CN217552433U

CN217552433U - Material structure is grabbed to manipulator with buffer structure

Info

Publication number: CN217552433U
Application number: CN202221379710.6U
Authority: CN
Inventors: 徐尚华
Original assignee: Wuxi Crystalht Technology Co ltd
Current assignee: Wuxi Crystalht Technology Co ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2022-10-11
Anticipated expiration: 2032-06-02

Abstract

The utility model provides a manipulator grabbing structure with a buffer structure, which comprises a bearing fixing component, a bearing fixing component and a material grabbing component, wherein the bearing fixing component is arranged on a manipulator body and rotates and moves up and down, left and right along with the driving of the manipulator body; the linear bearing units are vertically arranged on the bearing fixing component and drive the clamping jaws arranged at the bottom of the bearing fixing component to move up and down through the linear bearing units, and three groups of linear bearing units are arranged; the spring is arranged between the bearing fixing components and is positioned at the bottom of the linear bearing unit; the proximity sensor is arranged on the bearing fixing component and is arranged through the bottom induction fixing plate; the clamping jaw is installed in the bottom of bearing fixing assembly through the clamping jaw cylinder. The utility model adopts the linear bearing unit and the spring to provide the upper and lower buffer force for the material grabbing, offset the material sheet position deviation to cause the collision in the height direction, and play the role of protecting the mechanical arm and the mechanism part; three groups of linear bearing units are adopted to eliminate circumferential direction offset; the proximity sensor, the spring is compressed when mechanical hard collision occurs, and quick response is realized.

Description

Material structure is grabbed to manipulator with buffer structure

Technical Field

The utility model belongs to the technical field of the manipulator and specifically relates to a material structure is grabbed to manipulator with buffer structure and specifically relates to a material structure is grabbed to manipulator.

Background

The buffer structure is used in a manipulator material grabbing structure and is widely used in a material grabbing mechanism. In the use, the manipulator can move to the place of making according to programming control and snatch the tablet, then, in practical application, often because the tablet has the skew of position, and the circumferencial direction's that the manipulator self exists skew leads to anchor clamps to have the difficulty to, produce the collision to the clamping jaw of manipulator, and then lead to the life-span also to reduce thereupon, not only efficiency is not high, and the cost increases on the contrary, is not suitable for in the mechanical automation production of high-speed operation.

Disclosure of Invention

In view of the above shortcoming of the prior art, the utility model aims to provide a material structure is grabbed to manipulator with buffer structure for solve the difficult point of prior art.

In order to realize above-mentioned purpose and other relevant purpose, the utility model provides a material structure is grabbed to manipulator with buffer structure, include:

the bearing fixing component is arranged on the manipulator body and driven by the manipulator body to rotate up and down and move left and right;

the linear bearing unit is vertically arranged on the bearing fixing component and drives the clamping jaw 4 arranged at the bottom of the bearing fixing component to move up and down through the linear bearing unit, and three groups of linear bearing units are arranged;

the spring 1 is arranged between the upper bearing fixing block 6 and the lower bearing fixing block 7 and is positioned at the bottom of the linear bearing unit, and the guide post 2 of the linear bearing unit penetrates through the spring 1;

the proximity sensor 3 is arranged on the bearing fixing component and is arranged through the bottom induction fixing plate;

and the clamping jaw 4 is arranged at the bottom of the bearing fixing component through a clamping jaw air cylinder 5.

According to a preferred aspect, the bearing fixing assembly comprises:

the top of the upper bearing fixing block 6 is connected with the manipulator body through a connecting unit;

and the lower bearing fixing block 7 is arranged below the upper bearing fixing block 6 in parallel.

According to the preferred scheme, the top and the bottom of the spring 1 are respectively connected with an upper bearing fixing block 6 and a lower bearing fixing block 7.

According to the preferred scheme, chamfers are arranged on the peripheries of the upper bearing fixing block 6 and the lower bearing fixing block 7.

