CN216421571U - A discharge apparatus for manipulator - Google Patents

Abstract

The utility model discloses a discharge apparatus for manipulator relates to automatic unloading equipment technical field. The discharging device comprises a fixed plate, wherein two or more clamping assemblies are fixedly connected to the fixed plate along the circumferential direction; the clamping assembly comprises an air cylinder and a clamping block hinged to the fixing plate, the air cylinder is connected with the clamping block through a push rod, the air cylinder can be used for driving the clamping block to open or close the fixing plate, a leakage hole is formed in the fixing plate, and a material box used for collecting materials is arranged at the lower end of the fixing plate. This discharge apparatus structural design is reasonable compact, arranges through circumferencial direction on the fixed plate that the clamp is got the subassembly, realizes that diversified automation is got and is got the material, has reduced the cost of labor, and the subassembly can be got simultaneously or the material is got to selective clamp to a plurality of clamps, promotes the efficiency and the accuracy of getting the material, causes when having avoided on the manipulator not having the material to get and gets the action and repeat.

Description

A discharge apparatus for manipulator

Technical Field

The utility model relates to an automatic change the unloading equipment technical field, especially relate to an unloader for manipulator.

Background

When mechanical equipment is stopped or maintained as required, the equipment needs to be unloaded, for example, in an automatic screwing and taking screw machine, a manipulator is generally adopted to absorb materials, a plurality of absorbing parts are fixed on the manipulator and absorb screws through the absorbing parts, and after the screws are screwed, the screws which do not meet the standard or slide are required to be taken down, and then the screws are required to be unloaded; and present mostly the manual work is unloaded or is adopted other manipulator to rotate and lift off the material on the suction piece respectively, leads to long consuming time, and the cost of labor is high, and it is inefficient to unload, also is difficult to judge simultaneously whether have the material on the manipulator, if do not have the material still unload, causes the action repetition.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the aforesaid problem to current discharge apparatus, providing a structural design is reasonable compact, and the automation is got the material, can accurately get the material in order to improve and get material efficiency, is convenient for collect the discharge apparatus who is used for the manipulator of material simultaneously.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the discharging device for the manipulator comprises a fixed plate, wherein two or more clamping assemblies are fixedly connected to the fixed plate along the circumferential direction; the clamping assembly comprises an air cylinder and a clamping block hinged to the fixing plate, the air cylinder is connected with the clamping block through a push rod, the air cylinder can be used for driving the clamping block to open or close, a leakage hole is formed in the fixing plate, and a material box used for collecting materials is arranged at the lower end of the fixing plate.

Preferably, the clamping assembly comprises a hollow support vertically arranged on the fixing plate, the clamping block comprises a first rotating clamp and a second rotating clamp which are hinged to the upper end of the support and oppositely arranged, and the cylinder is located inside the support.

Preferably, first commentaries on classics clamp and second commentaries on classics clamp are all including being clamping part and the promotion portion of predetermineeing angle body coupling, the junction of clamping part and promotion portion is articulated with the upper end of support, the one end that clamping part was kept away from to the promotion portion is articulated with the push rod.

Preferably, the side wall of the clamping part is detachably connected with a clamping plate.

Preferably, the fixed plate is vertically fixed with an inserting strip, two sides of the support are provided with inserting holes matched with the inserting strip, and the support and the inserting strip are detachably mounted.

Preferably, the number of the leakage holes is multiple, and the leakage holes are respectively arranged between the adjacent brackets.

Preferably, the number of the clamping assemblies is four or more, and the plurality of clamping assemblies are distributed in an array around the circumferential direction of the fixing plate.

Preferably, the fixing plate is disc-shaped, and an outer cover is connected around the edge of the fixing plate.

Preferably, one side of the fixing plate is connected with a supporting frame, the other side of the supporting frame is connected with a hollow bus board, the air cylinder is connected with the bus board through an air pipe, and the side wall of the bus board is provided with a plurality of air pipe connectors matched with the air pipe.

Preferably, a reinforcing rib is arranged at the joint of the fixing plate and the supporting frame.

Preferably, one end of the supporting frame is connected with a bottom plate arranged opposite to the fixing plate, and the material box is placed on the bottom plate; the bottom of the material box is connected with a pulley, and the bottom plate is provided with a sliding chute matched with the pulley.

Preferably, a handle is arranged on one side of the material box.

Preferably, the discharging device is connected with the manipulator through a control device; the manipulator comprises a rotating disc and a batch head assembly connected to the rotating disc, a magnet used for sucking materials is arranged at one end of the batch head assembly, and the batch head assembly corresponds to the clamping assembly.

Preferably, the manipulator is further provided with a material detector connected with the control device, and the material detector can be used for detecting whether materials exist at the end part of the batch head assembly.

