CN217808236U

CN217808236U - Buffer device for manipulator

Info

Publication number: CN217808236U
Application number: CN202221978588.4U
Authority: CN
Inventors: 王素粉
Original assignee: Sanmenxia Polytechnic
Current assignee: Sanmenxia Polytechnic
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2022-11-15
Anticipated expiration: 2032-07-29

Abstract

The utility model relates to a buffer device for a manipulator, which comprises a beam leg, a vacuum chuck and a buffer mechanism arranged between the beam leg and the vacuum chuck, wherein the buffer mechanism comprises a suspension rod, a joint bearing, a limiting plate, a buffer pressure spring and a buffer tension spring; the middle part of the suspension rod vertically penetrates through the beam leg, the suspension rod can vertically move relative to the beam leg, and the joint bearing is arranged between the suspension rod and the beam leg for connection, so that the suspension rod can swing relative to the beam leg; the limiting plate is adjustably connected above the suspension rod, and the buffer pressure spring is sleeved on the suspension rod between the limiting plate and the beam leg; a plurality of buffer tension springs are arranged below the suspension rod and between the beam legs; the lower end of the suspension rod is detachably connected with the vacuum chuck. The utility model discloses increase flexible buffer structure between vacuum chuck and roof beam leg, improve equipment's life not only still realizes transporting the safety and stability of panel.

Description

Buffer device for manipulator

Technical Field

The utility model relates to a manipulator technical field especially relates to a buffer for manipulator.

Background

A vacuum sucking and hoisting machine belongs to one of manipulators, and utilizes the principle of vacuum adsorption, a vacuum pump or a vacuum blower is used as a vacuum source, vacuum is generated at a sucker end, various workpieces such as metal plates, glass plates and the like are firmly sucked, and the workpieces are conveyed to a specified position through a rotatable mechanical arm.

The prior vacuum suction crane is shown in figure 1, wherein vacuum suction cups are directly and fixedly arranged on four beam legs of the vacuum suction crane, the suction of a plate is realized through the vacuum suction cups, and the vacuum suction crane is mostly arranged on a rotatable mechanical arm in a hanging manner through a steel wire rope.

Because no buffer exists between the vacuum chuck and the beam legs, when the vacuum suction crane works, the vacuum chuck directly adsorbs the plate, and the whole weight of the plate acts on the vacuum chuck at the moment when the plate is lifted, so that the plate is impacted greatly, and the damage of the vacuum chuck is easily caused in the past. Simultaneously when stacking panel, vacuum suction crane carries the sola panel and transfers, when contacting the panel that the stack was accomplished, whole weight of vacuum suction crane can be used in on the panel, has the risk that causes the panel damage.

The vacuum suction crane is installed on the mechanical arm in a suspension mode, the mechanical arm drives the vacuum suction crane to carry the plate to move, the shaking phenomenon can be avoided, the stability of the whole transfer process is difficult to guarantee, and certain transportation risks also exist for the plate. Therefore, a buffer device for a manipulator is provided.

Disclosure of Invention

The utility model discloses a solve current vacuum chuck's mounting structure and easily lead to panel to transport the problem that has the risk, provide a buffer for manipulator, increase flexible buffer structure between vacuum chuck and beam leg, realize transporting the safety and stability of panel.

In order to achieve the above object, the utility model adopts the following technical scheme:

a buffer device for a manipulator comprises beam legs, vacuum suckers and a buffer mechanism arranged between the beam legs and the vacuum suckers, wherein the buffer mechanism avoids rigid connection between the conventional beam legs and the vacuum suckers, and comprises a suspension rod, a joint bearing, a limiting plate, a buffer pressure spring and a buffer tension spring;

the suspension rod is of a cylindrical structure with an 'upswept' -shaped cross section, the middle part of the suspension rod vertically penetrates through the beam leg, the suspension rod can vertically move relative to the beam leg, and the joint bearing is arranged between the suspension rod and the beam leg for connection, so that the suspension rod can swing relative to the beam leg;

the limiting plate is adjustably connected above the suspension rod, and the buffer pressure spring is sleeved on the suspension rod between the limiting plate and the beam leg;

a gap is formed between the lower part of the suspension rod and the beam leg, the buffer tension springs are arranged between the lower part of the suspension rod and the beam leg, the number of the buffer tension springs is multiple, and the plurality of the buffer tension springs are annularly and uniformly distributed;

the lower end of the suspension rod is detachably connected with the vacuum chuck, so that the vacuum chuck is convenient to install.

