CN217097795U

CN217097795U - Flexible penetrating rod robot

Info

Publication number: CN217097795U
Application number: CN202123457381.0U
Authority: CN
Inventors: 包凯华
Original assignee: Suzhou Yiyi Robot Technology Co ltd
Current assignee: Suzhou Yiyi Robot Technology Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-08-02
Anticipated expiration: 2031-12-24

Abstract

The utility model discloses a wear flexible robot of pole for wear to establish the template of mould with the pull rod, it includes the robot main part and sets up the terminal anchor clamps of robot main part, anchor clamps including be used for with end-to-end connection's mount pad, at least one elastic connection mechanism, at least one first drive unit, at least one first clamping jaw and at least one second clamping jaw, one first drive unit and one first clamping jaw is through one elastic connection mechanism with the mount pad is connected, one the second clamping jaw sets up in one in order to be corresponding on first drive unit's the output shaft first clamping jaw corresponds, first drive unit is used for driving correspondingly the second clamping jaw orientation and/or deviate from first clamping jaw motion. The scheme can save labor cost and reduce personal safety hazards of personnel.

Description

Flexible penetrating rod robot

Technical Field

The utility model relates to the technical field of robot, specific wear flexible robot of pole.

Background

The three-plate mold generally refers to an injection mold comprising a fixed mold plate, a movable mold plate and a fixed mold plate, and generally, the three mold plates are connected through a pull rod, and the pull rod can play a role in distance parting. In a traditional injection molding workshop, most of the pull rods penetrate through the three templates (commonly called as penetrating rods) manually by personnel, the manual operation efficiency of the personnel is low, and the personnel are easy to fatigue. If the size of the template is larger, the size of the pull rod is correspondingly increased, the pull rod can penetrate into the template only by the cooperation of multiple persons, the tacit degree of the cooperation between persons is higher in cooperation of the multiple persons, otherwise, the problems of low efficiency, hidden danger in personal safety and the like easily occur, and the labor cost of the process is increased by the cooperation of the multiple persons.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the embodiment of the utility model provides a wear flexible robot of pole, it is used for solving at least one in the above-mentioned problem.

The embodiment of the application discloses: the utility model provides a wear pole flexible robot for wear to establish the pull rod in the template of mould, wear pole flexible robot includes the robot main part and sets up robot main part terminal anchor clamps, anchor clamps include be used for with end connection's mount pad, at least one elastic connection mechanism, at least one first drive unit, at least one first clamping jaw and at least one second clamping jaw, one first drive unit and one first clamping jaw pass through one elastic connection mechanism with the mount pad is connected, one the second clamping jaw sets up in one on the output shaft of first drive unit in order to correspond with corresponding first clamping jaw, first drive unit is used for driving correspondingly the second clamping jaw orientation and/or deviate from first clamping jaw motion.

The utility model discloses following beneficial effect has at least:

1. the pole-penetrating flexible robot of the embodiment can replace manual work to carry out pole-penetrating work of the template, saves labor cost and reduces personal safety hazards.

2. Because the first clamping jaw and the second clamping jaw on the clamp are flexibly connected with the mounting seat through the elastic connection mechanism, when the pull rod is not coaxial with the mounting hole of the template, the first clamping jaw and the second clamping jaw can swing to a certain extent relative to the mounting seat after the pull rod penetrates into the mounting hole of the template, so that the position relation between the pull rod and the mounting hole of the template can be continuously adjusted, and the pull rod can be smoothly penetrated.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a clamp in an embodiment of the present invention;

fig. 2 is a schematic structural view of a first viewing angle of the elastic connection mechanism in the embodiment of the present invention;

fig. 3 is a schematic structural view of a second view angle of the elastic connection mechanism in the embodiment of the present invention;

fig. 4 is a schematic structural diagram of the second driving unit and the roller in the embodiment of the present invention.

Reference numerals of the above figures: 100. a clamp; 1. a mounting seat; 2. an elastic connection mechanism; 21. a first plate; 22. a first guide rail; 23. a second plate; 24. a third plate; 25. a fourth plate; 26. a second guide rail; 27. a fifth plate; 28. a sixth plate; 29. A seventh plate; 3. a first drive unit; 4. a first jaw; 5. a second jaw; 6. a pushing part; 7. a sensor; 8. a second driving unit; 91. a support; 92. and a roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The rod penetrating flexible robot of the embodiment can be used for penetrating the pull rod into three templates of the mold.