According to the preferred scheme, the circumference of the upper bearing fixing block 6 and the lower bearing fixing block 7 is provided with an avoiding groove 8 for installing the connector joint of the clamping jaw air cylinder 5.

According to the preferred scheme, the upper bearing fixing block 6 is provided with three mounting through holes 9 for mounting the linear bearing units, the lower bearing fixing block 7 is provided with three mounting grooves 10 for mounting the springs 1, and the bottoms of the mounting through holes 9 are provided with annular grooves 11 corresponding to the tops of the springs 1.

According to a preferred solution, the mounting through hole 9 and the mounting groove 10 are coaxially arranged.

According to a preferred solution, the centre of the gripper cylinder 5 is arranged concentrically with the centre of rotation of the manipulator.

According to a preferred aspect, the linear bearing unit comprises:

the guide post 2 is inserted into the groove 10 of the lower bearing fixing block 7 from the linear bearing 12;

and the linear bearing 12 is fixed on the upper bearing fixing block 6 and is fixed through a fastening screw at the side edge.

According to the preferred scheme, the top of the guide post 2 is provided with a fixing bolt 14 through a cushion block 13, and the guide post 2 is installed in the linear bearing 12.

According to a preferred scheme, the proximity sensor 3 is arranged in a mounting hole of the upper bearing fixing block 6.

According to a preferred solution, the connection unit comprises:

the guide rod 15 sequentially penetrates through the mechanical arm and the clamping block 16 from top to bottom and is fixed with the upper bearing fixing block 6;

the clamping block 16 is arranged on the upper surface of the upper bearing fixing block 6 and sleeved on the guide rod 15, and the clamping block 16 clamps the guide rod 15 through a bolt so as to move up and down.

The utility model discloses a following beneficial effect:

(1) The linear bearing unit and the spring are adopted, in the material grabbing process, a buffer force in the vertical direction is provided for the material grabbing, the collision in the height direction caused by the position deviation of the material sheet is counteracted, and the effect of protecting a mechanical arm and a mechanism part is achieved;

(2) Three groups of linear bearing units are adopted, so that the circumferential deviation of the clamping jaw during the grabbing is effectively eliminated, and the stability of grabbing products at the upper position and the lower position is ensured;

(3) The proximity sensor, the spring is compressed when taking place the hard collision of machinery, and proximity sensor sensing signal, quick response information, suggestion manipulator snatch the collision abnormal phenomena.

The following description of the preferred embodiments for carrying out the present invention will be made in detail with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is an enlarged schematic view of the three-dimensional structure of the upper bearing fixing block according to the present invention;

fig. 3 is an enlarged schematic view of the three-dimensional structure of the lower bearing fixing block according to the present invention;

fig. 4 is a front view of the linear bearing unit and the spring according to the present invention;

FIG. 5 showsbase:Sub>A cross-sectional view A-A of FIG. 4;

FIG. 6 is a view showing a state of use of the present invention;

description of the reference symbols

1. A spring; 2. a guide post; 3. a proximity sensor; 4. a clamping jaw; 5. a clamping jaw cylinder; 6. an upper bearing fixing block; 7. a lower bearing fixing block; 8. an avoidance groove; 9. mounting a through hole; 10. installing a groove; 11. an annular groove; 12. a linear bearing; 13. cushion blocks; 14. fixing the bolt; 15. a guide bar; 16. and (6) clamping blocks.

Detailed Description

In order to make the purpose, technical scheme and advantage of the technical scheme of the utility model clearer, will combine in the following the utility model discloses the drawing of concrete embodiment is right the technical scheme of the embodiment of the utility model carries out clear, complete description. Like reference symbols in the various drawings indicate like elements. It should be noted that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.

