CN218138122U

CN218138122U - Mechanical arm gripper structure capable of taking and placing

Info

Publication number: CN218138122U
Application number: CN202221888639.4U
Authority: CN
Inventors: 蓝芝; 谢子伟; 陈均强; 陈杰; 陈广龙
Original assignee: Dongguan Chuangyi Precision Hardware Co ltd
Current assignee: Dongguan Chuangyi Precision Hardware Co ltd
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-12-27
Anticipated expiration: 2032-07-21

Abstract

The utility model discloses a mechanical arm gripper structure capable of being taken and placed, which comprises a first adsorption component and a second adsorption component which are arranged side by side, wherein the first adsorption component comprises a mounting plate and at least one adsorption plate arranged on the lower end surface of the mounting plate, and a plurality of adsorption through holes which are communicated up and down are formed on the adsorption plate; the second adsorption component comprises a mounting bracket and at least one sucker which is arranged on the mounting bracket and corresponds to the adsorption plate one by one. This arm tongs structure that can get and put can carry out the action of absorption and placing of material simultaneously, reduces the arm and removes the number of times, effectively improves production efficiency, when can guaranteeing that the tongs structure gets the material precision, reduces the processing cost.

Description

Mechanical arm gripper structure capable of taking and placing

Technical Field

The utility model relates to a mechanical arm technical field especially relates to a can take arm tongs structure of putting.

Background

In the production process, often need use the arm will treat that the processing product moves to processingequipment and processes on, after processingequipment processing is accomplished, the product that the manipulator will process the completion is snatched and is shifted out by processingequipment and put, gets the clamp again and treat that the processing product moves to processingequipment on, the action can only be got or place by the clamp to the tongs of arm once promptly, can not get simultaneously and put the action for whole processing reloading process is loaded down with trivial details, is unfavorable for production efficiency's improvement.

The prior art lacks a mechanical arm tongs structure that is used for can getting to put, can carry out the action of absorption and placing of material simultaneously, reduces the mechanical arm and removes the number of times, effectively improves production efficiency.

SUMMERY OF THE UTILITY MODEL

Not enough to the aforesaid, the utility model aims to provide a can get arm tongs structure of putting can carry out the absorption of material and the action of placing simultaneously, reduces the arm and removes the number of times, effectively improves production efficiency, when can guaranteeing that tongs structure gets the material precision, reduces the processing cost.

The utility model discloses a reach the technical scheme that above-mentioned purpose adopted and be: a mechanical arm gripper structure capable of taking and placing comprises a first adsorption component and a second adsorption component which are arranged side by side, wherein the first adsorption component comprises an installation plate and at least one adsorption plate arranged on the lower end face of the installation plate, and a plurality of adsorption through holes which are communicated up and down are formed in the adsorption plate; the second adsorption component comprises a mounting bracket and at least one sucker which is arranged on the mounting bracket and corresponds to the adsorption plate one by one.

As a further improvement, the adsorption through hole has a cylindrical upper channel and a cylindrical lower channel from top to bottom in sequence, the upper end of the cylindrical upper channel has a funnel-shaped connector, the lower end of the cylindrical lower channel has a horn-shaped adsorption port, and the diameter of the cylindrical lower channel is smaller than that of the cylindrical upper channel.

As a further improvement, the adsorption plate is provided with a fixed through groove, and the adsorption through holes are symmetrically arranged on two sides of the fixed through groove.

As a further improvement of the utility model, be formed with on the mounting panel and lead to the groove with the at least a set of installation that the adsorption plate one-to-one set up, should install and lead to the groove and include one and go up fixed logical groove, and the symmetry sets up in two pipeline logical grooves of last fixed logical groove both sides, fixed logical groove is located fixed logical groove below down, adsorbs the below that the through-hole is located the logical groove of pipeline.

As a further improvement of the utility model, the mounting plate is connected with the mounting bracket through a fixed bracket.

As a further improvement, the utility model discloses a still including set up in the mounting panel up end and rotate a rotation seat of being connected and rotate with the mounting panel and drive actuating cylinder with this rotation seat one rotation of being connected, it drives actuating cylinder lower extreme and is located relative both sides downwardly extending respectively and forms two rotor arms to rotate, rotate the seat and include a bottom plate and form on this bottom plate and be located a vertical connecting plate between two rotor arms just it is formed with a connection bellying just to be located the below that the rotation drove actuating cylinder output shaft on the vertical connecting plate, is formed with a column drum of horizontal setting in the one end of vertical connecting plate, is provided with a first rotation round pin in this column drum, and the both ends of this first rotation round pin rotate with the rotor arm respectively and are connected, the tip that the rotation drove actuating cylinder output shaft is provided with a rotation recess of being connected the bellying matching, it inserts in this rotation recess and drives actuating cylinder rotation output shaft through a second rotor pin and rotation to connect the bellying.

