CN216577910U

CN216577910U - Flexible feeding manipulator

Info

Publication number: CN216577910U
Application number: CN202123138253.XU
Authority: CN
Inventors: 孟路路
Original assignee: Suzhou Tuoyuan Automation Co ltd
Current assignee: Suzhou Tuoyuan Automation Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-05-24
Anticipated expiration: 2031-12-14

Abstract

The utility model discloses a flexible feeding manipulator which comprises a first clamp, a second clamp, a first connecting rod, a second connecting rod and a supporting block, wherein the left ends of the first clamp and the second clamp are hinged with the right end of the supporting block, a group of rollers are respectively arranged in grooves of the rear side wall of the first clamp and the front side wall of the second clamp, each group of rollers surrounds a belt, the right end of the first clamp is hinged with a first push plate, a third air cylinder is fixed on the front side wall, the right end of the second clamp is hinged with a second push plate, and a fourth air cylinder is fixed on the rear side wall; two ends of the first connecting rod are respectively hinged with the third air cylinder and the first push plate; two ends of the second connecting rod are respectively hinged with the fourth cylinder and the second push plate; the front side wall and the rear side wall of the supporting block are respectively hinged with a first air cylinder and a second air cylinder, and the right ends of the first air cylinder and the second air cylinder are respectively hinged with the front end of the first clamp and the rear end of the second clamp. The utility model improves the feeding efficiency and saves the mechanical arm to do work.

Description

Flexible feeding manipulator

Technical Field

The utility model relates to the field of manipulators, in particular to a flexible feeding manipulator.

Background

The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. It combines with prior art arm, can realize nimble material loading.

The manipulator of prior art can only singly take the material loading when the bottle material loading, and is not only inefficient, and the arm is driving the process energy consumption that the gripper frequently reciprocated. Accordingly, those skilled in the art have provided a flexible loading robot to solve the problems set forth in the background above.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a flexible feeding manipulator which comprises a first clamp, a second clamp, a first connecting rod, a second connecting rod and a supporting block, wherein the first clamp and the second clamp are symmetrical front and back, the left ends of the first clamp and the second clamp are hinged with the right end of the supporting block, a group of rollers are respectively arranged in grooves of the rear side wall of the first clamp and the front side wall of the second clamp, each group of rollers is respectively surrounded by a belt, the right end of the first clamp is hinged with a first push plate, a third air cylinder is fixed on the front side wall, the right end of the second clamp is hinged with a second push plate, and a fourth air cylinder is fixed on the rear side wall; two ends of the first connecting rod are hinged with the right end of the third air cylinder and the front end of the first push plate respectively; two ends of the second connecting rod are hinged with the right end of the fourth cylinder and the rear end of the second push plate respectively; the front side wall and the rear side wall of the supporting block are respectively hinged with a first air cylinder and a second air cylinder, and the right ends of the first air cylinder and the second air cylinder are respectively hinged with the front end of the first clamp and the rear end of the second clamp; the supporting block is provided with a rotating part.

Preferably: a motor is fixed on the top side wall of the first clamp, and the bottom end of a rotor of the motor is fixed to the top end of a roller in the first clamp.

Preferably: a second motor is fixed on the top side wall of the second clamp, and the bottom end of a rotor of the second motor is fixed with the top end of a roller in the second clamp.

Preferably: a layer of rubber pad is attached to the outer surface wall of the belt, the outer surface wall of the rubber pad is corrugated, and each recess is a clamping groove.

Preferably: the structure of the rotating piece comprises a connecting column, a transition wheel, a driving wheel and a third motor, wherein a ring gear is fixed on the bottom of the connecting column.

Preferably: the bottom of the connecting column is inserted into the left through hole of the support block and is connected with the support block through a bearing.

Preferably: the transition wheel and the driving wheel are both arranged in the cavity of the support block, and the left end of the transition wheel is meshed with the right end of the ring gear, and the right end of the transition wheel is meshed with the left end of the driving wheel.

Preferably: the third motor is fixed on the top side wall of the supporting block, and the bottom end of a rotor of the third motor is fixedly connected with a central shaft of the driving wheel.

Preferably: a motor, No. two motors, No. three motors, a cylinder, No. two cylinders, No. three cylinders and No. four cylinders all with the total control system electric connection of production line, receive the control of total control system, the total control system of production line is prior art, no longer gives unnecessary details here.