Compared with the prior art, the beneficial effects of the utility model reside in that: the discharging device comprises a fixed plate, wherein two or more clamping assemblies are fixedly connected to the fixed plate along the circumferential direction; the clamping assembly comprises an air cylinder and a clamping block hinged to the fixing plate, the air cylinder is connected with the clamping block through a push rod, the air cylinder can be used for driving the clamping block to open or close, a leakage hole is formed in the fixing plate, and a material box used for collecting materials is arranged at the lower end of the fixing plate. This discharge apparatus structural design is reasonable compact, arranges through circumferencial direction on the fixed plate that the clamp is got the subassembly, realizes that diversified automation is got and is got the material, has reduced the cost of labor, and the subassembly can be got simultaneously or the material is got to selective clamp to a plurality of clamps, promotes the efficiency and the accuracy of getting the material, causes when having avoided on the manipulator not having the material to get and gets the action and repeat.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a structural diagram of a discharging device in an embodiment of the present invention;

fig. 2 is an exploded view of a discharge device in an embodiment of the present invention;

fig. 3 is an exploded view of a gripping assembly of the discharge apparatus in an embodiment of the present invention;

fig. 4 is a clamping state diagram of the clamping assembly of the discharging device in the embodiment of the present invention;

fig. 5 is another clamping state diagram of the clamping assembly of the discharging device in the embodiment of the present invention;

in the figure: 10 is a fixing plate, 11 is a plug strip, 12 is a leak hole, 20 is a clamping component, 21 is a first rotating clamp, 211 is a clamping part, 212 is a pushing part, 213 is a clamping plate, 22 is an air cylinder, 23 is a push rod, 231 is a second pin shaft, 24 is a support, 241 is a plug hole, 242 is a first air pipe connector, 30 is a support frame, 31 is a reinforcing rib, 40 is a bus plate, 41 is a second air pipe connector, 42 is a third air pipe connector, 50 is a material box, 51 is a handle, 60 is an outer cover, 70 is a cover plate, 71 is a connecting plate, 80 is a rotating disc, 81 is a batch head component, and 82 is a screw.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.

In the description of the present application, it is to be understood that the terms "intermediate," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and thus should not be construed as limiting the present application. 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 to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In addition, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example (b): referring to fig. 1 to 5, this embodiment mainly aims at the problems that the existing discharging method is manual discharging or another manipulator is adopted to rotate and respectively discharge the materials on the suction piece, which results in long time consumption, high labor cost, low discharging efficiency, and it is difficult to judge whether there is any material on the manipulator, and if there is no material, the manipulator still discharges the material, which results in repeated actions, etc., and provides a discharging device, which is mainly applied to discharging the materials on the manipulator, in this embodiment, the materials are screws 82, the manipulator is used to load and unload the screws 82 on the products, the manipulator includes a rotating disc 80 and a bit assembly 81 connected to the rotating disc 80, one end of the bit assembly 81 is provided with a magnet for absorbing the materials, when the manipulator needs to unload when being stopped or maintained due to requirements, or the screws 82 which do not conform to the standard or slide wires need to be removed after the screws 82 are screwed, the screw 82 on the magnet is unloaded by the unloading device; in this embodiment, the number of the batch head components 81 is plural, and the batch head components are distributed around the circumferential direction of the rotating plate, so that the screws 82 can be simultaneously dismounted, and the dismounting efficiency is improved.

Specifically, referring to fig. 1 and 2, the discharging device includes a fixed plate 10, in this embodiment, the fixed plate 10 has a disc-shaped structure, two or more clamping assemblies 20 are fixedly connected to the fixed plate 10 along a circumferential direction, and a batch head assembly 81 corresponds to the clamping assemblies 20; get the screw 82 of wholesale head subassembly 81 tip through getting subassembly 20 and press from both sides, seted up the small opening 12 on the fixed plate 10, the lower extreme of fixed plate 10 is equipped with the material box 50 that is used for collecting the material, gets the screw 82 that subassembly 20 got and drops to the material box 50 in through the small opening 12 to be convenient for collect screw 82. In the present embodiment, the number of the clamping assemblies 20 is four or more, and the plurality of clamping assemblies 20 are distributed around the circumferential direction of the fixing plate 10 in an array manner; further, the number of gripping assemblies 20 is six; the clamping assembly 20 comprises an air cylinder 22 and clamping blocks hinged to the fixing plate 10, the air cylinder 22 is connected with the clamping blocks through a push rod 23, the air cylinder 22 can be used for driving the clamping blocks to open or close, when the batch head assembly 81 moves to the upper end of the clamping assembly 20, the air cylinder 22 drives the clamping blocks to open and clamp the screw 82, and after the batch head assembly 81 is separated from the batch head assembly 81, the air cylinder 22 drives the clamping blocks to open and enable the clamping blocks to fall into the material box 50 along the leakage holes 12; the clamping assemblies 20 are arranged on the fixing plate 10 in the circumferential direction, so that materials can be automatically clamped in multiple directions, and labor cost is reduced.

