CN216037253U - A manipulator for carrying diaphragm capsule - Google Patents

Abstract

The utility model discloses a manipulator for carrying a mold box, which comprises a hanger, a rack, a cross beam and a clamping device, wherein the hanger provides the moving capacity for the manipulator when carrying the mold box, the rack is arranged below the hanger, the rack is provided with the cross beam which is symmetrical front and back, a push-pull device, a spring, a claw piece, a first rotating pair, a second rotating pair, a third rotating pair, a first fixed seat and a second fixed seat are combined into the clamping device which is symmetrically arranged on the left side and the right side of the cross beam, and the manipulator can clamp the mold box by the aid of the push-pull devices.

Description

A manipulator for carrying diaphragm capsule

Technical Field

The utility model relates to a manipulator, in particular to a manipulator for carrying a mold box.

Background

The mould is generally used in each trade, different products are produced to different moulds, the production of different products often need switch different moulds, it is convenient for transporting the mould to produce the line, generally can place the mould on the diaphragm capsule, just carry the mould to production line together with the diaphragm capsule when needs switch, and the form such as handling diaphragm capsule generally can use loop wheel machine, truck, transfer car transports, and to some large-scale diaphragm capsules, its volume is too big, weight is too heavy, need ensure when the transport that the stress point has really supported to lead to the handling to take place to topple in order to avoid supporting the unstability, and this process often can waste a large amount of manpower and materials and lead to producing a large amount of losses of line efficiency.

Therefore, the present invention provides a new technical solution to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a manipulator for carrying a mold box, which can effectively improve the stability and efficiency of carrying the mold box.

The technical scheme designed by the utility model is as follows:

a manipulator for carrying a mould box comprises a frame, a cross beam and a clamping device;

the two cross beams are respectively arranged at the front end and the rear end above the rack, and on a single cross beam, the two clamping devices are respectively arranged at the left end and the right end above the cross beam;

the clamping device comprises a claw piece, a push-pull device, a first rotating pair, a second rotating pair, a third rotating pair, a first fixing seat and a second fixing seat which are arranged above the cross beam;

one side of the claw piece and the second fixed seat are connected together through sleeving the second revolute pair and can rotate relatively;

the other side of the claw piece and one end of the push-pull device are connected together through the third revolute pair in a sleeved mode and can rotate relatively;

the other end of the push-pull device and the first fixed seat are connected together through sleeving the first rotating pair and can rotate relatively.

Furthermore, the push-pull device comprises a cylinder body assembly and hoses, wherein the cylinder body assembly is provided with an input port and an output port, all the input ports are connected with one hose, all the output ports are connected with the other hose, and the same-speed and same-pressure control of all the cylinder body assemblies is realized.

Further, the manipulator further comprises a hanging bracket, wherein the hanging bracket is arranged above the rack and used for hanging the rack, and a motor and a roller are further arranged above the hanging bracket and used for realizing the movement of the manipulator.

Furthermore, a pneumatic pump or a hydraulic pump is installed inside the hanger and used for transmitting media to the cylinder body assembly so that the push-pull device generates power.

Furthermore, the clamping device also comprises a spring, the spring is sleeved on the push-pull device, and two ends of the spring are respectively connected with the claw piece and the push-pull device, so that more stable clamping action and faster loosening action are realized;

furthermore, a plurality of grooves are formed in the upper surfaces of the front side and the rear side of the rack, the grooves are used for placing bolts, and the cross beam is fixed on the rack through the bolts.

Furthermore, be provided with a plurality of cascaded logical grooves on the crossbeam, cascaded logical groove is used for placing the bolt, first fixing base and second fixing base are all through the bolt fastening on the crossbeam.

Furthermore, the second revolute pair comprises a shaft and a bearing, and the shaft and the bearing are sequentially sleeved on the second fixing seat to complete connection of the second revolute pair and the second fixing seat, so that transmission resistance between the second revolute pair and the second fixing seat is reduced.