The utility model has the technical effects and advantages that:

1. the first clamp and the second clamp are arranged, a bottle is pushed leftwards between the first clamp and the second clamp through the first push plate and the second push plate to be clamped between the front clamping groove and the rear clamping groove, then the belt rotates to move the bottle leftwards by one unit, and then the next bottle is pushed into the next clamping groove by the push plates, so that the first clamp and the second clamp can simultaneously clamp a plurality of bottles, and the feeding efficiency of the manipulator is improved.

2. The bottle clamping device is provided with the driving part, the transition wheel is driven to rotate along the ring gear by the third motor, so that the support block horizontally rotates around the connecting column, the orientation of the first clamp and the second clamp is conveniently adjusted, and bottles at different positions are conveniently clamped.

Drawings

Fig. 1 is a perspective view of a flexible loading manipulator provided in an embodiment of the present application;

fig. 2 is a cross-sectional view of a first clamp and a second clamp of a flexible feeding manipulator provided in an embodiment of the present application;

fig. 3 is a cross-sectional view of a support block of a flexible loading manipulator according to an embodiment of the present disclosure.

In the figure: the clamp comprises a first clamp 10, a second clamp 11, a roller 12, a belt 13, a rubber pad 14, a clamping groove 15, a first motor 16, a second motor 17, a supporting block 18, a first air cylinder 19, a second air cylinder 20, a first push plate 21, a second push plate 22, a third air cylinder 23, a first connecting rod 24, a fourth air cylinder 25, a second connecting rod 26, a connecting column 27, a bearing 28, a ring gear 29, a transition gear 30, a driving gear 31 and a third motor 32.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Example 1

Referring to fig. 1 to 2, in the present embodiment, a flexible feeding manipulator is provided, including a first clamp 10, a second clamp 11, a first connecting rod 24, a second connecting rod 26, and a supporting block 18, where the first clamp 10 and the second clamp 11 are symmetrical in front and back, and left ends of the first clamp 10 and the second clamp 11 are hinged to a right end of the supporting block 18, a set of rollers 12 is respectively disposed in grooves of a rear side wall of the first clamp 10 and a front side wall of the second clamp 11, each set of rollers 12 surrounds a belt 13, a layer of rubber pad 14 is attached to an outer surface wall of the belt 13, an outer surface wall of the rubber pad 14 is corrugated, and each recess is a clamping groove 15; the right end of the first clamp 10 is hinged with a first push plate 21, a third cylinder 23 is fixed on the front side wall, the right end of the second clamp 11 is hinged with a second push plate 22, and a fourth cylinder 25 is fixed on the rear side wall; two ends of the first connecting rod 24 are respectively hinged with the right end of the third cylinder 23 and the front end of the first push plate 21; two ends of the second connecting rod 26 are respectively hinged with the right end of the fourth cylinder 25 and the rear end of the second push plate 22; the front side wall and the rear side wall of the supporting block 18 are respectively hinged with a first air cylinder 19 and a second air cylinder 20, and the right ends of the first air cylinder 19 and the second air cylinder 20 are respectively hinged with the front end of the first clamp 10 and the rear end of the second clamp 11; a first motor 16 is fixed on the top side wall of the first clamp 10, and the bottom end of a rotor of the first motor 16 is fixed with the top end of one roller 12 in the first clamp 10; a second motor 17 is fixed on the top side wall of the second clamp 11, and the bottom end of a rotor of the second motor 17 is fixed with the top end of one roller 12 in the second clamp 11;

when a bottle is clamped, the third air cylinder 23 and the fourth air cylinder 25 contract simultaneously, the first push plate 21 is pulled forwards through the first connecting rod 24, the second push plate 22 is pulled backwards through the second connecting rod 26, the mechanical arm drives the mechanical claw to move, the bottle is positioned between the first push plate 21 and the second push plate 22, then the third air cylinder 23 and the fourth air cylinder 25 extend simultaneously, the first push plate 21 is driven to rotate backwards, the second push plate 22 rotates forwards, the bottle is pushed leftwards to a position between the first clamp 10 and the second clamp 11, and the bottle is clamped between the front clamping groove 15 and the rear clamping groove 15; then a first motor 16 and a second motor 17 run synchronously, so that the front and the rear groups of rollers 14 rotate synchronously for a set angle, the belts on the front and the rear sides move synchronously for a distance, and the bottles are clamped to move leftwards for a set distance; then the third air cylinder 23 and the fourth air cylinder 25 drive the push plate to push the next bottle into the space between the two clamping grooves at the right end until the space between the first clamp 10 and the second clamp 11 is full of bottles; then the arm drive gripper removes to the material level, and cylinder 19 and No. two cylinders 20 synchronous contractions for clamp 10 forward rotates, and No. two clamps 11 rotate backward, loosens the one row of bottle of clamp, can be one-step with a plurality of bottles material loading, has improved material loading efficiency, has reduced the number of times that comes and goes of arm.