As a further improvement of the utility model the bottom plate and the one end of keeping away from the column drum are formed with ascending vertical reinforcing plate, vertical connecting plate extends to vertical reinforcing plate department and is connected with vertical reinforcing plate, bottom plate, vertical connecting plate and vertical reinforcing plate are the integrated into one piece structure.

As a further improvement, the adsorption plate is disposed on the lower end surface of the mounting plate by using the rotary seat as a center, and the quantity of the adsorption through holes on the adsorption plate is more than the quantity of the adsorption through holes in the end away from the fixing seat.

The utility model discloses a can get the beneficial effect of putting arm tongs structure does:

(1) By arranging the first adsorption component and the second adsorption component at the same time, the actions of sucking and placing materials can be carried out at the same time, the moving times of the mechanical arm are reduced, and the production efficiency is effectively improved;

(2) First adsorption component adopts the adsorption plate structure that adsorption stability is better, can will treat that the accurate removal of processing material is to the machining-position station on, does benefit to the accuracy that improves product processing, and second adsorption component takes out for the material that will process the completion, and the precision requirement of pressing from both sides and getting and placing is not high, consequently, directly adopts the sucking disc to adsorb, like this, when can guarantee that tongs structure gets the material precision, reduces the processing cost.

The above is an overview of the technical solution of the present invention, and the present invention is further explained with reference to the accompanying drawings and the detailed description.

Drawings

Fig. 1 is a schematic structural view of the mechanical arm gripper structure capable of being taken and placed in a horizontal state;

fig. 2 is a schematic structural view of the mechanical arm gripper structure capable of being taken and placed in a vertical state;

FIG. 3 is a schematic structural view of a lower end surface of the first adsorption module of the present invention;

fig. 4 is a top view of the adsorption plate of the present invention;

FIG. 5 isbase:Sub>A cross-sectional view taken along A-A of FIG. 4;

FIG. 6 is an enlarged view of a portion of FIG. 5 at location B;

fig. 7 is a schematic structural view of the upper end surface of the mounting plate of the present invention;

fig. 8 is a schematic structural view of the rotary seat of the present invention.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the intended purpose, the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and preferred embodiments.

Referring to fig. 1 to 8, a robot arm gripper structure capable of taking and placing includes a first adsorption component 1 and a second adsorption component 2 arranged side by side, where the first adsorption component 1 includes an installation plate 11 and at least one adsorption plate 12 arranged on a lower end surface of the installation plate 11, and a plurality of adsorption through holes 121 penetrating up and down are formed on the adsorption plate 12; the second adsorption component 2 includes a mounting bracket 21 and at least one suction cup 22 disposed on the mounting bracket 21 and corresponding to the adsorption plate 12.

Specifically, when material is fed, the first adsorption component 1 adsorbs the material to be processed, when material is fed, the second adsorption component 2 adsorbs the material processed at the processing station, and then the first adsorption component 1 is driven to move to the processing station through the moving mechanical arm, and the adsorbed material to be processed is placed on the processing station; then, the mechanical arm is moved to drive the gripper structure to integrally move to a designated position, the second adsorption component 2 puts down the sucked processed material, meanwhile, the first adsorption component 1 sucks the material to be processed again, the mechanical arm is waited to move to a processing station, the actions are repeatedly executed, and the feeding and taking-out actions of the material are completed. Through setting up first adsorption component 1 and second adsorption component 2 simultaneously, place district and processing station department at the material and can carry out the absorption of material simultaneously and the action of placing, reduce the arm and remove the number of times, effectively improve production efficiency. Moreover, first adsorption component 1 adopts the better adsorption plate 12 structure of adsorption stability, can be with waiting to process accurate the removal of material to the processing station on, do benefit to the accuracy that improves product processing, and second adsorption component 2 is in order to take out the material that the processing was accomplished, and the accuracy requirement of getting and placing is not high to the clamp, consequently, directly adopts sucking disc 22 to adsorb, like this, can guarantee when tongs structure gets the material precision, reduces the processing cost.