Specifically, the discharging device is connected with the manipulator through the control device; still be equipped with the material detector who is connected with controlling means on the manipulator, in this embodiment, the material detector can be infrared sensor, can be used to detect whether there is the material at the tip of criticizing first subassembly 81 through material sensor, and will detect information transmission to controlling means, when criticizing first subassembly 81 and moving to getting the upper end of getting subassembly 20, get subassembly 20 through the corresponding clamp of controlling means control, thereby take off the material of criticizing first subassembly 81 tip, can realize through controlling means that it gets subassembly 20 and carry out one-to-one accurate clamp to criticize first subassembly 81, it gets subassembly 20 repeated invalid clamp to get to have avoided criticizing first subassembly 81 tip not to have the material time to get.

Specifically, referring to fig. 3 to 5, the clamping assembly 20 includes a hollow bracket 24 vertically disposed on the fixing plate 10, in this embodiment, the fixing plate 10 is vertically fixed with an insertion strip 11, two sides of the bracket 24 are provided with insertion holes 241 adapted to the insertion strip 11, and the bracket 24 and the insertion strip 11 are detachably and fixedly assembled.

Specifically, the clamping block comprises a first rotating clamp 21 and a second rotating clamp which are hinged at the upper end of the bracket 24 and are oppositely arranged, and the air cylinder 22 is positioned inside the bracket 24. In this embodiment, referring to fig. 4 and 5, which are schematic clamping views, the air cylinder 22 is vertically fixed inside the bracket 24, and the bracket 24 is provided with a first air pipe joint 242 communicated with the air cylinder 22, so that the air cylinder 22 drives the push rod 23 to normally work. Specifically, the first rotating clamp 21 and the second rotating clamp both comprise a clamping portion 211 and a pushing portion 212 which are integrally connected at a preset angle, the first rotating clamp and the second rotating clamp are both L-shaped, the joint of the clamping portion 211 and the pushing portion 212 is hinged to the upper end of the support 24 through a first pin shaft, one end, far away from the clamping portion 211, of the pushing portion 212 is hinged to the push rod 23 through a second pin shaft 231, and due to the fact that the first rotating clamp 21 and the second rotating clamp are arranged oppositely, when the push rod 23 moves up and down, the first rotating clamp 21 and the second rotating clamp are driven to rotate by taking the first pin shaft as a fulcrum, so that the clamping portion 211 on the first rotating clamp 21 and the second rotating clamp tightly clamp materials; in a specific embodiment, in order to avoid the damage to the first rotating clamp 21 and the second rotating clamp caused by the long-term material clamping, the side wall of the clamping portion 211 is detachably connected with the clamping plate 2, the clamping plate 213 is fixed on the side wall of the clamping portion 211 through a bolt, the material is clamped through the clamping plate 213, and the first rotating clamp 21 and the second rotating clamp are prevented from directly contacting the material.

Specifically, the number of the leakage holes 12 is plural, and the leakage holes are respectively arranged between the adjacent brackets 24, in this embodiment, the leakage holes 12 are fan-shaped openings and are arranged around the circumferential direction of the fixing plate 10, so that the material can fall into the material box 50; specifically, an outer cover 60 is connected around the edge of the fixing plate 10 to prevent the material taken down by the gripping assembly 20 from falling out of the material taking box.

Specifically, one side of the fixing plate 10 is connected with a supporting frame 30, the other side of the supporting frame 30 is connected with a hollow bus bar 40, the air cylinder 22 is connected with the bus bar 40 through an air pipe, and the side wall of the bus bar 40 is provided with a plurality of second air pipe connectors 41 matched with the air pipe. In this embodiment, the fixing plate 10 is fixed in the upper end of the supporting frame 30, the reinforcing rib 31 is arranged at the joint of the fixing plate 10 and the supporting frame 30, the other side of the supporting frame 30 is connected with the hollow bus bar 40, the bus bar 40 is provided with a plurality of second air pipe connectors 41 which are communicated with each other, the first air pipe connectors 242 and the second air pipe connectors 41 are in one-to-one correspondence, the air pipe connections are connected, the bus bar 40 is further provided with a third air pipe connector 42, the third air pipe connector 42 is connected with an external air pipe to control the multiple air cylinders 22 to work simultaneously, and screws 82 on the multiple batch head assemblies 81 can be taken down simultaneously. Of course, in another embodiment, the first air pipe joint 242 may directly connect with the external air pipe, that is, the plurality of air cylinders 22 respectively work independently, and the control device controls the single air cylinder 22 to remove the screw 82 on the batch head assembly 81 corresponding to the single air cylinder 22.

