CN216266089U - Automatic correction suction type manipulator chuck - Google Patents
Automatic correction suction type manipulator chuck Download PDFInfo
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- CN216266089U CN216266089U CN202122665803.7U CN202122665803U CN216266089U CN 216266089 U CN216266089 U CN 216266089U CN 202122665803 U CN202122665803 U CN 202122665803U CN 216266089 U CN216266089 U CN 216266089U
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- clamping jaw
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Abstract
The utility model discloses an automatic correction suction type manipulator chuck, which relates to the field of mechanical equipment and comprises a rotary cylinder, a clamping jaw cylinder, a corrugated suction nozzle and a product, wherein the rotary cylinder is arranged on a rotary cylinder mounting base; the clamping jaw air cylinder is movably mounted on the rotary air cylinder through a mounting flange plate, the rotary shaft of the rotary air cylinder drives the clamping jaw air cylinder and the mounting flange plate to rotate, the lower portion of the clamping jaw air cylinder is provided with a correction clamping jaw, the clamping jaw air cylinder controls the correction clamping jaw to be opened or closed, the middle hollow part of the correction clamping jaw is used for placing a suction nozzle and a plunger mounting seat, and a mounting corrugated suction nozzle is embedded into the suction nozzle and the plunger mounting seat and used for sucking a product. The utility model can be suitable for grabbing articles on an inclined plane, and solves the problem that the product and the suction nozzle are in a non-parallel state due to the eccentric center of gravity of the product or the inclination of the plane of the suction nozzle.
Description
Technical Field
The utility model relates to the field of mechanical equipment, in particular to an automatic correction suction type manipulator chuck.
Background
I department's punching press parts workshop is for practicing thrift the manpower, need develop a full-automatic parts balance device, satisfy the demand, nevertheless find the product and move on the belt and utilize visual navigation to come the guide manipulator to snatch the time and have the positioning deviation in the development commissioning process, the product absorbs in-process manipulator and product position in the motion and has the positioning deviation of positive negative 1mm promptly, this deviation leads to absorbing the position inaccuracy of product, the balance success rate is low, need eliminate through mechanism correction. Through repeated discussion and scheme modification, a design correction structure is finally developed, and the precision requirement can be met through actual verification.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provide an automatic correction suction type manipulator chuck which eliminates system positioning deviation through a pneumatic clamping jaw correction structure and ensures that a suction surface is not inclined on a plane by utilizing 4 elastic plungers.
The purpose of the utility model is achieved by the following technical scheme: the automatic correction suction type manipulator chuck comprises a rotary cylinder, a clamping jaw cylinder, a corrugated suction nozzle and a product, wherein the rotary cylinder is arranged on a rotary cylinder mounting base, a manipulator mounting and holding flange is coaxially fixed on the rotary cylinder mounting base and used for connecting a manipulator, and the whole chuck is lifted through the manipulator; the clamping jaw air cylinder is movably mounted on the rotary air cylinder through a mounting flange plate, the rotary shaft of the rotary air cylinder drives the clamping jaw air cylinder and the mounting flange plate to rotate, the lower portion of the clamping jaw air cylinder is provided with a correction clamping jaw, the clamping jaw air cylinder controls the correction clamping jaw to be opened or closed, the middle hollow part of the correction clamping jaw is used for placing a suction nozzle and a plunger mounting seat, and a mounting corrugated suction nozzle is embedded into the suction nozzle and the plunger mounting seat and used for sucking a product.
As a further technical scheme, an angle formed between the axis of the rotary cylinder and the axis of the manipulator mounting and clasping flange is 45 degrees.
As a further technical scheme, the rotating shaft drives the clamping jaw cylinder and the mounting flange to rotate around the rotating shaft by 0-180 degrees.
