CN216376529U

CN216376529U - Flexible rock plate grabbing manipulator

Info

Publication number: CN216376529U
Application number: CN202122532063.XU
Authority: CN
Inventors: 孙传发
Original assignee: Shandong Huashili Automation Technology Co ltd
Current assignee: Shandong Huashili Automation Technology Co ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2022-04-26
Anticipated expiration: 2031-10-21

Abstract

The utility model discloses a flexible rock plate grabbing manipulator, which comprises: the stand supports the manipulator to fix the manipulator in assigned position, flexible arm, the one end of flexible arm is connected on the stand, and will drive the manipulator to the assigned position, and the end swing joint of flexible arm has the tongs, the end of flexible arm is equipped with linkage, and linkage is equipped with the power rod, and 90 upset motions are done to power rod drive linkage, the end of flexible arm is equipped with the quick change device, the tongs passes through the quick change device to be fixed at the end of flexible arm. The utility model has the beneficial effects that: the quick replacement of different grippers of the power-assisted manipulator for rock plate grabbing is realized through the quick replacement device.

Description

Flexible rock plate grabbing manipulator

Technical Field

The utility model belongs to the technical field of rock plate carrying in the technical field of rock plate processing, and particularly relates to a flexible rock plate grabbing manipulator.

Background

Along with the popularization and application of rock plates and ceramic tiles in life, more and more diversified ceramic tile models and rock plate models appear in the visual field of people, along with the continuous increase of the demands of customers on the models, in the processing process of the ceramic tiles and the rock plates, the fact that the same equipment needs to process the rock plates or the ceramic tiles without shapes often appears, namely, the processing of multiple varieties in small batches is not a problem for numerical control processing equipment, higher requirements are provided for a carrying manipulator serving the numerical control processing equipment, namely, grippers in different shapes need to be used for grabbing the rock plates or the ceramic tiles in different shapes. At present, due to the limitation of processing cost, the power-assisted manipulator becomes an auxiliary carrying tool in the processing of a rock plate or a ceramic tile, the power-assisted manipulator on the market adopts a fixed gripper, the gripper can not be replaced, and the single gripper obviously cannot meet the production requirement for a numerical control machine tool for processing in diversity.

In summary, there is an urgent need for a flexible rock plate gripping manipulator to achieve the purpose of using grippers of different shapes to grip rock plates or ceramic tiles of different shapes.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model provides a flexible rock plate grabbing manipulator.

The utility model adopts the following specific technical scheme:

a flexible rock plate grasping robot comprising:

and the upright post supports the manipulator and fixes the manipulator at a specified position.

And one end of the telescopic arm is connected to the stand column and drives the manipulator to a specified position, and the tail end of the telescopic arm is movably connected with the gripper.

The tail end of the telescopic arm is provided with a connecting rod device, the connecting rod device is provided with a power rod, and the power rod drives the connecting rod device to perform 90-degree overturning motion.

The tail end of the telescopic arm is provided with a quick-change device, and the hand grip is fixed at the tail end of the telescopic arm through the quick-change device.

The quick-change device is adopted to connect the telescopic arm and the gripper, so that the quick change of the gripper of the power-assisted manipulator is realized, the requirements of gripping rock plates or ceramic tiles with different shapes by using grippers with different shapes can be flexibly met, the tail end of the telescopic arm is provided with a connecting rod device, the connecting rod device is provided with a power rod, the power rod drives the connecting rod device to do 90-degree turnover movement, so that the aim of turning over the rock plate or the ceramic tile by 90 degrees is achieved, and meanwhile in the production process, the requirements for turning may vary from 0 to 90, such as placing the finished rock plate on a 60 or 70 or 80 cradle, or where a 30 horizontal included angle is required for rock plate processing, can be controlled by a power rod, and the power rod can realize accurate angle control by adopting an electric push rod, if the air cylinder or the oil cylinder is adopted, the angle requirement can be met only by performing correction for many times.

As a further improvement of the utility model, the center of the quick-change device is provided with a center hole, the center hole is provided with a fixed block perpendicular to the axis of the hole, and the fixed block is arranged on the wall of the hole in a sliding manner. The utility model provides a structure of quick change device sets up the fixed block in the centre bore, and when the fixed axle of tongs inserted the centre bore, the fixed block shrunk earlier to the axle of centre bore, and it is fixed to carry the fixed axle to realize, and the fixed axle can be the optical axis this moment, also can set up the fixed slot, and the mode realization of fixed slot is fixed for the present case recommends, and the fixed block shrinks to the axis of centre bore, finally blocks in the fixed slot, with fixed axle locking in the centre bore.