Furthermore, the tail ends of the claw pieces are provided with supporting brackets for supporting the die box during carrying.

The utility model has the beneficial effects that: the manipulator can quickly and accurately position the four stress points of the mold box and simultaneously clamp the four stress points, the push-pull device provides stable clamping force to overcome the gravity of the mold box, and the lifting and moving of the mold box are realized by matching with the hanging bracket, so that the whole process is quick and accurate, and the stability and the efficiency of carrying the mold box are greatly improved.

Drawings

Fig. 1 is a schematic structural view of a robot hand of the present invention.

Fig. 2 is a schematic structural view of the clamping device of the present invention.

Figure 3 is a partially exploded schematic view of the clamping device of the present invention assembled.

Fig. 4 is a schematic structural view of the rack of the present invention.

Fig. 5 is a schematic structural view of the cross beam of the present invention.

Reference numbers in the figures:

100. a frame; 110. a groove; 200. a cross beam; 210. a stepped through slot; 300. a clamping device; 310. a claw member; 311. a support bracket; 320. a push-pull device; 321. a pneumatic cylinder or the hydraulic cylinder; 322. a hose; 330. a first rotating pair; 340. a second revolute pair; 341. a shaft; 342. a bearing; 350. a third revolute pair; 360. a first fixed seat; 370. a second fixed seat; 380. a spring; 400. a hanger; 500. a motor; 600. and a roller.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 and 2, the present embodiment discloses a robot for carrying a mold box, which includes a frame 100, a cross beam 200, and a clamping device 300;

two cross beams 200 are respectively arranged at the front end and the rear end above the frame 100, and two clamping devices 300 are arranged on the single cross beam 200 and are respectively arranged at the left end and the right end above the cross beam 200;

the clamping device 300 comprises a claw member 310, a push-pull device 320, a first rotating pair 330, a second rotating pair 340, a third rotating pair 350, a first fixed seat 360 and a second fixed seat 370 which are arranged above the cross beam 200;

one side of the claw member 310 and the second fixing base 370 are connected together by sleeving the second rotating pair 340 and can rotate relatively;

the other side of the claw 310 and one end of the push-pull device 320 are connected together by sleeving a third revolute pair 350 and can rotate relatively;

the other end of the push-pull device 320 and the first fixing base 360 are connected together by sleeving the first rotating pair 330 and can rotate relatively.

The manipulator that this embodiment discloses can accurately fix a position the everywhere stress point of diaphragm capsule rapidly and carry out centre gripping and bearing simultaneously, and the symmetric distribution of manipulator makes the stress balance everywhere, stability when greatly increased transport diaphragm capsule.

Further, referring to fig. 2 and fig. 3, the claw 310 and the push-pull device 320, the claw 310 and the second fixing base 370, and the push-pull device 320 and the first fixing base 360 are all provided with a revolute pair as a connection point for matching and connecting the above components, so that the components can rotate relatively, thereby forming the clamping device 300, the push-pull device 320 rotates around the first revolute pair 330 and simultaneously drives the claw 310 to rotate around the second revolute pair 340 and the third revolute pair 350, so as to realize the clamping action and the releasing action of the manipulator, the first fixing base 360 and the second fixing base 370 are fixedly mounted on the cross beam 200, so that the clamping device 300 is fixed, the transmission between the mechanisms is more reliable, and the clamping smoothness of the manipulator is greatly improved.

The push-pull device 320 is configured to perform a reciprocating operation of pushing out and pulling back, and for example, a combination of a gear and a rack, a combination of a belt and a gear, a combination of a crankshaft and a piston, or the like can perform an operation of clamping and returning the claw member 310.

In some preferred embodiments, referring to fig. 2 and fig. 3, the push-pull device 320 includes a cylinder assembly 321 and hoses 322, the cylinder assembly 321 is provided with input ports and output ports, all the input ports are connected to one hose 322, and all the output ports are connected to the other hose 322, so as to realize the same-speed and same-pressure control of all the cylinder assemblies 321.