Specifically, because the material box 50 is located below the fixed plate 10, and the material box 50 is filled with metal materials, it is difficult for an operator to carry the material box 50 after collecting the materials, in this embodiment, one end of the supporting frame 30 is connected with a bottom plate arranged opposite to the fixed plate 10, and the material box 50 is located on the bottom plate; the bottom end of the material box 50 is connected with a pulley, the bottom plate is provided with a sliding groove matched with the pulley, furthermore, one side of the material box 50 is provided with a handle 51, the pulley slides along the sliding groove by drawing the handle 51, so that the material box 50 can be conveniently moved out, and the manual operation difficulty is reduced.

Further, a cover plate 70 is connected to the fixed plate 10 through a connecting plate 71, and the gripping assembly 20 is disposed around the edge of the cover plate 70, so as to improve the overall aesthetic appearance of the discharging device.

The discharging device comprises a fixed plate 10, wherein two or more clamping assemblies 20 are fixedly connected to the fixed plate 10 along the circumferential direction; the clamping assembly 20 comprises an air cylinder 22 and clamping blocks hinged to the fixing plate 10, the air cylinder 22 is connected with the clamping blocks through a push rod 23, the air cylinder 22 can be used for driving the clamping blocks to open or close, the fixing plate 10 is provided with a leakage hole 12, and the lower end of the fixing plate 10 is provided with a material box 50 for collecting materials. This discharge apparatus structural design is reasonable compact, arranges through circumferencial direction on fixed plate 10 that the clamp gets subassembly 20, realizes that diversified automation is got the material, has reduced the cost of labor, and a plurality of clamps get subassembly 20 can be simultaneously or the selective clamp get the material, promote the efficiency and the accuracy of getting the material, cause when having avoided on the manipulator not having the material to get the action and repeat.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The discharging device for the manipulator is characterized by comprising a fixed plate, wherein two or more clamping assemblies are fixedly connected to the fixed plate along the circumferential direction; the clamping assembly comprises an air cylinder and a clamping block hinged to the fixing plate, the air cylinder is connected with the clamping block through a push rod, the air cylinder can be used for driving the clamping block to open or close, a leakage hole is formed in the fixing plate, and a material box used for collecting materials is arranged at the lower end of the fixing plate.

2. The discharging device for the manipulator according to claim 1, wherein the clamping assembly comprises a hollow bracket vertically arranged on the fixing plate, the clamping block comprises a first rotating clamp and a second rotating clamp hinged to the upper end of the bracket and oppositely arranged, and the air cylinder is positioned inside the bracket.

3. The discharging device for the manipulator according to claim 2, wherein the first rotating clamp and the second rotating clamp each comprise a clamping portion and a pushing portion which are integrally connected at a preset angle, the joint of the clamping portion and the pushing portion is hinged to the upper end of the support, and one end, far away from the clamping portion, of the pushing portion is hinged to the push rod.

4. The discharging device for the robot hand according to claim 2, wherein the number of the gripping assemblies is four or more, and a plurality of the gripping assemblies are arranged in an array around a circumferential direction of the fixed plate.

5. The discharging device for the robot hand of claim 1, wherein the fixing plate is disc-shaped, and a cover is attached around an edge of the fixing plate.

6. The discharging device for the manipulator according to claim 5, wherein a supporting frame is connected to one side of the fixing plate, a hollow bus bar is connected to the other side of the supporting frame, the air cylinder is connected with the bus bar through an air pipe, and a plurality of air pipe joints matched with the air pipe are arranged on the side wall of the bus bar.

7. The discharging device for the manipulator according to claim 6, wherein a reinforcing rib is provided at a joint of the fixing plate and the support frame.

8. The discharging device for the manipulator according to claim 6, wherein a bottom plate arranged opposite to the fixing plate is connected to one end of the supporting frame, and the material box is placed on the bottom plate; the bottom of the material box is connected with a pulley, and the bottom plate is provided with a sliding chute matched with the pulley.

9. The discharging device for the manipulator according to claim 1, wherein the discharging device is connected with the manipulator through a control device; the manipulator comprises a rotating disc and a batch head assembly connected to the rotating disc, a magnet used for sucking materials is arranged at one end of the batch head assembly, and the batch head assembly corresponds to the clamping assembly.

10. The discharging device for the mechanical arm as claimed in claim 9, wherein the mechanical arm is further provided with a material detector connected with the control device, and the material detector can be used for detecting whether the end of the batch head assembly has the material.

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