As shown in fig. 1 to 3, the rod penetrating flexible robot of the present embodiment mainly includes a robot main body (not shown) and a jig 100 provided at an end of the robot main body. The robot body is a flexible robot commonly available on the market, which has a plurality of joints connected to each other to simulate a human hand to realize multi-axis motion of the jig 100. The jig 100 mainly includes: a mounting 1 for connection with the end of the robot body, at least one elastic connection 2, at least one first drive unit 3, at least one first jaw 4 and at least one second jaw 5. Wherein, a drive unit and a first clamping jaw 4 are through same elastic connection mechanism 2 and mount pad 1 flexonics, are equipped with a second clamping jaw 5 on a drive unit's the output shaft, and this second clamping jaw 5 corresponds with first clamping jaw 4 with the centre gripping pull rod, and first drive unit 3 and robot body electric connection, it is used for driving the second clamping jaw 5 that is located it to move towards and/or deviate from first clamping jaw 4 to realize the switching of two clamping jaws.

By the structure, the pole-penetrating flexible robot of this embodiment can replace the manual work to carry out the pole-penetrating work of template, because first clamping jaw 4 and second clamping jaw 5 on anchor clamps 100 pass through

elastic connection mechanism

2 and 1 flexonics of mount pad, when the mounting hole disalignment of pull rod and template, the pull rod penetrates behind the mounting hole of template, first clamping jaw 4 and second clamping jaw 5 can appear the swing of certain range for mount pad 1, thereby can constantly adjust the position relation between pull rod and the template mounting hole, be favorable to penetrating smoothly of pull rod.

As shown in fig. 2 and 3, the elastic connecting mechanism 2 of the present embodiment mainly includes a first plate 21, a first rail 22 provided on the first plate 21, a second plate 23 and a third plate 24 provided on the first plate 21 and located at both ends of the first rail 22, a fourth plate 25 slidably connected to the first rail 22, a second rail 26 provided on the fourth plate 25, a fifth plate 27 and a sixth plate 28 provided on the fourth plate 25 and located at both ends of the second rail 26, and a seventh plate 29 slidably connected to the second rail 26. The first guide rail 22 and the second guide rail 26 are preferably linear guide rails, and the first guide rail 22 and the second guide rail 26 are perpendicular to each other, so that the first clamping jaw 4 and the second clamping jaw 5 can swing in a direction perpendicular to the pull rod axis; the seventh plate 29 is intended to be connected to the first drive unit 3 and the first jaw 4. The second plate 23 and the third plate 24 are respectively provided with a first elastic member (not shown), when the fourth plate 25 moves to a preset position along the first guide rail 22, the fourth plate is abutted by the first elastic members on the second plate 23 and the third plate 24, so as to move in the other direction; the fifth plate 27 and the sixth plate 28 are respectively provided with a second elastic member (not shown), and when the seventh plate 29 moves to a predetermined position along the second guide rail 26, the seventh plate is abutted by the second elastic member on the fifth plate 27 and the sixth plate 28, so as to move in the other direction. Preferably, the first elastic member and the second elastic member may be springs.

As shown in fig. 1, the mounting base 1 of the present embodiment may further have at least one pushing portion 6, and preferably, the pushing portion 6 protrudes from the ends of the two clamping jaws in a direction parallel to the axis of the pull rod, in other words, when the clamp 100 is threaded through the rod, the distance between the end of the pushing portion 6 and the template is smaller than the distance between the ends of the two clamping jaws and the template. Adopt above-mentioned scheme, when the pull rod was held in order to penetrate template to predetermined position by two clamping jaws, flexible robot main part can control two clamping jaws and loosen the pull rod, and will promote portion 6 and remove to corresponding with the tip of pull rod, and then, flexible robot main part accessible promotion portion 6 pushes the pull rod in the template.

As shown in fig. 1 and 4, the rod penetrating flexible robot of the present embodiment may further include a sensor 7 and a second driving unit 8, the second driving unit 8 is disposed on the mounting base 1, the sensor 7 is disposed on the second driving unit 8 and electrically connected to the robot main body, a bracket 91 is disposed on an output shaft of the second driving unit 8, and a roller 92 capable of rotating relative to the bracket 91 is disposed on the bracket 91. After the first clamping jaw 4 and the second clamping jaw 5 clamp the pull rod, the second driving unit 8 drives the roller 92 to move so that the roller 92 is pressed against the pull rod, in normal conditions, during the threading of the rod, the tie-rod, as it is gripped by the first jaw 4 and the second jaw 5, the pull rod is therefore stationary with respect to first jaw 4, second jaw 5 and roller 92 (roller 92 is stationary), when the pull rod is retracted (moved in a direction opposite to the preset movement direction of the pull rod) due to a large resistance applied to the pull rod during the rod threading process, the pull rod moves relative to the roller 92, and therefore, the roller 92 rotates, when the sensor 7 senses that the roller 92 rotates, the information is fed back to the robot main body, and the robot main body can stop penetrating the rod, so that the pull rod can be prevented from continuously returning, and the risk that the pull rod falls off is avoided.

