CN216464648U - Clamping manipulator and sleeve inserting device - Google Patents
Clamping manipulator and sleeve inserting device Download PDFInfo
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- CN216464648U CN216464648U CN202120818734.6U CN202120818734U CN216464648U CN 216464648 U CN216464648 U CN 216464648U CN 202120818734 U CN202120818734 U CN 202120818734U CN 216464648 U CN216464648 U CN 216464648U
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- 238000003825 pressing Methods 0.000 claims abstract description 22
- 230000000903 blocking effect Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
According to the clamping manipulator and the sleeve inserting device, by arranging the support plate, the material blocking sleeve and the clamping module, when a sleeve needs to be clamped, the transverse moving cylinder outputs power to drive the connecting block to move towards the direction close to the stop block, when the sliding column contacts the stop block, the sliding column can push and hold the pressing block to compress the pressure spring, at the moment, the left V-shaped groove and the right V-shaped groove can be separated from each other, the sleeve can be placed in the clamping module, then the transverse moving cylinder outputs power to reset the connecting block, the pressing block can slowly approach the connecting block under the action of the pressure spring, the left V-shaped groove and the right V-shaped groove can approach each other, the sleeve can be stably clamped in the groove formed by the left V-shaped groove and the right V-shaped groove, the clamping of the sleeve is completed without depending on the output power of the clamping jaw cylinder, and the overall manufacturing cost of the clamping manipulator is reduced; because the sleeve is by the centre gripping between connecting block and briquetting, centre gripping stability is strong.
Description
Technical Field
The utility model relates to the technical field of automation equipment, in particular to a clamping manipulator and a sleeve inserting device.
Background
In the process of workpiece machining production, for example, rod-shaped workpieces are machined and produced, in order to track the rod-shaped workpieces at the later stage, sleeves are inserted into the rod-shaped workpieces, corresponding numbers are printed on the sleeves, and one rod-shaped workpiece corresponds to one sleeve.
As shown in fig. 1, which is a schematic structural diagram of a sleeve 20 in the prior art, the clamping, transferring and inserting of the sleeve 20 are performed by a robot device, which includes a clamping jaw cylinder and a clamping jaw, the clamping jaw cylinder outputs power to make two clamping jaws approach to each other to clamp the sleeve 20, and then the clamping jaw cylinder is moved to a predetermined inserting position to insert the sleeve 20 into a rod-shaped workpiece. Although the structure can well complete the inserting and connecting process, the defect still exists, and the clamping operation is completed by utilizing the mode that the clamping jaw cylinder drives the clamping jaw, so that the clamping jaw cylinder is a necessary structural member, and the clamping jaw cylinder can improve the manufacturing cost of the manipulator device and is not beneficial to the profit of enterprises; in addition, because sleeve 20 is less, adopts the structure of clamping jaw cylinder drive clamping jaw, and the sleeve drops from the clamping jaw easily at the in-process that shifts, and this can influence grafting efficiency undoubtedly.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provide a clamping manipulator and a sleeve inserting device which can stabilize a clamping jaw sleeve, prevent the sleeve from falling off easily and have lower manufacturing cost.
The purpose of the utility model is realized by the following technical scheme:
a gripping manipulator, comprising:
a carrier plate;
the material blocking sleeve comprises a frame body, a stop block and a spring, the frame body is arranged on the carrier plate, the stop block is arranged on the frame body in a sliding mode, and the spring is connected with the frame body and the stop block respectively; and
the clamping module comprises a transverse moving cylinder, a connecting block, a pressing block and a pressure spring, the transverse moving cylinder is arranged on the support plate and used for driving the connecting block to move in the direction close to or away from the stop block, a left V-shaped groove is formed in the connecting block, a sliding column is arranged on the pressing block and arranged on the connecting block in a sliding mode, part of the sliding column is exposed out of the connecting block, a right V-shaped groove is formed in the pressing block, and the pressure spring is connected with the connecting block and the pressing block respectively.
In one embodiment, the clamping module further comprises a guide rail, the guide rail is disposed on the carrier plate, and the connecting block is slidably disposed on the guide rail.