The cylinder body assembly 321 is an air cylinder or a hydraulic cylinder, the cylinder body assembly 321 controls the action of the claw member 310 through input media, and the clamping device 300 can be accurately controlled by controlling the conveying speed and pressure of the media through the cylinder body assembly 321, so that the clamping device 300 is higher in controllable degree, more stable in action and high in reliability.

Further, referring to fig. 2 and fig. 3, in order to synchronize the actions of all the clamping devices 300, the actions of all the clamping devices 300 can be synchronized by providing one hose 322 to connect all the input ports and another hose 322 to connect all the output ports, and by respectively controlling the flow rate and the pressure of the media in the two hoses 322, the media in all the cylinder assemblies 321 are in the same-speed and same-pressure state.

In practice, the handling of the mould box after the robot has gripped the mould box is typically achieved by a crane, crane or other moving means.

In some preferred embodiments, referring to fig. 1, the robot further includes a hanger 400, the hanger 400 is mounted above the rack 100 for hanging the rack 100, and a motor 500 and a roller 600 are further disposed above the hanger 400 for moving the robot.

The hanger 400 is applied to a production line rail for moving the robot to carry the mold box. The manipulator is whole to be used on producing the line track, and gallows 400 top sets up gyro wheel 600 and matches with the track, and motor 500 drive gyro wheel 600 rolls and makes the manipulator carry the diaphragm capsule and remove on producing the line track, realizes carrying the diaphragm capsule.

In an optional embodiment, the hanger 400 can be further configured to have a lifting function, and the height of the manipulator can be controlled when the manipulator clamps the mold box by the aid of the lifting device, so that collision between the manipulator and other objects during carrying is avoided, and safety of the equipment is greatly improved.

In an alternative embodiment, a rotating structure may be further disposed between the hanger 400 and the rack 100, a servo motor is disposed inside the hanger 400 and connected to one end of the rotating shaft, the other end of the rotating shaft is fixedly connected to the rack 100, the rack 100 can rotate 360 ° along the horizontal plane by controlling the servo motor, and the rotation angle and speed of the rack can be controlled by a control system of the servo motor. This mode is through setting up revolute pair connection gallows 400 and frame 100, makes frame 100 can do rotary motion relative gallows 400, realizes 360 centre gripping diaphragm capsules of manipulator, greatly increased manipulator's maneuverability, but the overall cost is higher.

In some preferred embodiments, referring to fig. 1, the hanger 400 is fixedly connected to the rack 100 by bolts, and compared to the above-mentioned alternative, although the rack 100 cannot rotate relative to the hanger 400, the cost is lower, the installation is simpler, and the overall orientation of the robot can also be adjusted by the guide rails laid on the production line.

In practical applications, a pneumatic or hydraulic pump for supplying power and medium to the cylinder assembly 321 may be placed on the production line, and the cylinder assembly 321 is connected by a hose 322 of sufficient length, but this solution takes up a lot of space and is not easy to move.

In some preferred embodiments, the hanger 400 internally mounts a pneumatic or hydraulic pump for transferring a medium to the cylinder assembly 321 to power the push-pull 320. Other matching elements such as the pneumatic pump or the hydraulic pump 411 can be placed inside the hanger 400 (not shown in the figure), and the pneumatic pump or the hydraulic pump 411 is integrated inside the hanger 400 so that the pneumatic pump or the hydraulic pump can move along with the hanger 400, thereby effectively utilizing the space of the hanger 400, reducing the occupation of the space, and simultaneously allowing the manipulator to move freely on the production line guide rail.

In some preferred embodiments, referring to fig. 2 and 3, the clamping device 300 further comprises a spring 380, the spring 380 is sleeved on the push-pull device 320, and the two ends of the spring 380 are respectively connected with the claw member 310 and the push-pull device 320, so as to realize a more stable clamping action and a faster releasing action.