The section of the first clamping jaw 4 and/or the second clamping jaw 5 for clamping the pull rod in the embodiment can be one of a V-shaped section, a circular arc section and a linear section. Preferably, as shown in fig. 1, the section of the first jaw 4 for clamping the pull rod is V-shaped, so that the first jaw 4 can be adapted for clamping pull rods with different diameters; the section of the part of the second clamping jaw 5 used for clamping the pull rod is linear, and the second clamping jaw 5 can extend into the V-shaped first clamping jaw 4 to press the pull rod.

The first clamping jaw 4 can be made of polyurethane or rubber, has certain elasticity, and avoids the phenomenon that the pull rod is scratched due to overlarge hardness. The second jaw 5 may be made of nylon.

Preferably, as shown in fig. 1, the mounting base 1 of the present embodiment may be provided with two elastic connection mechanisms 2, each elastic connection mechanism 2 is connected with a first driving unit 3 and a first clamping jaw 4, and an output shaft of each first driving unit 3 is provided with a second clamping jaw 5. That is, the clamp 100 has two pairs of clamping structures, so that the stability of clamping the pull rod by the clamp 100 can be improved.

The first and

second driving units

3 and 8 of the present embodiment may be air cylinders.

The present invention has been explained by using specific embodiments, and the explanation of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. The utility model provides a wear flexible robot of pole for wear to establish the pull rod in the template of mould, its characterized in that, including robot main part and setting up robot main part terminal anchor clamps, anchor clamps include be used for with terminal connection's mount pad, at least one elastic connection mechanism, at least one first drive unit, at least one first clamping jaw and at least one second clamping jaw, one first drive unit and one first clamping jaw pass through one elastic connection mechanism with the mount pad is connected, one the second clamping jaw sets up in one on the output shaft of first drive unit in order to correspond with corresponding first clamping jaw, first drive unit is used for driving corresponding second clamping jaw orientation and/or deviate from first clamping jaw motion.

2. The rod penetrating flexible robot of claim 1, wherein the elastic connection mechanism comprises a first plate, a first guide rail arranged on the first plate, a second plate and a third plate arranged on the first plate and located at two ends of the first guide rail, a fourth plate slidably connected to the first guide rail, a second guide rail arranged on the fourth plate, a fifth plate and a sixth plate arranged on the fourth plate and located at two ends of the second guide rail, and a seventh plate slidably connected to the second guide rail, the first guide rail is vertical to the second guide rail, the second plate and the third plate are provided with a first elastic part which is used for abutting against the fourth plate, and a second elastic piece used for abutting against the seventh plate is arranged on the fifth plate and the sixth plate, and the seventh plate is used for being connected with the first driving unit and the first clamping jaw.

3. The rod penetrating flexible robot as claimed in claim 1, wherein the mounting base is further provided with at least one pushing part.

4. The rod penetrating flexible robot as claimed in claim 1, further comprising a second driving mechanism disposed on the mounting base, a bracket disposed on an output shaft of the second driving mechanism, a roller rotatably disposed on the bracket, and a sensor disposed on the second driving mechanism, wherein the sensor is electrically connected to the robot body, and the roller is used for abutting against a pull rod.

5. The rod penetrating flexible robot of claim 1, wherein the section of the part of the first clamping jaw and/or the second clamping jaw for clamping the pull rod is one of a V-shaped section, a circular arc section and a linear section.

6. The through-the-rod flexible robot as claimed in claim 5, wherein the first clamping jaw is V-shaped in cross section and the second clamping jaw is linear in cross section.

7. The penetrating flexible robot of claim 6, wherein the first jaw is made of polyurethane or rubber and the second jaw is made of nylon.

8. The penetrating rod flexible robot of claim 1, wherein two elastic connection mechanisms are arranged on the mounting base, one first driving unit and one first clamping jaw are connected to any one elastic connection mechanism, and one second clamping jaw is arranged on an output shaft of any one first driving unit.