Furthermore, the beam legs are of a hollow structure, the knuckle bearings are distributed in the beam legs, the suspension rods vertically penetrate through the knuckle bearings, and gaps exist between the suspension rods and the beam legs, so that a certain swing space is provided for the suspension rods.

Further, hang post and disk body that the pole was arranged from top to bottom including, the combination is "the line of the crack" font is connected with the disk body to the post, the post with still be provided with the floor between the disk body, guarantee the joint strength of post and disk body.

Furthermore, external threads are arranged above the cylinder body, a nut is connected to the upper portion of the cylinder body in a threaded mode, the limiting plate is a circular ring plate and is sleeved above the cylinder body, and the limiting plate abuts against the lower portion of the nut tightly to limit the position of the limiting plate; the buffering compression spring is sleeved above the column body.

Furthermore, the middle part of the cylinder body penetrates through the knuckle bearing, and the cylinder body is arranged in the knuckle bearing and slides up and down.

Furthermore, a gap is reserved between the tray body and the beam leg, the buffer tension springs are distributed between the tray body and the beam leg, and the buffer tension springs are correspondingly distributed below the column body; and the lower part of the plate body is connected with the vacuum chuck through a bolt.

Further, hang the pole top cover and be equipped with the spring leaf, the spring leaf cross-section is the arch, and the spring leaf is laid between limiting plate and beam leg, further improves the bearing capacity who hangs the pole, and the cover is established in the spring leaf the buffering pressure spring.

Through the technical scheme, the beneficial effects of the utility model are that:

the utility model has the advantages of reasonable design, lay buffer gear between roof beam leg and vacuum chuck, under the mating reaction of buffering pressure spring and buffering extension spring, realize hoisting by crane the buffering of panel, avoid lifting by crane panel in the twinkling of an eye to cause great impact force, extension vacuum chuck life to vacuum chuck. When the plates are stacked, the weight of the vacuum suction crane is not acted on the plates through the flexible buffering of the buffering pressure spring and the buffering tension spring, and the plates are prevented from being damaged. Meanwhile, the suspension rod can swing at a certain angle under the action of the joint bearing, and when the vacuum suction crane swings, the swinging can be reduced and the swinging can be transmitted to the plate, so that the stability and the reliability of plate transferring are improved.

Drawings

Fig. 1 is a plan view of a conventional vacuum crane.

Fig. 2 is an overall structure schematic diagram of the buffer device for a manipulator of the present invention.

Fig. 3 is a schematic diagram of the state of the lifting plate of the buffer device for the manipulator of the present invention.

Fig. 4 is the utility model discloses a beam leg rocks the schematic diagram during buffer for manipulator's handling panel.

Fig. 5 is a schematic view illustrating installation of a spring leaf of the damping device for a manipulator according to the present invention.

The reference numbers in the drawings are as follows: the beam leg is 1, the vacuum chuck is 2, the suspension rod is 3, the column is 31, the disc body is 32, the joint bearing is 4, the limiting plate is 5, the buffer pressure spring is 6, the buffer tension spring is 7, the ribbed plate is 8, the nut is 9 and the spring piece is 10.

Detailed Description

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings:

as shown in fig. 2 to 5, a buffer device for a manipulator includes a beam leg 1 and a vacuum chuck 2, wherein the beam leg 1 has a hollow structure. In order to avoid beam leg 1 and vacuum chuck 2's rigid connection, still including laying the buffer gear between beam leg 1 and vacuum chuck 2, buffer gear realizes beam leg 1 and vacuum chuck 2's flexonics, and then vacuum chuck 2 can produce certain vertical displacement relatively beam leg 1, and then forms certain buffering, does benefit to the transportation of panel.

In this embodiment, buffer gear includes suspension rod 3, joint bearing 4, limiting plate 5, buffering pressure spring 6 and buffering extension spring 7.

The suspension rod 3 is used for connecting the beam leg 1 and the vacuum chuck 2, the suspension rod 3 is of a cylindrical structure with an 'overlapping' shape on the cross section, the suspension rod 3 comprises a column body 31 and a disk body 32 which are arranged from top to bottom, and the column body 31 and the disk body 32 are connected and combined to form an 'overlapping' shape.

