CN216917684U - Get manipulator and multistation clamp of putting container and get device - Google Patents

Abstract

The utility model discloses a manipulator for taking and placing a container and a multi-station clamping device, which comprise a clamping part, a clamping part and a clamping part, wherein the clamping part is used for grabbing the container; the clamping part is at least provided with a jaw and a driving seat, and the driving seat is used for driving the jaw to rotate; and a moving mechanism for driving the clamping part to move to a specified position; wherein the moving mechanism has: the left and right driving component is connected with the driving seat in a sliding way and drives the driving seat to move left and right; an up-down driving member which is slidably connected to the left-right driving member and drives the left-right driving member to move up and down; and the rotating seat is rotationally connected with the upper and lower driving members and is used for driving the upper and lower driving members to rotate. In the product, a fixed-point placing manipulator is adopted and fixed at one corner of a workbench; and because the position distance is fixed, need not to adjust and focus, in the course of the work, only need to use the manipulator to lift up the container, just can remove the container to the position of wanting, saved work efficiency greatly.

Description

Get manipulator and multistation clamp of putting container and get device

Technical Field

The utility model belongs to the field of container processing, and particularly relates to a manipulator for taking and placing containers and a multi-station clamping device.

Background

At present, in the prior art, the manipulator is generally hung in the half-hollow space, moves from top to bottom to grab articles, and the left-right movement distance is limited and is inconvenient.

For example, chinese patent, application No.: 202110848007.9. the vacuum cup processing equipment comprises a rack, a processing main shaft, a processing mold, a mold top, a taking and placing mechanical arm and a feeding transfer mechanism, wherein the taking and placing mechanical arm comprises a driving seat, a cup placing gripper and a cup taking gripper, the mold top is connected to the driving seat in a lifting mode through a top lifting frame, and the cup placing gripper and the cup taking gripper are connected to the top lifting frame in a lifting mode through a gripper lifting frame.

In the above patent, the large size of the device and the need to move the gripping device wastes energy; when the device grabs the part, because the device arm width limit, the distance that moves about is limited, and the transfer of part is convenient enough and high-efficient moreover.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator for taking and placing a container and a multi-station clamping device.

The purpose of the utility model is realized as follows:

a manipulator for taking and placing a container comprises:

a clamping portion for gripping the container; the clamping part is at least provided with a jaw and a driving seat, and the driving seat is used for driving the jaw to rotate; and

a moving mechanism for driving the clamping part to move to a specified position;

wherein the moving mechanism has:

the left and right driving component is connected with the driving seat in a sliding way and drives the driving seat to move left and right;

an up-down driving member which is slidably connected to the left-right driving member and drives the left-right driving member to move up and down; and

and the rotating seat is rotationally connected with the upper driving component and the lower driving component and is used for driving the upper driving component and the lower driving component to rotate.

Preferably, the left and right driving members have first guide grooves;

the first guide groove is positioned on the upper side of the left and right driving components, the lower end of the driving seat is provided with a first sliding part, and the first sliding part is connected with the first guide groove in a sliding manner.

Preferably, the left and right driving members have second guide grooves at the rear ends thereof;

a second sliding part is arranged on the inner side of the upper and lower driving components;

and the second guide groove is in sliding connection with a second sliding part arranged on the inner side of the upper and lower driving members.

Preferably, the jaw is provided with at least two clamping pieces, and the two clamping pieces are oppositely arranged; and

a base for driving the clamping members to approach or separate from each other; and the base is provided with a third guide groove.

Preferably, the clamp has:

the clamping part is positioned at the front end of the clamping piece and is used for clamping the container; and

and the third sliding part is connected with the clamping part and is used for enabling the clamping piece to move left and right on the base.

Preferably, the driving seat has:

the jaw power source is used for driving the jaws to rotate; and

the rotating piece is used for driving the clamping jaw to rotate around the driving seat, and one end of the rotating piece is fixedly connected with the base; the other end of the rotating part is rotatably connected with the first sliding part.

Preferably, the rotating member has at least:

the longitudinal connecting part is fixedly connected with the base; and

and a transverse connecting part connected with the first sliding part.

Preferably, the rotary base further has a rotary power source for driving the upper and lower driving members to rotate.