As a further improvement of the utility model, one end of the fixed block is connected with a spring which pushes the fixed block to slide. The fixed block is provided with a pull cylinder or a pull rope, when the fixed shaft is inserted, the pull rope or the pull rod is pulled, the fixed block is far away from the axis of the central hole, after the fixed shaft is in place, the pull rod or the pull rope is loosened, and under the action of a spring, the fixed block shrinks towards the axis of the central hole to fix the fixed shaft in the central hole.

As a further improvement of the utility model, the power rod is a cylinder.

As a further improvement of the utility model, the gripper comprises a pneumatic sucker gripper and a pneumatic claw gripper which are alternately fixed at the tail end of the telescopic arm through the quick-change device respectively.

The pneumatic chuck gripper comprises a support and a chuck, the support is provided with a fixed shaft, the fixed shaft is matched with a center hole of the quick-change device, the pneumatic claw gripper is provided with a cylinder and a cylinder, a push rod and a slide block are arranged in the cylinder, the push rod is fixed with a piston rod of the cylinder, the slide block is a plurality of blocks and is arranged on the cylinder wall of the pneumatic claw gripper in a sliding mode, the push rod does linear reciprocating motion along the axis of the cylinder, and the slide block is pushed to be on the cylinder wall to shrink the axis close to the cylinder or disperse the axis far away from the cylinder.

As a further improvement of the utility model, the pneumatic sucker gripper is provided with an air pressure calibrator, when the air pressure in the sucker is lower than a set value, the manipulator is fed back and controlled to alarm, the air pressure of the sucker is controlled in real time, and the grabbing safety is ensured.

As a further development of the utility model, the pneumatic jaw gripper is provided with a double-layer jaw for gripping a rock plate with a hole. The rock plate can be fixed from both the upper and lower faces of the rock plate.

The utility model has the positive effects that:

1. the quick replacement of different grippers of the power-assisted manipulator for rock plate grabbing is realized through the quick replacement device.

2. The power rod drives the connecting rod device to do 90-degree turnover motion, so that the aim of horizontally placing the rock plate to vertically placing the rock plate is fulfilled.

3. Through the air pressure calibrator, the air pressure of the sucker is controlled in real time, and the grabbing safety is guaranteed.

Drawings

Figure 1 is an elevation view of a flexible rock panel gripping robot of the present invention;

figure 2 is a cross-sectional view a-a of a flexible rock plate gripping robot of the present invention shown in figure 1;

FIG. 3 is an enlarged view of the flexible rock plate grabbing robot of the present invention shown in FIG. 2 at B;

FIG. 4 is a three-dimensional schematic view of the flexible rock plate gripping robot pneumatic suction cup gripper of the present invention shown in FIG. 3;

illustration of the drawings: the quick-change device comprises a vertical column 1, a telescopic arm 2, a power rod 3, an operating handle 4, a connecting rod 5, a pneumatic claw gripper 6, a quick-change device 7, a sucker 8, a fixing plate 9, a shaft shoulder 10, a clamping groove 11, a fixing shaft 12, a spring 13, a pull rod 14, a quick-change device base 15, an air cylinder 16, a cylinder 17, a sliding block 18, a push rod 19, a central hole 20 and a fixing block 21.

Detailed Description

The utility model is described in detail below with reference to the following figures and specific embodiments:

the specific embodiment is as follows:

in the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

Specific implementations of the present invention are described in detail below with reference to specific embodiments.

The first embodiment is as follows:

a flexible rock plate grasping robot comprising:

the device comprises an upright post 1, wherein a fixed seat is arranged at the bottom of the upright post 1, the upright post is fixed on the ground or a related equipment platform, and a driving motor of a flexible rock plate grabbing mechanical arm and an air source connector of a pneumatic module are further fixed on the upright post 1.

The telescopic boom 2 is characterized in that the left end of the telescopic boom 2 is connected to the top of the stand column, the right end of the telescopic boom 2 is provided with a quick change device 7, the quick change device 7 is fixed at the right end of the telescopic boom through a connecting rod device, the connecting rod device comprises a power rod 3 and a connecting rod 5 connected with the power rod through a shaft, and the power rod 3 and the connecting rod 5 are respectively connected with the telescopic boom through a shaft.

The quick-change device is provided with a fixed block 21 on the circumference of a central hole 20, a pull rod 14 and a spring 13 are fixed at the tail part of the fixed block 21, and the spring 13 pushes the fixed block to the axial direction of the central hole 21.