Example 2

Referring to fig. 1 and 3, in the present embodiment, the flexible feeding manipulator includes a rotating member, the rotating member includes a connecting column 27, a transition wheel 30, a driving wheel 31 and a third motor 32, a ring gear 29 is fixed on the bottom of the connecting column 27, and the bottom of the connecting column 27 is inserted into a left through hole of the support block 18 and is connected to the support block 18 through a bearing 28; the transition wheel 30 and the driving wheel 31 are both arranged in the cavity of the support block 18, the left end of the transition wheel 30 is meshed with the right end of the ring gear 29, and the right end of the transition wheel is meshed with the left end of the driving wheel 31; the third motor 32 is fixed on the top side wall of the support block 18, and the bottom end of the rotor of the third motor 32 is fixedly connected with the central shaft of the driving wheel 31;

when the bottle clamping device is installed, the connecting column 27 is fixedly connected with the mechanical arm, the mechanical arm only needs to drive the mechanical claw to horizontally move at the same height, the third motor 32 drives the driving wheel 31 to rotate, the driving wheel 31 drives the transition wheel 30 to rotate, the transition wheel 30 rotates along the annular gear 29, the support block 18 horizontally rotates around the connecting column 27, the directions of the first clamp 10 and the second clamp 10 can be conveniently adjusted, and bottles can be conveniently and quickly clamped.

It is to be understood that the described embodiments are merely a few embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art and related arts based on the embodiments of the present invention without any creative effort, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.

Claims

1. The flexible feeding manipulator is characterized by comprising a first clamp (10), a second clamp (11), a first connecting rod (24), a second connecting rod (26) and a supporting block (18), wherein the first clamp (10) and the second clamp (11) are symmetrical front and back, the left ends of the first clamp and the second clamp are hinged to the right end of the supporting block (18), a group of rollers (12) are respectively arranged in grooves of the rear side wall of the first clamp (10) and the front side wall of the second clamp (11), a belt (13) is respectively wound on each group of rollers (12), the right end of the first clamp (10) is hinged to a first push plate (21), a third air cylinder (23) is fixed on the front side wall, the right end of the second clamp (11) is hinged to a second push plate (22), and a fourth air cylinder (25) is fixed on the rear side wall; two ends of the first connecting rod (24) are respectively hinged with the right end of the third cylinder (23) and the front end of the first push plate (21); two ends of the second connecting rod (26) are hinged with the right end of the fourth cylinder (25) and the rear end of the second push plate (22) respectively; the front side wall and the rear side wall of the supporting block (18) are respectively hinged with a first air cylinder (19) and a second air cylinder (20), and the right ends of the first air cylinder (19) and the second air cylinder (20) are respectively hinged with the front end of the first clamp (10) and the rear end of the second clamp (11); the supporting block (18) is provided with a rotating piece.

2. The flexible feeding manipulator as claimed in claim 1, wherein a first motor (16) is fixed on the top side wall of the first clamp (10), and the bottom end of a rotor of the first motor (16) is fixed with the top end of one roller (12) in the first clamp (10).

3. The flexible feeding manipulator as claimed in claim 1, wherein a second motor (17) is fixed on a top side wall of the second clamp (11), and a bottom end of a rotor of the second motor (17) is fixed with a top end of one roller (12) in the second clamp (11).

4. A flexible loading manipulator as claimed in claim 1, wherein the belt (13) has a rubber pad (14) attached to the outer surface wall thereof, the rubber pad (14) having a corrugated outer surface wall, and each recess is a slot (15).

5. A flexible loading manipulator according to claim 1, wherein the rotating member comprises a connecting column (27), a transition wheel (30), a driving wheel (31) and a third motor (32), and a ring gear (29) is fixed on the bottom of the connecting column (27).

6. A flexible loading manipulator as claimed in claim 5, characterized in that the bottom of the connecting column (27) is inserted into the left through hole of the support block (18) and is connected to the support block (18) by means of a bearing (28).

7. A flexible loading manipulator according to claim 5, characterized in that the transition wheel (30) and the driving wheel (31) are both arranged in the cavity of the support block (18), the left end of the transition wheel (30) is engaged with the right end of the ring gear (29) and the right end is engaged with the left end of the driving wheel (31).

8. A flexible feeding manipulator according to claim 5, characterized in that the third motor (32) is fixed on the top side wall of the supporting block (18), and the bottom end of the rotor of the third motor (32) is fixedly connected with the central shaft of the driving wheel (31).