In the natural state of the manipulator, the spring 380 is not deformed and does not generate acting force on the push-pull device 320 and the claw member 310; when the manipulator clamps, the spring 380 is stretched to generate a pulling force on the push-pull device 320 and the claw piece 310, and the pulling force resists the acting force of the push-pull device 320 to enable the claw piece 310 to approach the mold box in a stable state and clamp the mold box, so that the phenomenon that the push-pull device generates an instantaneous overlarge acting force to damage the mold box is avoided; when the manipulator releases the motion, the stretched spring 380 can accelerate the pressure relief of the push-pull device 320, the impact force caused by the rapid pressure relief of the push-pull device 320 can be absorbed by the spring 380, the rapid pressure relief of the push-pull device 320 and the tension of the spring 380 realize the rapid return of the claw piece 310, and the spring 380 can ensure that the push-pull device 320 and the claw piece 310 cannot generate impact force in the return process.

In practical application, the spring 380 with different elastic coefficients is selected according to the parameters of the push-pull device, so that the clamping force, the clamping speed and the return speed can be effectively changed to meet special requirements, and certainly, the clamping speed and the return speed can be controlled by the push-pull device 320 without installing the spring 380. In addition, the additional spring 380 can absorb the serious impact force generated between the structures when the pressure relief of the push-pull device 320 fails, so as to further prevent the structures from being damaged and provide a certain degree of buffer action.

In practical application, the cross beam 200 needs to be installed above the rack 100, and the cross beam 200 and the rack 100 can be fixed through integrated molding, welding and other modes, but the mode has high processing difficulty and high technical requirement, and cannot be detached.

In some preferred embodiments, referring to fig. 4, a plurality of grooves 110 are formed on the upper surfaces of the front and rear sides of the frame 100, the grooves 110 are used for receiving bolts, and the cross member 200 is fixed to the frame 100 by the bolts. The groove 110 arranged on the frame 100 can facilitate the positioning and installation of a user, and allows the user to adjust the position of the beam 200 within a certain range for special requirements, so that the beam 200 can be flexibly configured by the user, and the practicability and the applicability of the manipulator are greatly improved.

In practical applications, the clamping device 300 needs to be fixed on the cross beam 200, and key connection, pin connection, welding and the like can be adopted, but the processing difficulty of the mode is high, and the cost is high.

In some preferred embodiments, referring to fig. 5, the cross beam 200 is provided with a plurality of stepped through slots 210, the stepped through slots 210 are used for placing bolts, and the first fixing seat 360 and the second fixing seat 370 are both fixed on the cross beam 200 through bolts. The setting up of cascaded logical groove 210 makes the user can be according to actual demand adjustment clamping device 300's position, and according to the diaphragm capsule of equidimension not, the position of adjustment clamping device 300 is in order to satisfy the centre gripping scope to the diaphragm capsule, improves the practicality and the suitability of manipulator greatly. And cascaded logical groove 210 sets to cascaded then be favorable to placing of bolt, and the degree of depth of ladder plane restriction bolt, the bolt passes first fixing base 360 or second fixing base 370 and crossbeam 200, and the front cooperation nut can accomplish fixing clamping device 300, easy operation, and loading and unloading are convenient, and the reliability is high.

In some preferred embodiments, referring to fig. 3, the second rotating pair 340 includes a shaft 341 and a bearing 342, and the shaft 341 and the bearing 342 are sequentially sleeved on the second fixing base 370 to complete the connection between the second rotating pair 340 and the second fixing base, which is beneficial to reducing the transmission resistance between the two. Second revolute pair 340 is used for connecting second fixing base 370 and claw piece 310, and when the manipulator centre gripping diaphragm capsule carried, second revolute pair 340 adopted axle 341 and bearing 342's cooperation mode as the main stress point of diaphragm capsule gravity, can guarantee can also the transmission resistance that significantly reduces when bearing diaphragm capsule gravity, is favorable to further improving the smoothness nature and the stability of claw piece 310 rotation action.