The multi-station clamping device comprises the manipulator for taking and placing the container, and also comprises a plurality of working tables for placing the container and the manipulator;

the left and right driving components of the manipulator at least cover two adjacent work tables, so that the manipulator can realize the conversion of the container position between the two adjacent work tables.

Preferably, the work table has:

and the mounting hole is positioned at one end of the table top of the workbench, and the rotating seat penetrates through and is connected with the mounting hole.

Compared with the prior art, the utility model has the outstanding and beneficial technical effects that:

1. in the product, a fixed-point placing manipulator is adopted and fixed at one corner of a workbench; and because the position distance is fixed, need not to adjust and focus, in the course of the work, only need to use the manipulator to lift up the container, just can remove the container to the position of wanting, saved the supply of electric power greatly.

2. The manipulator is connected with the workbench through a detachable mode, and can be combined with multiple workbenches to form a multi-station workbench according to actual conditions and be fixed on a certain workbench at will.

3. The device adopts the mode of concatenation formula to reduce the workstation, adopts the design of a clamping position a manipulator, when the actual application, can be according to the position in place, through adjusting arm length and angle, nimble combination workstation to sparingly improve production efficiency.

Drawings

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a schematic view of the robot;

FIG. 3 is a schematic view of the structure of the right and left movable base;

FIG. 4 is a schematic view of the clamping portion;

fig. 5 is a schematic view of the multi-station gripping device;

FIG. 6 is a schematic view of the structure of example 2;

FIG. 7 is a schematic view of the structure of example 3.

In the figure: 1-a clamping part; 2-a moving mechanism; 3-a workbench; 4-pressing the frame; 5-a container; 11-a drive seat; 12-a jaw; 22-a horizontal moving seat; 23-a vertically movable seat; 24-a rotating base; 31-mounting holes; 111-a first sliding part; 112-a rotating member; 113-jaw power source; 121-a clamp; 122-a base; 221-a first guide slot; 222-a second guide slot; 231-a second sliding part; 1121-longitudinal connection; 1122-a transverse connection; 1211-a clamping part; 1212-a third sliding portion; 1221-a third guide groove; 232-up and down power source; 241-source of rotational power.

Detailed Description

The utility model is further described below in terms of specific examples.

[ EXAMPLES one ]

The embodiment specifically provides a manipulator for taking and placing containers and a multi-station clamping device, and the manipulator moves to complete the grabbing and moving of the containers. In the embodiment, the container has better use effect when being applied to a container for a vacuum cup.

Referring specifically to fig. 1, fig. 1 is a schematic diagram of the present invention. As shown in fig. 1, the multi-station gripping device at least comprises a worktable 3, a moving mechanism 2, a gripping part 1 and a pressing frame 4 from bottom to top. Wherein the moving mechanism 2 is placed on a table 3.

As can be seen from fig. 1, the clamping part 1 clamps a container 5, and in this embodiment, the pressing frame 4 presses the container 5 downward, so as to position the container 5 during processing.

In addition, as can be seen from fig. 1, in fig. 1, there are two work tables 3, and the two work tables 3 are close to each other to form a double-station gripping device.

Therefore, in actual use, the operation can be repeated by adding the working table 3 and the manipulator, so that the container 5 can be transferred to different working tables 3 according to the requirement. It is thus possible to achieve a transfer of containers 5 between different such devices, using only one device in combination. Especially use adding man-hour at the thermos cup, through the combined action of moving mechanism 2 and clamping portion 1, realize that container 5 transports to another workstation 3 from a workstation 3, can satisfy the thermos cup metalworker workshop that involves in the thermos cup course of working then and divide cup, throat, cut, flaring expand end, plain end flat bottom, plastic, screw thread, waterproof neck, the manufacturing procedure who presses the mouth. That is, the multi-station clamping device can realize a plurality of processing steps on one device.

In particular with reference to fig. 1, it can be seen from fig. 1 that the robot has a clamping part 1 and a moving mechanism 2. Wherein, the clamping part 1 is used for clamping a container and is provided with a driving seat 11 and a claw 12; the moving mechanism 2 drives the container 5 to move to a designated position, and the moving mechanism 2 has a driving power source 21, a horizontal moving base 22, a vertical moving base 23 and a rotating base 24.