The utility model provides a sleeve plug-in connection device, includes above-mentioned press from both sides get the manipulator, still includes:
the feeding module comprises a vibrator and a material pipe, the vibrator is arranged on the support plate, the material pipe is arranged on the vibrator, a material channel is formed in the material pipe and provided with a feeding end and a discharging end, and the stop block is close to the discharging end;
the sliding module comprises a sliding rail, a sliding block, a sliding cylinder and a double-control electromagnetic valve, the sliding rail is arranged on the carrier plate, the sliding block is arranged on the sliding rail in a sliding manner, the sliding cylinder is arranged on the carrier plate, a driving shaft of the sliding cylinder is connected with the sliding block, the double-control electromagnetic valve is connected with the sliding cylinder, and the transverse moving cylinder is arranged on the sliding block; and
the manipulator is arranged on the support plate and used for clamping the rod body.
In one embodiment, the feeding module further comprises a material shell, a turntable cylinder, a rack, a one-way bearing, a driven gear sleeve and a turntable, wherein the material shell is arranged on the carrier plate, the feeding end of the material channel is positioned in the material shell, the turntable cylinder is arranged on the carrier plate, the rack is connected with a driving shaft of the turntable cylinder, the one-way bearing is rotatably arranged on the material shell, the driven gear sleeve is arranged on the one-way bearing, the turntable is positioned in the material shell, a plurality of material pouring bent pieces are uniformly arranged on the turntable, and the turntable is connected with the one-way bearing.
In one embodiment, the feeding module further comprises an auxiliary bearing, the auxiliary bearing is rotatably mounted on the material shell, and the auxiliary bearing is in contact with the rack.
In one embodiment, the manipulator comprises a fixed block, a short-range guide rail, a short-range cylinder, an installation block, a long-range guide rail, a long-range cylinder, a first clamping hand and a second clamping hand, wherein the fixed block is arranged on the support plate, the short-range guide rail is slidably arranged on the fixed block, a drive shaft of the short-range cylinder is connected with the short-range guide rail, the installation block is connected with a drive shaft of the short-range cylinder, the long-range guide rail is slidably arranged on the installation block, the drive shaft of the long-range cylinder is connected with the long-range guide rail, the first clamping hand is connected with the drive shaft of the long-range cylinder, and the second clamping hand is arranged on the support plate.
Compared with the prior art, the utility model at least has the following advantages and beneficial effects:
according to the clamping manipulator and the sleeve inserting device, by arranging the support plate, the material blocking sleeve and the clamping module, when a sleeve needs to be clamped, the transverse moving cylinder outputs power to drive the connecting block to move towards the direction close to the stop block, when the sliding column contacts the stop block, the sliding column can push the pressing block to compress the pressure spring, at the moment, the left V-shaped groove and the right V-shaped groove can be separated from each other, the sleeve can be placed in the clamping module, then the transverse moving cylinder outputs power to reset the connecting block, the pressing block can slowly approach the connecting block under the action of the pressure spring, the left V-shaped groove and the right V-shaped groove can approach each other, the sleeve can be stably clamped in the groove formed by the left V-shaped groove and the right V-shaped groove, the clamping of the sleeve is completed by adopting a mechanical structure, the clamping of the sleeve is not required to be clamped by the output power of the clamping jaw cylinder, and the overall manufacturing cost of the clamping manipulator can be greatly reduced; in addition, the sleeve is clamped between the connecting block and the pressing block, so that the sleeve cannot easily fall off from the groove surrounded by the left V-shaped groove and the right V-shaped groove in the transferring process, and the clamping stability is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is an assembly structure diagram of a sleeve insertion device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a material stopping sleeve and a clamping module according to an embodiment of the present invention;
FIG. 3 is a schematic view of an assembly structure of a connecting block and a pressing block according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a loading module according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a cartridge shell according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot in an embodiment of the present invention.
Detailed Description
To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, a clamping robot 100 includes a carrier plate 110, a material stopping sleeve 120, and a clamping module 130.
Thus, it should be noted that the carrier plate 110 plays a role of carrying; the material blocking sleeve member 120 is used for blocking materials and is matched with an external feeding device for use; the clamping module 130 functions as a clamping sleeve.
Referring to fig. 2, the material blocking kit 120 includes a frame 121, a stopper 122 and a spring 123, the frame 121 is disposed on the carrier plate 110, the stopper 122 is slidably disposed on the frame 121, and the spring 123 is respectively connected to the frame 121 and the stopper 122.