In practical application, the end of the claw 310 is provided with a support bracket 311 for clamping and supporting the mold box, different support brackets 311 can be installed according to the shape of the mold box, and the connection mode between the support bracket 311 and the claw 310 can be screw connection, integral molding, and the like.

In some alternative embodiments, the surface of the support bracket 311 may be provided with rubber to enhance the contact friction with the mold box, thereby improving the stability of the clamping and avoiding damage to the mold box.

In some preferred embodiments, referring to fig. 1, 2 and 3, the end of the claw 310 is provided with an "L" shaped support bracket 311, the "L" shaped support bracket 311 is connected with the claw 310 by welding, the vertical plane of the "L" shape can be used as a clamping part to contact with the mold box, and the bottom plane of the "L" shape can be used as a bearing surface to bear the mold box when the robot lifts the mold box. The L-shaped support bracket 311 has simple structure, easy processing and low cost.

The structure of the push-pull device in the above embodiments is not limited to the scope of the present invention, and any structure that performs the reciprocating motion of pushing out and pulling back is included in the scope of the present invention.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.

Claims (9)

1. A manipulator for carrying a mould box, characterized by comprising a frame (100), a cross beam (200) and a clamping device (300);

two cross beams (200) are respectively arranged at the front end and the rear end above the rack (100), and on a single cross beam (200), two clamping devices (300) are respectively arranged at the left end and the right end above the cross beam (200);

the clamping device (300) comprises a claw piece (310), a push-pull device (320), a first rotating pair (330), a second rotating pair (340), a third rotating pair (350), a first fixed seat (360) and a second fixed seat (370) which are arranged above the cross beam (200);

one side of the claw piece (310) and the second fixed seat (370) are connected together through sleeving the second revolute pair (340) and can rotate relatively;

the other side of the claw piece (310) and one end of the push-pull device (320) are connected together through sleeving the third revolute pair (350) and can rotate relatively;

the other end of the push-pull device (320) and the first fixed seat (360) are connected together through sleeving the first rotating pair (330) and can rotate relatively.

2. The manipulator according to claim 1, wherein the push-pull device (320) comprises a cylinder assembly (321) and hoses (322), the cylinder assembly (321) is provided with an input port and an output port, all the input ports are connected with one hose (322), and all the output ports are connected with the other hose (322), so that the same-speed and same-pressure control of all the cylinder assemblies (321) is realized.

3. The robot hand according to claim 2, further comprising a hanger (400), wherein the hanger (400) is installed above the rack (100) for hanging the rack (100), and a motor (500) and a roller (600) are further provided above the hanger (400) for movement of the robot hand.

4. The manipulator according to claim 3, characterized in that a pneumatic or hydraulic pump is mounted inside the cradle (400), and the pneumatic or hydraulic pump is connected with the cylinder assembly (321) and drives the cylinder assembly (321) to move.

5. The manipulator according to claim 1, wherein the clamping device (300) further comprises a spring (380), the spring (380) is sleeved on the push-pull device (320), and both ends of the spring are respectively connected with the claw member (310) and the push-pull device (320), so that a more stable clamping action and a faster releasing action are realized.

6. The manipulator according to claim 1, wherein a plurality of grooves (110) are formed in the upper surfaces of the front side and the rear side of the frame (100), the grooves (110) are used for placing bolts, and the cross beam (200) is fixed on the frame (100) through the bolts.

7. The manipulator according to claim 1, characterized in that the cross beam (200) is provided with a plurality of stepped through slots (210), the stepped through slots (210) are used for placing bolts, and the first fixing seat (360) and the second fixing seat (370) are fixed on the cross beam (200) through bolts.

8. The manipulator according to claim 2, wherein the second revolute pair (340) comprises a shaft (341) and a bearing (342), and the shaft (341) and the bearing (342) are sequentially sleeved on the second fixed seat (370) to complete the connection between the second revolute pair (340) and the second fixed seat (370).

9. The manipulator according to claim 1, characterized in that the tips of the claw members (310) are provided with support brackets (311).

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