In order to improve the connection strength between the column 31 and the tray 32, a plurality of rib plates 8 are arranged between the column 31 and the tray 32, the cross section of each rib plate 8 is trapezoidal, the plurality of rib plates 8 are uniformly arranged on the periphery of the column 31 in the circumferential direction, and the rib plates 8 are connected with the column 31 and the tray 32 in a welding mode.

The middle part of the suspension rod 3 vertically penetrates through the beam leg 1, and a joint bearing 4 is arranged between the suspension rod 3 and the beam leg 1 for connection. Specifically, joint bearing 4 is laid in shank 1, and joint bearing 4 is prior art, and it is a spherical sliding bearing, and its sliding contact surface is an interior sphere and an exterior sphere, can rotate the swing at arbitrary angle during the motion.

The suspension rod 3 vertically penetrates through the knuckle bearing 4, namely the middle of the column 31 penetrates through the knuckle bearing 4, the column 31 can be arranged in the knuckle bearing 4 to slide up and down, and a gap exists between the suspension rod 3 and the beam leg 1. After the suspension rod 3 and the joint bearing 4 are installed, the suspension rod 3 can swing as much as the beam leg 1 under the action of the joint bearing 4.

Be connected with limiting plate 5 in the adjustable limiting plate that is connected with in suspension rod 3 top, connecting limiting plate 5 after passing beam leg 1 promptly cylinder 31 top, limiting plate 5 is the ring board, and the limiting plate 5 cover is established in cylinder 31 top, and the cover is equipped with buffering pressure spring 6 on suspension rod 3 between limiting plate 5 and the beam leg 1, and the cover is established in cylinder 31 top buffering pressure spring 6 promptly.

In order to realize the restriction on the limiting plate 5, an external thread is arranged above the column 31, a nut 9 is connected above the column 31 in a threaded manner, and the limiting plate 5 tightly abuts against the lower side of the nut 9. Buffering pressure spring 6 tightly supports between limiting plate 5 and beam leg 1, avoids limiting plate 5 to deviate from cylinder 31, adopts nut 9 to restrict limiting plate 5, simultaneously under the effect of nut 9, the upper and lower position of adjustable limiting plate 5, and then the compression degree of adjustment buffering pressure spring 6.

A gap is formed between the lower part of the suspension rod 3 and the beam leg 1, namely a gap is formed between the disc body 32 and the beam leg 1, and a buffer tension spring 7 is arranged between the lower part of the suspension rod 3 and the beam leg 1, namely the buffer tension spring 7 is distributed between the disc body 32 and the beam leg 1.

In order to improve the bearing capacity of the suspension rod 3, the number of the buffer tension springs 7 is multiple, the buffer tension springs 7 are uniformly distributed on the tray body 32 in the annular direction, and the buffer tension springs 7 are correspondingly arranged below the column body 31. When the buffer tension spring 7 is installed, the lifting rings are respectively installed at the corresponding positions of the beam leg 1 and the tray body 32, and two ends of the buffer tension spring 7 are respectively hooked on the upper lifting ring and the lower lifting ring, so that the buffer tension spring 7 is installed between the beam leg 1 and the suspension rod 3.

The lower end of the suspension rod 3 is detachably connected with the vacuum chuck 2, namely the vacuum chuck 2 is connected with the lower part of the chuck body 32 through bolts, so that the suspension rod 3 and the vacuum chuck 2 are installed.

The utility model discloses when transporting panel, vacuum chuck 2 adsorbs panel, and panel is hoisted, receives panel gravity, hangs pole 3 downstream, and 6 atresss of buffering pressure spring are compressed, buffering extension spring 7 atresss are elongated, through the deformation of buffering pressure spring 6 and buffering extension spring 7, reduce panel to vacuum chuck 2's instantaneous load, weaken the impact force that vacuum chuck 2 received, avoid vacuum chuck 2's damage, as shown in fig. 3. If the beam legs 1 slightly shake, the compensation is carried out by the joint bearings 4, meanwhile, the suspension rods 3 are still in a vertical state under the action of the gravity of the plate, the plate is stably lifted, and the influence of the shaking of the beam legs 1 on the plate is reduced, as shown in fig. 4. When the plates need to be stacked, the vacuum suction crane does not directly act on the plates under the action of the buffer mechanism, so that the plates are safely lifted.