Possible embodiments within the scope of the invention may have fewer parts, have other parts not shown in the figures, different parts, differently arranged parts or differently connected parts, etc. than the examples shown in the figures. Further, two or more of the components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as a plurality of separate components.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The utility model provides a material structure is grabbed to manipulator with buffer structure for grab among the material structure technology, the utility model discloses do not restrict the type of manipulator, nevertheless should have buffer structure specially adapted avoids the manipulator of circumferencial direction skew to snatch in the demand.

Generally, the utility model provides a manipulator with buffer structure grabs material structure mainly includes bearing fixing component, linear bearing unit, spring 1, proximity sensor 3 and clamping jaw 4. Among these, reference may be made to fig. 1, which shows the arrangement of the bearing fixing assembly, the linear bearing unit, the spring 1, the proximity sensor 3 and the clamping jaw 4.

When in use, a bearing fixing component is arranged on the manipulator body and consists of an upper bearing fixing block 6 and a lower bearing fixing block 7 which are arranged in parallel up and down and are provided with chamfers on the peripheries, wherein the top of the upper bearing fixing block 6 is connected with the manipulator body through a connecting unit, so that the bearing fixing component can rotate up and down and move left and right under the driving of the equipment body to obtain a driving source which is used for driving a clamping jaw 4 arranged at the bottom of the bearing fixing component and driven by a clamping jaw cylinder 5; because the clamping jaw 4 can produce inertia and vibration when moving in the vertical direction and grabbing materials, in order to avoid the above situation, a linear bearing unit is vertically installed on the bearing fixing assembly, the spring 1 is installed between the upper bearing fixing block 6 and the lower bearing fixing block 7, and the spring is also installed between the bearing fixing assemblies, so that the vertical buffer force is provided for grabbing materials in the material grabbing process, the collision in the height direction caused by the position deviation of the material pieces is counteracted, and the manipulator and mechanism parts are protected.

As described above, the structure of the linear bearing unit is arranged to include the guide post 2 and the linear bearing 12, and since the upper bearing fixing block 6 is provided with the mounting through hole 9 for mounting the linear bearing 12, for this reason, the linear bearing 12 is fixed on the upper bearing fixing block 6, and fixed by the fastening screw at the side, the guide post 2 can be inserted into the lower bearing fixing block 7 from the linear bearing 12, and at this time, the linear bearing 12 is just sleeved between the guide post 2 and the mounting through hole 9, and at the same time, the bottom is in contact with the top of the spring 1; furthermore, the top of the guide post 2 is provided with a fixing bolt 14 through a cushion block 13 to install the guide post 2 in the linear bearing 12, so that the aim that the guide post 2 can move up and down along the linear bearing 12 is fulfilled;

in the embodiment, in order to eliminate the circumferential deviation of the clamping jaw 4 during the clamping and ensure the stability of the product clamped by the upper and lower positions, firstly, a high-precision linear bearing 12 is adopted, and in addition, the center of the clamping jaw cylinder 5 is concentrically arranged with the rotation center of the manipulator, which is most beneficial to eliminating the circumferential deviation; correspondingly, the upper bearing fixing block 6 is provided with mounting through holes 9 for mounting three groups of linear bearings 12 and is fixed by fastening screws on the side edges; in addition, the lower bearing fixing block 7 is provided with three mounting grooves 10 for mounting the spring 1.

To further ensure that no offset occurs, the mounting through-hole 9, the mounting groove 10 and the linear bearing unit are coaxially arranged.

As shown in fig. 1, still install proximity sensor 3 on the bearing fixed subassembly, through the setting of bottom response fixed plate, the spring is compressed when taking place the hard collision of machinery, and proximity sensor response signal, quick response information, suggestion manipulator snatch the collision anomaly, consequently snatch unusual state for discernment that can be quick, for this reason, proximity sensor 3 sets up in the mounting hole of upper bearing fixed block 6 on the one hand, and on the other hand, proximity sensor 3 bottom response lower bearing fixed block 7.