Thus, it should be noted that the frame body 121 plays a role of bearing; the stopper 122 plays a role of stopping the material; the spring 123 functions as a return. For example, the feeding device can be used in combination with an external feeding device, the external feeding device has a discharge hole, in the blocking state, the spring 123 provides an elastic force to move the stopper 122 to the discharge hole position of the external feeding device, and the stopper 122 blocks the sleeve to be fed; when not being in the state of keeping off the material, dog 122 compression spring 123 under the effort, because dog 122 shelters from the discharge gate, the sleeve just can accomplish the ejection of compact operation this moment.
Referring to fig. 2 and 3, the clamping module 130 includes a traverse cylinder 131, a connecting block 132, a pressing block 133 and a pressure spring 134, the traverse cylinder 131 is disposed on the carrier plate 110, the traverse cylinder 131 is used for driving the connecting block 132 to move toward or away from the stopper 122, a left V-shaped groove 1321 is disposed on the connecting block 132, a sliding column 1331 is disposed on the pressing block 133, the sliding column 1331 is slidably disposed on the connecting block 132, a part of the sliding column 1331 is exposed out of the connecting block 132, a right V-shaped groove 1332 is disposed on the pressing block 133, and the pressure spring 134 is respectively connected to the connecting block 132 and the pressing block 133.
Thus, it should be noted that, when the clamping module 130 starts to work, the traverse cylinder 131 outputs power to drive the connecting block 132 to move toward the direction close to the stopper 122, when the connecting block 132 moves to a predetermined position, the sliding column 1331 will push the pressing block 133 due to contact with the stopper 122, so as to move the right V-shaped groove 1332 toward the direction away from the left V-shaped groove 1321, at this time, the clamping module 130 is in an open state, the external feeding device feeds the sleeve to the position between the left V-shaped groove 1321 and the right V-shaped groove 1332, then the traverse cylinder 131 outputs power to reset the connecting block 132, under the action of the pressure spring 134, the pressing block 133 will slowly approach the connecting block 132, the left V-shaped groove 1321 and the right V-shaped groove 1332 will approach each other, the sleeve will be stably clamped in the groove surrounded by the left V-shaped groove 1321 and the right V-shaped groove 1332, because the clamping module adopts a mechanical structure to clamp the sleeve, the clamping module does not need to rely on the power output by the clamping jaw, the entire manufacturing cost of the gripping robot 100 can be greatly reduced.
It should be noted that, in addition, because the sleeve is clamped between the connecting block 132 and the pressing block 133, the sleeve cannot easily fall off from the groove surrounded by the left V-shaped groove 1321 and the right V-shaped groove 1332 in the transferring process, and the clamping stability is strong.
Further, referring to fig. 2 again, in an embodiment, the clamping module 130 further includes a guide rail 135, the guide rail 135 is disposed on the carrier 110, and the connecting block 132 is slidably disposed on the guide rail 135.
Thus, it should be noted that the guide rail 135 is provided to allow the connecting block 132 to move more smoothly and rapidly.
Referring to fig. 1, a socket plugging apparatus including the above-mentioned clamping robot 100, a loading module 200, a sliding module 300, and a robot 400 is described.
Thus, it should be noted that the gripping manipulator 100 is used for gripping the sleeve; the feeding module 200 is used for feeding the sleeve; the sliding module 300 is used for driving the clamping manipulator 100 to preset a preset position and inserting the sleeve to the rod body; the robot 400 plays a role of gripping the rod body.
Referring to fig. 4, the feeding module 200 includes a vibrator 210 and a material tube 220, the vibrator 210 is disposed on the carrier plate 110, the material tube 220 is disposed on the vibrator 210, a material channel 221 is disposed on the material tube 220, the material channel 221 has a feeding end and a discharging end, and the stopper 122 is close to the discharging end.
Thus, it should be noted that, when the loading module 200 starts to work, the sleeve is placed in the material channel 221 of the material pipe 220, and the vibrator 210 vibrates, so that the sleeve placed in the material channel 221 is slowly transferred from the feeding end to the discharging end, and then is gripped by the gripping manipulator 100 from the discharging end.