As a further technical scheme, a flange plate extension section is arranged on the mounting flange plate along a direction vertical to the surface of the mounting flange plate, and a groove is formed in the flange plate extension section and used for placing the suction nozzle and the plunger mounting seat; the fixed flat key sequentially penetrates through the flange plate extension section, the suction nozzle and the plunger mounting seat to fixedly connect the mounting flange plate, the suction nozzle and the plunger mounting seat.
As a further technical scheme, air connectors are further mounted on the suction nozzle and the plunger mounting seat and are in airtight connection with the corrugated suction nozzle to provide vacuum suction.
As a further technical scheme, plunger mounting holes are formed in four corners of the suction nozzle and the plunger mounting seat, which are close to the mounting position of the corrugated suction nozzle, and an elastic plunger is placed in each plunger mounting hole; when the corrugated suction nozzle sucks a product, the four elastic plungers form a consistent equal-height plane, so that the product is positioned.
As a further technical scheme, the foolproof fixing block penetrates through the mechanical arm mounting and clasping flange and is used for being matched with and connected with the mechanical arm.
The utility model has the beneficial effects that: compact structure, reduced development cost, high standardization degree, good production feedback and capability of achieving the expected purpose.
Drawings
Fig. 1 is a schematic view of the mounting structure of the present invention.
Fig. 2 is a cross-sectional view of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a schematic view of the construction of the mounting flange.
Fig. 5 is a schematic structural view of the suction nozzle and the plunger mounting seat.
Fig. 6 is a schematic view of the assembly structure of the elastic plunger, the suction nozzle and the plunger mounting seat.
Fig. 7 is a schematic structural diagram of product pre-positioning.
Fig. 8 is a schematic perspective view of the product in a horizontal state.
Fig. 9 is a schematic view of the product being aligned by the jaws.
Figure 10 is a schematic view of the structure of the product as it is being sucked.
Fig. 11 is a schematic structural diagram of a product after being rotated by 180 °.
Fig. 12 is a schematic perspective view of the product in a vertical state.
Description of reference numerals: the device comprises a rotary cylinder 1, a rotary shaft 1-1, a manipulator mounting and holding flange 2, a rotary cylinder mounting base 3, a mounting flange plate 4, a flange plate extension section 4-1, a groove 4-2, a clamping jaw cylinder 5, a correcting clamping jaw 6, a suction nozzle and plunger mounting seat 7, a plunger mounting hole 7-1, an elastic plunger 8, a corrugated suction nozzle 9, a product 10, a fixed flat key 11, an air connector 12 and a foolproof fixing block 13.
Detailed Description
The utility model will be described in detail below with reference to the following drawings:
example (b): as shown in the attached drawing, the automatic correction suction type mechanical arm chuck comprises a rotary cylinder 1, a clamping jaw cylinder 5, a corrugated suction nozzle 9 and a product 10, wherein the rotary cylinder 1 is installed on a rotary cylinder installation base 3, a mechanical arm installation holding flange 2 is coaxially fixed on the rotary cylinder installation base 3 and used for connecting a mechanical arm, and the whole lifting motion of the chuck is realized through the mechanical arm. Preferably, as shown in fig. 2, an angle α formed between the axis of the rotary cylinder 1 and the axis of the robot mounting and clasping flange 2 is 45 °. The clamping jaw cylinder 5 is movably mounted on the rotary cylinder 1 through a mounting flange plate 4, and a rotary shaft 1-1 of the rotary cylinder 1 drives the clamping jaw cylinder 5 and the mounting flange plate 4 to rotate (preferably, the rotary shaft 1-1 drives the clamping jaw cylinder 5 and the mounting flange plate 4 to rotate around the rotary shaft 1-1 within the range of 0-180 degrees). The lower part of the clamping jaw cylinder 5 is provided with a correcting clamping jaw 6, the clamping jaw cylinder 5 controls the correcting clamping jaw 6 to open or close, so that the gap between the correcting clamping jaw 6 and a product 10 is adjusted, and the middle of the correcting clamping jaw 6 is hollowed out to be used for placing a suction nozzle and a plunger mounting seat 7. A ripple suction nozzle 9 is embedded and installed in the suction nozzle and plunger installation seat 7, and the ripple suction nozzle 9 is positioned in the middle of the correction clamping jaw 6. Also mounted on the suction nozzle and plunger mounting 7 as shown in fig. 1 is an air connector 12, the air connector 12 being in air tight connection with the corrugated suction nozzle 9 for providing vacuum suction for sucking up the product 10 between the aligning jaws 6.