What needs to be specifically described is a spring 1, the spring 1 is installed between linear bearing units, specifically, the top and the bottom of the spring 1 are arranged between an upper bearing fixing block 6 and a lower bearing fixing block 7, the top of the spring 1 is arranged at the bottom of an installation through hole 9 and is provided with an annular groove 11 corresponding to the top of the spring 1, because the linear bearing 12 is fixed by a side screw, the linear bearing 12 cannot fall below the installation through hole 9, and the bottom of the spring 1 is installed in an installation groove 10; furthermore, since the guide post 2 of the linear bearing unit passes through the linear bearing 12, for this reason, in use, the following three cases are obtained:

1. when the clamping jaw 3 is in a natural state, the clamping jaw mechanism is opened by a spring and kept at the lowest part to keep buffering;

2. when the clamping jaw 3 is in the working state:

2.1 abnormal Collision rebound alarm

When the mechanism or the material part is shifted, the clamping jaw collides with the material part when the material part is grabbed, the spring is compressed, the clamping jaw and the lower bearing fixing block move upwards towards the upper bearing fixing block, the upper bearing fixing block is immobile under the action of equipment, the spring is gradually compressed, the proximity sensor senses a signal, the alarm information is prompted, and a worker is prompted to timely handle the abnormality of the equipment;

2.2 normally grabbing the material part

When the clamping jaw normally enters the cavity of the material part, the spring cannot be compressed by pressure, the clamping jaw is automatically opened at the moment, and the material part can be stably grabbed and placed on the prefabricated positioning tool.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a material structure is grabbed to manipulator with buffer structure which characterized in that includes:

the bearing fixing component is arranged on the manipulator body and is driven by the manipulator body to rotate up and down, left and right;

the linear bearing unit is vertically arranged on the bearing fixing component, a clamping jaw (4) arranged at the bottom of the bearing fixing component moves up and down through the linear bearing unit, and three groups of linear bearing units are arranged;

the spring (1) is arranged between the upper bearing fixing block (6) and the lower bearing fixing block (7) and is positioned at the bottom of the linear bearing unit, and the guide post (2) of the linear bearing unit penetrates through the spring (1);

the proximity sensor (3) is mounted on the bearing fixing assembly and arranged through the bottom induction fixing plate;

the clamping jaw (4), clamping jaw (4) are installed in the bottom of bearing fixing assembly through clamping jaw cylinder (5).

2. The manipulator grabbing structure with the buffering structure according to claim 1, wherein the bearing fixing assembly comprises:

the top of the upper bearing fixing block (6) is connected with the manipulator body through a connecting unit;

the lower bearing fixing block (7) is arranged below the upper bearing fixing block (6) in parallel.

3. The manipulator grabbing structure with the buffer structure according to claim 2, wherein three mounting through holes (9) for mounting the linear bearing units are formed in the upper bearing fixing block (6), three mounting grooves (10) for mounting the springs (1) are formed in the lower bearing fixing block (7), and annular grooves (11) are formed in the bottoms of the mounting through holes (9) corresponding to the tops of the springs (1).

4. The manipulator grabbing structure with the buffering structure according to claim 3, wherein the centre of the clamping jaw cylinder (5) is concentric with the rotation centre of the manipulator.

5. The manipulator grabbing structure with a buffering structure according to claim 4, wherein the linear bearing unit comprises:

the guide post (2), the guide post (2) is inserted into the groove (10) of the lower bearing fixing block (7) from the linear bearing (12);

the linear bearing (12), linear bearing (12) are fixed on upper bearing fixed block (6), and are fixed through the fastening screw on the side.

6. The manipulator grabbing structure with a buffering structure according to claim 5 is characterized in that the top of the guide pillar (2) is provided with a fixing bolt (14) through a cushion block (13) to mount the guide pillar (2) in the linear bearing (12).

7. The manipulator grabbing structure with the buffering structure according to claim 6, wherein the proximity sensor (3) is arranged in a mounting hole of the upper bearing fixing block (6).