It should be noted that, when the sleeve moves to the predetermined position, the clamping manipulator 100 is in an open state, that is, the right V-shaped groove 1332 moves away from the left V-shaped groove 1321, at this time, the clamping module 130 is in an open state, the feeding module 200 feeds the sleeve to a position between the left V-shaped groove 1321 and the right V-shaped groove 1332, then the traversing cylinder 131 outputs power to reset the connecting block 132, the pressing block 133 is slowly close to the connecting block 132 under the action of the pressure spring 134, the left V-shaped groove 1321 and the right V-shaped groove 1332 are close to each other, and the sleeve is stably clamped in the groove surrounded by the left V-shaped groove 1321 and the right V-shaped groove 1332.
Referring to fig. 1, the sliding module 300 includes a sliding rail 310, a sliding block 320, a sliding cylinder 330, and a dual-control solenoid valve, the sliding rail 310 is disposed on the carrier plate 110, the sliding block 320 is slidably disposed on the sliding rail 310, the sliding cylinder 330 is disposed on the carrier plate 110, a driving shaft of the sliding cylinder 330 is connected to the sliding block 320, the dual-control solenoid valve is connected to the sliding cylinder 330, and the traverse cylinder 131 is disposed on the sliding block 320.
Referring to fig. 1, a robot 400 is disposed on a carrier 110, and the robot 400 is used for clamping a rod.
Therefore, it should be noted that, when the sleeve needs to be inserted, the rod body is clamped by the manipulator 400, and then the sliding cylinder 330 outputs power to drive the slider 320 to move along the slide rail 310, so as to insert the sleeve onto the rod body; in addition, the double control solenoid valve is provided to allow the slide cylinder 330 to have three strokes, i.e., the slider 320 can move to three position points.
Further, referring to fig. 4 and 5, in an embodiment, the feeding module 200 further includes a material housing 230, a turntable cylinder 240, a rack 250, a one-way bearing 260, a driven gear sleeve 270, and a turntable 280, the material housing 230 is disposed on the carrier plate 110, a feeding end of the material channel 221 is located in the material housing 230, the turntable cylinder 240 is disposed on the carrier plate 110, the rack 250 is connected to a driving shaft of the turntable cylinder 240, the one-way bearing 260 is rotatably mounted on the material housing 230, the driven gear sleeve 270 is sleeved on the one-way bearing 260, the turntable 280 is located in the material housing 230, a plurality of material pouring bending pieces 281 are uniformly disposed on the turntable 280, and the turntable 280 is connected to the one-way bearing 260.
So, it should be noted that, put the sleeve into the material shell 230 in batches, then the carousel cylinder 240 outputs power to move the rack 250, because the driven gear sleeve 270 meshes with the rack 250 mutually, can drive the one-way bearing 260 and rotate, thereby let the carousel 280 rotate, when the carousel 280 rotates, the material reversing bending piece 281 that sets up in the carousel 280 can at first scoop up the sleeve, along with the incessant rotation of carousel 280, the sleeve that is scooped up can fall down and enter into the material channel 221 from the material reversing bending piece 281, then utilize the vibration that the vibrator 210 produced to transmit the sleeve to the position department of discharge end.
Further, referring to fig. 4 again, in one embodiment, the feeding module 200 further includes an auxiliary bearing 290, the auxiliary bearing 290 is rotatably mounted on the material housing 230, and the auxiliary bearing 290 is in contact with the rack 250.
Thus, it should be noted that the auxiliary bearing 290 allows the rack 250 to move more smoothly and quickly.
Further, referring to fig. 6, in an embodiment, the robot 400 includes a fixing block 410, a short-distance guide rail 420, a short-distance cylinder 430, an installation block 440, a long-distance guide rail 450, a long-distance cylinder 460, a first gripper 470, and a second gripper 480, the fixing block 410 is disposed on the carrier plate 110, the short-distance guide rail 420 is slidably disposed on the fixing block 410, a driving shaft of the short-distance cylinder 430 is connected with the short-distance guide rail 420, the installation block 440 is connected with a driving shaft of the short-distance cylinder 430, the long-distance guide rail 450 is slidably disposed on the installation block 440, a driving shaft of the long-distance cylinder 460 is connected with the long-distance guide rail 450, the first gripper 470 is connected with the driving shaft of the long-distance cylinder 460, and the second gripper 480 is disposed on the carrier plate 110.