As shown in fig. 4, a flange plate extension section 4-1 is arranged on the mounting flange plate 4 along a direction perpendicular to the surface of the mounting flange plate, and a groove 4-2 is formed in the flange plate extension section 4-1 and used for placing a suction nozzle and a plunger mounting seat 7; the fixed flat key 11 sequentially penetrates through the flange plate extension section 4-1 and the suction nozzle and plunger mounting seat 7 to fixedly connect the mounting flange plate 4 and the suction nozzle and plunger mounting seat 7.
As shown in fig. 5, plunger mounting holes 7-1 are formed at four corners of the suction nozzle and plunger mounting seat 7 near the mounting position of the corrugated suction nozzle 9, and an elastic plunger 8 is arranged in each plunger mounting hole 7-1; referring to fig. 6, when the corrugated suction nozzle 9 sucks the product 10, the four elastic plungers 8 form a uniform contour plane therebetween, so as to position the product 10.
Preferably, the manipulator mounting and clasping flange 2 is provided with a foolproof fixing block 13 in a penetrating manner and is used for being matched with and connected with a manipulator.
The working process of the utility model is as follows:
as shown in fig. 7 and 8, the product 10 is first placed in the calibration jaw 6 in a horizontal state for pre-positioning, and at this time, the eccentricity e between the axis of the product 10 and the axis of the ripple suction nozzle 9 (calibration jaw 6) is about 1.5 mm.
Referring to fig. 9, the clamping jaw cylinder 5 controls the correcting clamping jaw 6 to close gradually, so as to eliminate the eccentricity, so that the product 10 is located at the center of the correcting clamping jaw 6 (i.e. the axis of the product 10 coincides with the axis of the corrugated suction nozzle 9), at this time, the distance between the product 10 and the corrugated suction nozzle 9 is d (about 1.5 mm), and the gap between the side wall of the product 10 and the inner wall of the correcting clamping jaw 6 is f (about 0.2 mm).
Referring to fig. 10, the manipulator is controlled to lower the whole cartridge, the four elastic plungers 8 are in contact with the surface of the product 10 and are compressed, the corrugated suction nozzle 9 is in contact with the surface of the product 10 and the air connector 12 starts suction to suck the product 10; the robot is then controlled to cause the entire collet to rise while the resilient plunger 8 rebounds to stabilize the plane of contact with the product 10 against tilting. Because the four elastic plungers 8 are compressed firstly and then rebound after being lifted, the four elastic plungers are always kept on the same plane, and the four elastic plungers can be suitable for grabbing products with inclined planes.
Referring to fig. 11 and 12, the rotary cylinder 1 drives the mounting flange 4 and the clamping jaw cylinder 5 to rotate around the shaft by 180 degrees through the rotary shaft 1-1, and then the calibration clamping jaw 6, the suction nozzle and plunger mounting seat 7, the corrugated suction nozzle 9, the product 10, the air connector 12 and other parts rotate simultaneously. Finally, the product posture is adjusted from the horizontal state shown in fig. 8 to the vertical state shown in fig. 12. The correction of product position is realized, and the grabbing precision is improved.
The utility model eliminates the positioning deviation of the visual navigation and mechanical mechanism, and improves the positioning and grabbing precision of the product through secondary correction; when a product is sucked, the 4 elastic plungers are compressed and rebound after being lifted, and are always kept on one plane, so that the product can be suitable for grabbing objects on an inclined plane, and the problem that the product and the suction nozzle are in a non-parallel state due to the fact that the center of gravity of the product is eccentric or the plane of the suction nozzle inclines is solved; the input cost is low, the structure is compact, the grabbing and positioning period is shortened, and the development and structure cost is reduced in the same type.