A pneumatic sucker gripper or a pneumatic claw gripper 6 is fixed in the quick-change device.

When in specific use:

for example, as shown in fig. 4 and 3, when the pulling rod 14 is pulled, the fixing block 21 is pulled out of the clamping groove 11, the fixing shaft 12 of the pneumatic claw gripper 6 is withdrawn from the central hole 20, the fixing shaft 12 of the pneumatic sucker gripper is inserted into the central hole 20, the fixing block 21 moves toward the axial direction of the central hole 20 under the action of the spring 13 and is clamped into the clamping groove 11, and the fixing shaft 12 is fixed, so that the replacement is completed.

The second embodiment is as follows:

on the basis of the first specific embodiment, as shown in fig. 4, the pneumatic sucker gripper includes a sucker 8, a fixing plate 9, a shoulder 10, a clamping groove 11, and a fixing shaft 12, wherein the sucker 8 is fixed at the bottom of the fixing plate 9, the fixing shaft 12 is fixed at the top of the fixing plate 9, the shoulder 10 is arranged at the middle part of the fixing shaft 12 and used for limiting the fixing shaft 12 when being inserted into the central hole 20, and the clamping groove 11 is matched with the fixing block 21 to fix the fixing shaft.

The third concrete embodiment:

on the basis of the first specific embodiment, the pneumatic claw gripper 6 comprises an air cylinder 16, a cylinder 17, three sliding blocks 18 and a push rod 19, wherein the push rod 19 and the sliding blocks 18 are arranged in the cylinder 17, the push rod 19 is fixed with a piston rod of the air cylinder 16, the three sliding blocks 18 are evenly distributed along the circumference of the cylinder and are arranged on the wall of the movable claw gripper in a sliding mode, the push rod 19 linearly reciprocates along the axis of the cylinder 17, and the sliding blocks 18 are pushed to the wall of the cylinder to shrink the axis close to the cylinder or disperse the axis far away from the cylinder 17.

The foregoing has outlined broadly some of the aspects and features of the various embodiments, which should be construed to be merely illustrative of various potential applications. Other beneficial results can be obtained by applying the disclosed information in a different manner or by combining various aspects of the disclosed embodiments. Other aspects and a more complete understanding may be obtained by reference to the detailed description of the exemplary embodiments taken in conjunction with the accompanying drawings, based on the scope defined by the claims.

In addition, the utility model also discloses the following technical scheme:

the first scheme is as follows:

the pneumatic sucker gripper is provided with an air pressure detector, when the air pressure in the sucker is lower than a set value, the manipulator is fed back and controlled to alarm, the air pressure of the sucker is controlled in real time, and the grabbing safety is guaranteed.

The above examples illustrate the present invention in detail. It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions, deletions, and substitutions which may be made by those skilled in the art within the spirit of the present invention are also within the scope of the present invention.

Claims

1. A flexible rock plate grasping robot comprising:

the upright post supports the manipulator and fixes the manipulator at a specified position;

one end of the telescopic arm is connected to the upright column and drives the manipulator to a specified position, the tail end of the telescopic arm is movably connected with a gripper,

the method is characterized in that:

the tail end of the telescopic arm is provided with a connecting rod device, the connecting rod device is provided with a power rod, and the power rod drives the connecting rod device to perform 90-degree overturning motion;

2. The flexible rock plate grabbing manipulator as claimed in claim 1, wherein the center of the quick-change device is provided with a central hole, the central hole is provided with a fixing block perpendicular to the axis of the hole, and the fixing block is slidably arranged on the wall of the hole.

3. The flexible rock plate grabbing manipulator as claimed in claim 2, wherein a spring is connected to one end of the fixed block and pushes the fixed block to slide.

4. A flexible rock panel gripping robot as claimed in claim 3, wherein the power rod is a pneumatic cylinder.

5. A flexible rock plate gripping manipulator according to any one of claims 1 to 4, characterised in that the grippers comprise pneumatic suction cup grippers and pneumatic jaw grippers, each of which are alternatively secured to the end of a telescopic arm by said quick-change means.

6. A flexible rock plate gripping manipulator according to claim 5, wherein the pneumatic suction cup gripper is provided with an air pressure gauge, the feedback control of the manipulator giving an alarm when the air pressure in the suction cup is below a set value.

7. A flexible rock plate gripping robot as claimed in claim 5, wherein the pneumatic jaw gripper is provided with a double layer jaw for gripping a rock plate with a hole.