In order to optimize the product structure, improve the buffering effect and also improve the bearing capacity of the suspension rod 3, a spring leaf 10 is sleeved above the suspension rod 3, the spring leaf 10 is arranged between the limiting plate 5 and the beam leg 1, the cross section of the spring leaf 10 is arched, namely, the spring leaf 10 is of an arched structure made of elastic and tough plate sheets, and the buffering pressure spring 6 is arranged in the spring leaf 10 in an inner cover.

The middle part of the spring piece 10 is a plane and is provided with a round hole which is convenient to penetrate through the suspension rod 3, and the two ends of the spring piece 10 are bent into a round hook shape and are propped against the upper plane of the beam leg 1, so that the friction force between the spring piece 10 and the upper plane of the beam leg 1 can be reduced. When the spring piece 10 is pressed, two ends of the spring piece are expanded outwards along the upper plane of the beam leg 1, which is equivalent to the height reduction and the length increase of the spring piece 10; on the basis of the buffer compression spring 6 and the buffer tension spring 7, the bearing capacity of the suspension rod 3 can be improved through the spring piece 10.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.

Claims

1. A buffer device for a manipulator comprises a beam leg (1) and a vacuum chuck (2), and is characterized by further comprising a buffer mechanism arranged between the beam leg (1) and the vacuum chuck (2), wherein the buffer mechanism comprises a suspension rod (3), a joint bearing (4), a limiting plate (5), a buffer pressure spring (6) and a buffer tension spring (7);

the suspension rod (3) is of a cylindrical structure with an n-shaped cross section, the middle part of the suspension rod (3) vertically penetrates through the beam leg (1), and the joint bearing (4) is arranged between the suspension rod (3) and the beam leg (1) for connection;

the limiting plate (5) is adjustably connected above the suspension rod (3), and the buffer compression spring (6) is sleeved on the suspension rod (3) between the limiting plate (5) and the beam leg (1);

intervals are reserved between the lower part of the suspension rod (3) and the beam legs (1), the buffer tension springs (7) are arranged between the lower part of the suspension rod (3) and the beam legs (1), the number of the buffer tension springs (7) is multiple, and the plurality of buffer tension springs (7) are annularly and uniformly distributed;

the lower end of the suspension rod (3) is detachably connected with the vacuum chuck (2).

2. The buffer device for the manipulator according to claim 1, wherein the beam leg (1) is of a hollow structure, the knuckle bearing (4) is arranged in the beam leg (1), the suspension rod (3) vertically penetrates through the knuckle bearing (4), and a gap exists between the suspension rod (3) and the beam leg (1).

3. A buffer device for a manipulator according to claim 1, wherein the suspension rod (3) comprises a column (31) and a disc (32) which are arranged up and down, the column (31) and the disc (32) are connected and combined in a zigzag manner, and a rib plate (8) is further arranged between the column (31) and the disc (32).

4. The buffer device for the manipulator according to claim 3, wherein an external thread is arranged above the cylinder (31), a nut (9) is connected above the cylinder (31) in a threaded manner, the limiting plate (5) is a circular plate, the limiting plate (5) is sleeved above the cylinder (31), and the limiting plate (5) is tightly abutted to the lower side of the nut (9); the buffering pressure spring (6) is sleeved above the cylinder (31).

5. A buffer device for a manipulator according to claim 3, wherein the middle of the column (31) is inserted into the knuckle bearing (4), and the column (31) is arranged in the knuckle bearing (4) to slide up and down.

6. The buffer device for the manipulator according to claim 3, wherein a gap exists between the plate body (32) and the beam leg (1), the buffer tension spring (7) is arranged between the plate body (32) and the beam leg (1), and the buffer tension spring (7) is arranged under the column (31); the lower part of the tray body (32) is connected with the vacuum chuck (2) through a bolt.

7. A buffer device for manipulator according to claim 1, wherein a spring leaf (10) is sleeved above the suspension rod (3), the section of the spring leaf (10) is arched, the spring leaf (10) is arranged between the limiting plate (5) and the beam leg (1), and the buffer compression spring (6) is arranged in the spring leaf (10) in an inner cover.