It should be understood that equivalent alterations and modifications of the technical solution and the inventive concept of the present invention by those skilled in the art should fall within the scope of the appended claims.
Claims (7)
1. The utility model provides an automatic rectify absorption formula manipulator chuck which characterized in that: the clamping device comprises a rotary cylinder (1), a clamping jaw cylinder (5), a corrugated suction nozzle (9) and a product (10), wherein the rotary cylinder (1) is installed on a rotary cylinder installation base (3), a manipulator installation and holding flange (2) is coaxially fixed on the rotary cylinder installation base (3) and used for being connected with a manipulator, and the whole lifting motion of a clamping head is realized through the manipulator; clamping jaw cylinder (5) are through installing flange dish (4) movable mounting on revolving cylinder (1), revolving shaft (1-1) drive clamping jaw cylinder (5) and installing flange dish (4) of revolving cylinder (1) are rotatory, clamping jaw cylinder (5) lower part sets up correction clamping jaw (6), clamping jaw cylinder (5) control correction clamping jaw (6) open or closed, the centre fretwork of correction clamping jaw (6) is used for putting into suction nozzle and plunger mount pad (7), embedded installation ripple suction nozzle (9) is used for absorbing product (10) in suction nozzle and plunger mount pad (7).
2. The self-aligning pick-up robot chuck of claim 1, wherein: an angle of 45 degrees is formed between the axis of the rotary cylinder (1) and the axis of the manipulator mounting and clasping flange (2).
3. The self-aligning pick-up robot chuck of claim 1, wherein: the rotating shaft (1-1) drives the clamping jaw cylinder (5) and the mounting flange plate (4) to rotate around the rotating shaft (1-1) by 0-180 degrees.
4. The self-aligning pick-up robot chuck of claim 1, wherein: a flange plate extension section (4-1) is arranged on the mounting flange plate (4) along a direction vertical to the surface of the mounting flange plate, and a groove (4-2) is formed in the flange plate extension section (4-1) and used for placing a suction nozzle and a plunger mounting seat (7); the fixed flat key (11) penetrates through the flange plate extension section (4-1) and the suction nozzle and plunger mounting seat (7) in sequence, and the mounting flange plate (4) is fixedly connected with the suction nozzle and plunger mounting seat (7).
5. The self-aligning pick-up robot chuck of claim 1, wherein: and the suction nozzle and plunger mounting seat (7) is also provided with an air connector (12), and the air connector (12) is in airtight connection with the corrugated suction nozzle (9) and is used for providing vacuum suction.
6. The self-aligning pick-up robot chuck of claim 1, wherein: plunger mounting holes (7-1) are formed in four corners of the suction nozzle and plunger mounting seat (7) close to the mounting position of the corrugated suction nozzle (9), and elastic plungers (8) are arranged in the plunger mounting holes (7-1); when the corrugated suction nozzle (9) sucks the product (10), the four elastic plungers (8) form a consistent equal-height plane, so that the product (10) is positioned.
7. The self-aligning pick-up robot chuck of claim 1, wherein: the manipulator mounting and clasping flange (2) is provided with a foolproof fixed block (13) in a penetrating mode and is used for being connected with a manipulator in a matching mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122665803.7U CN216266089U (en) | 2021-11-01 | 2021-11-01 | Automatic correction suction type manipulator chuck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122665803.7U CN216266089U (en) | 2021-11-01 | 2021-11-01 | Automatic correction suction type manipulator chuck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216266089U true CN216266089U (en) | 2022-04-12 |
Family
ID=81003482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122665803.7U Active CN216266089U (en) | 2021-11-01 | 2021-11-01 | Automatic correction suction type manipulator chuck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216266089U (en) |
-
2021
- 2021-11-01 CN CN202122665803.7U patent/CN216266089U/en active Active
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