving box (2), a first air cylinder (3) is arranged on the left side inside the driving box (2), and a second air cylinder (4) is arranged on the right side inside the driving box (2); a first sliding groove (5) and a second sliding groove (6) are symmetrically arranged on the bottom surface of the driving box (2); a first vertical rod (7) is arranged in the first sliding groove (5), the upper end of the first vertical rod (7) is fixedly connected with the output end of the first air cylinder (3), a plurality of first cross rods (8) are uniformly arranged on the lower portion of the first vertical rod (7), and vacuum suckers (9) are arranged at the tail ends of the first cross rods (8); a second vertical rod (10) is arranged in the second sliding groove (6), the upper end of the second vertical rod (10) is fixedly connected with the output end of the second air cylinder (4), a plurality of second cross rods (11) are uniformly arranged on the lower portion of the second vertical rod (10), and vacuum suckers (9) are arranged at the tail ends of the second cross rods (11); the central position of the vacuum sucker (9) is provided with a suction channel (12); the central position of drive case (2) be provided with No. three cylinder (13), the bottom surface that the output of No. three cylinder (13) worn out drive case (2) be provided with fixture.

2. The novel palletizing manipulator as claimed in claim 1, wherein: the clamping mechanism comprises a herringbone connecting plate (14), a first arc-shaped claw (21) and a second arc-shaped claw (22); the top end of the herringbone connecting plate (14) is hinged with the output end of the third air cylinder (13); a first articulated shaft (15) is arranged at the intersection of the bottom surface of the driving box (2) and the front side surface of the driving box (2), a second articulated shaft (16) is arranged at the intersection of the bottom surface of the driving box (2) and the rear side surface of the driving box (2), the first articulated shaft (15) is articulated with a first connecting plate (17), and the second articulated shaft (16) is articulated with a second connecting plate (18); a third hinge shaft (19) is arranged at the lower part of the first connecting plate (17), a fourth hinge shaft (20) is arranged at the lower part of the second connecting plate (18), the third hinge shaft (19) is hinged with a left side plate of the herringbone connecting plate (14), and the fourth hinge shaft (20) is hinged with a right side plate of the herringbone connecting plate (14); a first arc-shaped claw (21) is arranged at the position, close to the bottom, of the front side face of the first connecting plate (17), and a second arc-shaped claw (22) is arranged at the position, close to the bottom, of the rear side face of the second connecting plate (18).

3. The novel palletizing manipulator as claimed in claim 2, wherein: a plurality of anti-slip pads (23) are uniformly distributed on the first arc-shaped claw (21) and the second arc-shaped claw (22), and the anti-slip pads (23) are made of rubber materials and have saw-toothed surfaces.

4. A novel palletizing manipulator as claimed in any one of claims 1 to 3, characterized in that: horizontal pole (8) and No. two horizontal poles (11) set up for the symmetry, horizontal pole (8) and No. two horizontal poles (11) all be provided with fretwork portion (24), fretwork portion (24) in be provided with vacuum generator (25), vacuum generator (25) be linked together with last suction channel (12) of vacuum chuck (9).

5. The novel palletizing manipulator as claimed in claim 4, wherein: the vacuum sucker (9) is a corrugated sucker.