FIG. 2 is a schematic view of the robot; fig. 4 is a schematic view of the structure of the clamping section 1.

As shown in fig. 2 and 4, the driving base 11 has a rotating member 112, and the rotating member 112 has a longitudinal connecting portion 1121 and a transverse connecting portion 1122; the transverse connecting portion 1122 is rotatably connected to the rotating cylinder of the first sliding portion 111, and the longitudinal connecting portion 1121 is fixedly connected to the base 122; when the grabbing position deviates, the rotating cylinder arranged on the driving seat 11 is connected with the rotating piece 112 to drive the connected clamping jaws 12, and the clamping angle is continuously adjusted according to the position of the container.

The claw 12 is composed of two clamping pieces 121 and a base 122, wherein in the embodiment, the base 122 adopts a thumb cylinder, and the two clamping pieces 121 can be moved inwards or outwards relatively; the clamping member 121 has a clamping portion 1211 and a third sliding portion 1212, the clamping portion 1211 is connected to the third sliding portion 1212 and is disposed in an L-shape, the third sliding portion 1212 at the lower end is slidably connected to a third guiding groove 1221 in the base 122, wherein the third sliding portion 1212 can be driven along the third guiding groove 1221 to slide back and forth with the clamping portion 1211; moreover, the distance between the two clamping pieces 121 can be adjusted and changed, so that containers with different sizes can be better clamped.

The upper end surface of the horizontal moving seat 22 is provided with a first guide groove 221, the jaw 12 is connected with a driving seat 11, the lower end of the driving seat 11 is provided with a first sliding part 111 which is in sliding connection with the first guide groove 221, so that the jaw 12 drives the container to move left and right, and the left and right positions of the container are changed; wherein, one end of the horizontal moving base 22 is provided with a second guiding groove 222.

Referring to fig. 3, fig. 3 is a schematic structural diagram of the horizontal moving seat 22, a corresponding second sliding portion 231 is disposed on the vertical moving seat 23, and the horizontal moving seat 22 can be slidably connected to the second guiding groove 222 through the second sliding portion 231.

The rotating seat 24 is placed at the lower part of the vertical moving seat 23, the rotating seat 24 is fixedly connected with the vertical moving seat 23, when the rotating seat 24 starts to rotate, the vertical moving seat 23 can be driven to synchronously rotate, and therefore the position of the container can be adjusted along with the rotation of the rotating seat 24.

In actual use, the manipulator can rotate, move left and right and move up and down the container according to the position of a destination, so that manpower resources are saved, and the working efficiency is improved.

And, in order to fix the manipulator and place the container, fig. 5 is a schematic view of the multi-station gripping device; as shown in fig. 5, the multi-station gripping device has a worktable 3, and the worktable 3 is a placing manipulator and a container; moreover, a fixed-point placing manipulator is adopted and fixed at one corner of the workbench 3; and because the position distance is fixed, need not to adjust and focus, in the course of the work, only need lift up manipulator and container, work efficiency has been increased and manpower resources have been saved to such design.

The working principle is as follows: the container 5 is placed on the workbench 3, the claw 12 is moved to the front of the container 5 by the rotary seat 24 of the manipulator, the claw 12 is rotated to the horizontal position of the container 5 by the moving cylinder on the base 11, and then the claw is slid to the middle of the container by the vertical moving seat; then, the clamping jaws 12 are moved to the front of the container 5 through the horizontal moving seat 22, and the clamping pieces on the two sides are closed inwards through a thumb cylinder in the clamping jaws 12 to clamp the container 5; the above operation is carried out again to clamp and place the container 5 on another station.

[ EXAMPLE II ]

This modification is basically the same as the first embodiment, but is different in that a plurality of processing steps can be performed in one apparatus by using the multi-station gripping device.

As shown in fig. 6, a plurality of work tables are mutually closed pairwise, and 3 groups of linear multi-station work tables are arranged on each work table; the manipulator can pick the container 5 in this embodiment, and through the removal of manipulator, move the container 5 from workstation 3 and carry out next processing step to another workstation 3 on to realized a plurality of processing steps and realized on equipment, and the use need not manual intervention, improved work efficiency.

[ EXAMPLE III ]

This modification is basically the same as the second embodiment, but is different in that a plurality of processing steps can be performed in one facility by using the multi-station gripping device.