Thus, it should be noted that the short-range cylinder 430 drives the short-range guide rail 420 to slide along the fixing block 410, the long-range cylinder 460 drives the long-range guide rail 450 to slide along the mounting block 440, and the first clamping hand 470 is adjusted to a predetermined position to clamp the rod; in addition, the arrangement of the first clamping hand 470 and the second clamping hand 480 can clamp the rod body more stably.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A gripping manipulator, comprising:
a carrier plate;
the material blocking external member comprises a frame body, a stop block and a spring, wherein the frame body is arranged on the carrier plate, the stop block is arranged on the frame body in a sliding manner, and the spring is respectively connected with the frame body and the stop block; and
the clamping module comprises a transverse moving cylinder, a connecting block, a pressing block and a pressure spring, the transverse moving cylinder is arranged on the support plate and used for driving the connecting block to move in the direction close to or away from the stop block, a left V-shaped groove is formed in the connecting block, a sliding column is arranged on the pressing block and arranged on the connecting block in a sliding mode, part of the sliding column is exposed out of the connecting block, a right V-shaped groove is formed in the pressing block, and the pressure spring is connected with the connecting block and the pressing block respectively.
2. The clamping manipulator as claimed in claim 1, wherein the clamping module further comprises a guide rail, the guide rail is disposed on the carrier plate, and the connecting block is slidably disposed on the guide rail.
3. A socket plugging device, comprising the gripping robot of claim 1 or 2, further comprising:
the feeding module comprises a vibrator and a material pipe, the vibrator is arranged on the support plate, the material pipe is arranged on the vibrator, a material channel is formed in the material pipe and provided with a feeding end and a discharging end, and the stop block is close to the discharging end;
the sliding module comprises a sliding rail, a sliding block, a sliding cylinder and a double-control electromagnetic valve, the sliding rail is arranged on the carrier plate, the sliding block is arranged on the sliding rail in a sliding manner, the sliding cylinder is arranged on the carrier plate, a driving shaft of the sliding cylinder is connected with the sliding block, the double-control electromagnetic valve is connected with the sliding cylinder, and the transverse moving cylinder is arranged on the sliding block; and
the manipulator is arranged on the support plate and used for clamping the rod body.
4. The sleeve inserting device according to claim 3, wherein the feeding module further comprises a material shell, a turntable cylinder, a rack, a one-way bearing, a driven gear sleeve and a turntable, the material shell is disposed on the carrier plate, the feeding end of the material channel is located in the material shell, the turntable cylinder is disposed on the carrier plate, the rack is connected with a driving shaft of the turntable cylinder, the one-way bearing is rotatably mounted on the material shell, the driven gear sleeve is disposed on the one-way bearing, the turntable is located in the material shell, a plurality of material pouring bent pieces are uniformly disposed on the turntable, and the turntable is connected with the one-way bearing.
5. The sleeve splicing device of claim 4, wherein the loading module further comprises an auxiliary bearing, the auxiliary bearing is rotatably mounted on the shell, and the auxiliary bearing is in contact with the rack.
6. The sleeve inserting device according to claim 3, wherein the manipulator comprises a fixed block, a short-range guide rail, a short-range cylinder, an installation block, a long-range guide rail, a long-range cylinder, a first clamping hand and a second clamping hand, the fixed block is arranged on the carrier plate, the short-range guide rail is slidably arranged on the fixed block, a drive shaft of the short-range cylinder is connected with the short-range guide rail, the installation block is connected with a drive shaft of the short-range cylinder, the long-range guide rail is slidably arranged on the installation block, the drive shaft of the long-range cylinder is connected with the long-range guide rail, the first clamping hand is connected with the drive shaft of the long-range cylinder, and the second clamping hand is arranged on the carrier plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120818734.6U CN216464648U (en) | 2021-04-20 | 2021-04-20 | Clamping manipulator and sleeve inserting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120818734.6U CN216464648U (en) | 2021-04-20 | 2021-04-20 | Clamping manipulator and sleeve inserting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216464648U true CN216464648U (en) | 2022-05-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120818734.6U Active CN216464648U (en) | 2021-04-20 | 2021-04-20 | Clamping manipulator and sleeve inserting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216464648U (en) |
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2021
- 2021-04-20 CN CN202120818734.6U patent/CN216464648U/en active Active
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