Specifically, as shown in fig. 6, the suction through hole 121 has a cylindrical upper channel 1211 and a cylindrical lower channel 1212 sequentially from top to bottom, the cylindrical upper channel 1211 has a funnel-shaped connection opening 1213 at an upper end thereof, the cylindrical lower channel 1212 has a trumpet-shaped suction opening 1214 at a lower end thereof, and the diameter of the cylindrical upper channel 1211 is smaller than that of the cylindrical lower channel 1212. The processing of the adsorption through-hole 121 is facilitated while the adsorption force of the adsorption through-hole 121 is ensured.

In this embodiment, as shown in fig. 4, a lower fixing through groove 122 is formed on the suction plate 12, and the suction through holes 121 are symmetrically disposed on two sides of the lower fixing through groove 122. Meanwhile, as shown in fig. 7, at least one set of installation through grooves corresponding to the adsorption plate 12 in a one-to-one manner is formed on the installation plate 11, each installation through groove includes an upper fixing through groove 111 and two pipeline through grooves 112 symmetrically disposed on two sides of the upper fixing through groove 111, the lower fixing through groove 122 is located below the upper fixing through groove 111, and the adsorption through hole 121 is located below the pipeline through groove 112. Like this, fix between last fixed logical groove 111 and the fixed logical groove 121 of lower and use bolt class fastener and fix, and the vacuum pipe passes pipeline logical groove 112 and is connected with absorption through-hole 121, guarantees the stability of tongs structural connection, and is convenient for install.

Specifically, the mounting plate 11 is connected with the mounting bracket 21 through a fixing bracket 3. So that the first adsorption module 1 and the second adsorption module 2 form a whole.

Specifically, the mechanical arm gripper structure capable of being taken and placed further comprises a rotating seat 4 which is arranged on the upper end face of the mounting plate 11 and is rotatably connected with the mounting plate 11, and a rotating driving cylinder 5 which is rotatably connected with the rotating seat 4, the lower end of the rotating driving cylinder 5 and located on two opposite sides respectively extend downwards to form two rotating arms 51, the rotating seat 4 comprises a bottom plate 41 and a vertical connecting plate 42 which is formed on the bottom plate 41 and located between the two rotating arms 51, a connecting protrusion 421 is formed on the vertical connecting plate 42 and located below an output shaft of the rotating driving cylinder 5, a cylindrical cylinder 422 which is transversely arranged is formed at one end of the vertical connecting plate 42, a first rotating pin 6 is arranged in the cylindrical cylinder 422, two ends of the first rotating pin 6 are rotatably connected with the rotating arms 51 respectively, a rotating groove 52 which is matched with the connecting protrusion 421 is formed in the end portion of the output shaft of the rotating driving cylinder 5, and the connecting protrusion 421 is inserted into the rotating groove 52 and rotatably connected with the output shaft of the rotating driving cylinder 5 through a second rotating pin 7. Through set up a rotation seat 4 and rotate on mounting panel 11 and drive actuating cylinder 5 for the tongs structure can rotate between horizontality and vertical state, makes the use of tongs structure more nimble convenient, simple structure, mechanical structure are stable.

Specifically, as shown in fig. 8, an upward vertical reinforcing plate 43 is formed at one end of the bottom plate 41 away from the cylindrical cylinder 422, the vertical connecting plate 42 extends to the vertical reinforcing plate 43 and is connected with the vertical reinforcing plate 43, and the bottom plate 41, the vertical connecting plate 42, and the vertical reinforcing plate 43 are of an integrally formed structure. Vertical reinforcing plate 43 can improve and rotate the holistic steadiness of seat 4, drives under the impetus that drives actuating cylinder 5 output shaft in the rotation, can drive tongs stable in structure's rotation, avoids tongs structure to rotate the in-process and takes place to rock and lead to being adsorbed the product and take place to drop.