As shown in fig. 7, a plurality of work tables are mutually closed pairwise, and 3 groups of U-shaped multi-station work tables are arranged, and each work table is provided with a manipulator; in the embodiment, the manipulator can grab the container 5, and the container 5 is moved from the workbench 3 to another workbench 3 to perform the next processing step through the movement of the manipulator, so that a plurality of processing steps are realized on one device, manual intervention is not required during use, and the working efficiency is improved; compared with the second U-shaped multi-station workbench 3 groups in the embodiment, the required space is smaller, the placement is convenient, the swing amplitude of the manipulator is reduced, and the working efficiency is better improved.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered by the protection scope of the utility model.

Claims (10)

1. The utility model provides a get manipulator of putting container which characterized in that, including:

a gripping part (1) for gripping a container; the clamping part (1) is at least provided with a jaw (12) and a driving seat (11), and the driving seat (11) is used for driving the jaw (12) to rotate; and

a moving mechanism (2) for driving the clamping part (1) to move to a specified position;

wherein the moving mechanism (2) has:

a left and right driving member (22) which is connected with the driving seat (11) in a sliding way and drives the driving seat (11) to move left and right;

an up-and-down driving member (23) which is connected with the left-and-right driving member (22) in a sliding manner and drives the left-and-right driving member (22) to move up and down; and

and the rotating seat (24) is rotationally connected with the upper and lower driving members (23) and is used for driving the upper and lower driving members (23) to rotate.

2. The robot hand for taking and placing containers according to claim 1, wherein the left and right driving members (22) have first guide grooves (221);

the first guide groove (221) is located on the upper side of the left and right driving component (22), a first sliding portion (111) is arranged at the lower end of the driving seat (11), and the first sliding portion (111) is connected with the first guide groove (221) in a sliding mode.

3. The manipulator according to claim 1 or 2, wherein the left and right driving members (22) have second guide grooves (222), and the second guide grooves (222) are located at the tail ends of the left and right driving members (22);

a second sliding part (231) is arranged on the inner side of the up-and-down driving component (23);

and a second sliding part (231) is arranged on the inner side of the second guide groove (222) and the upper and lower driving component (23) in a sliding connection mode.

4. A manipulator for taking and placing a container according to claim 1, characterized in that the jaws (12) are provided with at least two gripping members (121), and that the two gripping members (121) are oppositely arranged; and

a base (122) for driving the gripping members (121) toward or away from each other; and the base (122) has a third guide groove (1221).

5. The manipulator according to claim 4, characterized in that the gripper (121) comprises:

a clamping part (1211) which is positioned at the front end of the clamping piece (121), wherein the clamping part (1211) is used for clamping the container; and

and a third sliding portion (1212) connected to the clamping portion (1211), wherein the third sliding portion (1212) is used for enabling the clamping member (121) to move left and right on the base (122).

6. A manipulator for picking and placing containers according to claim 1, characterised in that the driving seat (11) has:

a jaw power source (113) for driving the jaws (12) to rotate; and

the rotating piece (112) is used for driving the clamping jaws (12) to rotate around the driving seat (11), and one end of the rotating piece (112) is fixedly connected with the base (122); the other end of the rotating part (112) is rotationally connected with the first sliding part (111).

7. The manipulator according to claim 6, characterized in that the rotating member (112) comprises at least:

a longitudinal connecting part (1121) which is fixedly connected with the base (122); and

and a lateral connecting part (1122) connected to the first sliding part (111).

8. The robot for taking and placing the container as recited in claim 1, wherein the rotary base (24) further has a rotation power source (241) for driving the up-down driving means (23) to rotate.

9. A multi-station gripping device, characterized in that it comprises a plurality of manipulators for picking and placing containers according to any one of claims 1 to 8; the multi-station clamping device also comprises a plurality of working tables (3) for placing the containers and the mechanical arms;

wherein the left and right driving members (22) of the manipulator cover at least two adjacent work stations (3) so that the manipulator can realize the container position conversion between the two adjacent work stations (3).

10. A multi-station gripping device according to claim 9, wherein said table (3) has:

the mounting hole (31), mounting hole (31) are located the one end of workstation (3) mesa, roating seat (24) pass and with mounting hole (31) are connected.

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