Specifically, as shown in fig. 1 and 2, the suction plate 12 is disposed on the lower end surface of the mounting plate 11 with the rotary base 4 as the center, and the number of suction through holes 121 in the suction plate 12 is greater at the end far from the rotary base 4 than at the end near the rotary base 4. Because the tongs structure when using, need rotate to vertical state from the horizontality, at the rotation in-process, the tongs structure can appear shake by a relatively large margin in the position of keeping away from rotation seat 4, consequently, be connected rotation seat 4 and first absorption subassembly 1, do benefit to the stability when improving first absorption subassembly 1 and rotate, avoid in the rotation process, because of first absorption subassembly 1 takes place shake by a relatively large margin, make the material that is absorbed appear misplacing even the phenomenon that drops, influence first absorption subassembly 1 and place the accuracy of material, and then influence the precision of product processing. Simultaneously, on adsorption plate 12 and keep away from the position of rotating seat 4 and increase the adsorption affinity that adsorbs through-hole 121 and improve this position department, further improve first absorption subassembly 1 adsorption stability, avoid rotating the in-process, first absorption subassembly 1 takes place to shake and the phenomenon that the dislocation appears or even drops is absorb to the material to the appearance.

It should be noted that, the utility model discloses a can get arm tongs structure of putting improves concrete structure, and to concrete control mode, is not the innovation point of the utility model. To the rotation driving cylinder 5 and other parts related to the present invention, it can be a universal standard component or a part known by those skilled in the art, and the structure, principle and control method thereof are known by those skilled in the art through technical manuals or through conventional experimental methods

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that other structures obtained by adopting the same or similar technical features as the above embodiments of the present invention are all in the present invention.

Claims

1. A manipulator gripper structure capable of being taken and placed is characterized by comprising a first adsorption component and a second adsorption component which are arranged side by side, wherein the first adsorption component comprises an installation plate and at least one adsorption plate arranged on the lower end face of the installation plate, and a plurality of adsorption through holes which are communicated up and down are formed in the adsorption plate; the second adsorption component comprises a mounting bracket and at least one sucker which is arranged on the mounting bracket and corresponds to the adsorption plate one by one.

2. The gripper structure of claim 1, wherein the suction through hole has a cylindrical upper channel and a cylindrical lower channel in sequence from top to bottom, the cylindrical upper channel has a funnel-shaped connection opening at an upper end thereof, the cylindrical lower channel has a trumpet-shaped suction opening at a lower end thereof, and the diameter of the cylindrical upper channel is smaller than that of the cylindrical lower channel.

3. The hand grip structure of a robot arm as claimed in claim 1, wherein a lower fixing through groove is formed on the suction plate, and the suction through holes are symmetrically formed at both sides of the lower fixing through groove.

4. The hand grip structure of a robot arm as claimed in claim 3, wherein at least one set of mounting through grooves are formed on the mounting plate in one-to-one correspondence with the suction plate, the mounting through grooves include an upper fixing through groove and two duct through grooves symmetrically disposed at both sides of the upper fixing through groove, the lower fixing through groove is located below the upper fixing through groove, and the suction through hole is located below the duct through groove.

5. The hand grip structure of a robotic arm as claimed in claim 1 wherein the mounting plate is connected to the mounting bracket by a mounting bracket.

6. The gripper structure of claim 1, further comprising a rotating base rotatably connected to the mounting plate and disposed on the upper end surface of the mounting plate, and a rotating driving cylinder rotatably connected to the rotating base, wherein the lower end of the rotating driving cylinder and located on two opposite sides of the rotating driving cylinder respectively extend downward to form two rotating arms, the rotating base comprises a bottom plate and a vertical connecting plate formed on the bottom plate and located between the two rotating arms, a connecting protrusion is formed on the vertical connecting plate and located below the output shaft of the rotating driving cylinder, a cylindrical cylinder is formed at one end of the vertical connecting plate and transversely disposed, a first rotating pin is disposed in the cylindrical cylinder, two ends of the first rotating pin are rotatably connected to the rotating arms, a rotating groove matched with the connecting protrusion is disposed at the end of the output shaft of the rotating driving cylinder, and the connecting protrusion is inserted into the rotating groove and rotatably connected to the output shaft of the rotating driving cylinder through a second rotating pin.

7. The pick-and-place robotic arm gripper structure of claim 6, wherein an upwardly directed vertical reinforcement plate is formed on the bottom plate at an end remote from the cylindrical cylinder, the vertical attachment plate extends to and is connected to the vertical reinforcement plate, and the bottom plate, the vertical attachment plate, and the vertical reinforcement plate are integrally formed.

8. The hand grip structure of a robot arm as claimed in claim 6, wherein the suction plate is disposed on the lower end surface of the mounting plate with the rotating base as a center, and the number of suction through holes on the suction plate is greater at an end away from the fixing base than at an end close to the fixing base.