CN218503791U

CN218503791U - Material taking mechanical arm and gasket sleeving device

Info

Publication number: CN218503791U
Application number: CN202222977622.2U
Authority: CN
Inventors: 韩多华; 李航; 丁东民
Original assignee: Jiangsu New Team Intelligent Equipment Co ltd
Current assignee: Jiangsu New Team Intelligent Equipment Co ltd
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-02-21
Anticipated expiration: 2032-11-09

Abstract

The utility model discloses a reclaimer manipulator and cover gasket device, wherein reclaimer manipulator includes the mounting disc, the coaxial vacuum suction head that is provided with in bottom of mounting disc, the lateral part of mounting disc is provided with the linear driving mechanism that can produce rectilinear movement, the rectilinear movement that linear driving mechanism produced is on a parallel with vacuum suction head's axis, linear driving mechanism connects auxiliary clamping jaw and can drive auxiliary clamping jaw's location chuck by vacuum suction head's below removes extremely vacuum suction head's top, two location chuck symmetries of auxiliary clamping jaw set up vacuum suction head's both sides. The structure can drive the part to be sucked to be adjusted to be in a coaxial state with the vacuum suction head through the auxiliary clamping jaw before the vacuum suction head is sucked, so that the vacuum suction head can be stably and effectively sucked, and the position relation between the vacuum suction head and the part can be ensured to facilitate subsequent sleeving and moving operation.

Description

Material taking mechanical arm and gasket sleeving device

Technical Field

The utility model belongs to the technical field of the intelligent manufacturing and specifically relates to reclaimer manipulator and cover gasket device.

Background

When the gasket is sleeved, a feasible mode is to adsorb the gasket through the vacuum suction head, then move the vacuum suction head to move the adsorbed gasket to the upper part of the bolt which is placed upwards and enable the gasket and the bolt to be positioned on the coaxial turntable, then stop adsorbing, and the gasket can be sleeved on the bolt under the action of gravity.

However, in this method, when the vacuum nozzle adsorbs the gasket, it is difficult to ensure the coaxial state of the vacuum nozzle, which results in a situation where the vacuum nozzle stores the gasket and cannot adsorb it effectively and a problem that it is difficult to keep the gasket and the bolt in the coaxial state even after adsorbing the gasket, thereby stably fitting.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a material taking manipulator and cover gasket device in order to solve the above-mentioned problem that exists among the prior art.

The purpose of the utility model is realized through the following technical scheme:

reclaimer manipulator, including the mounting disc, the coaxial vacuum suction head that is provided with in bottom of mounting disc, the lateral part of mounting disc is provided with the sharp actuating mechanism that can produce rectilinear movement, the rectilinear movement that rectilinear actuating mechanism produced is on a parallel with vacuum suction head's axis, sharp actuating mechanism connects auxiliary clamping jaw and can drive auxiliary clamping jaw's location chuck by vacuum suction head's below removes extremely vacuum suction head's top, two location chuck symmetries of auxiliary clamping jaw set up vacuum suction head's both sides.

Preferably, in the material taking manipulator, the mounting plate is connected with the vacuum suction head through a tool quick-change plate.

Preferably, in the material taking manipulator, the vacuum suction head comprises a body, an inner cavity is formed in the body, and the inner cavity is communicated with the suction nozzle mounting hole and a group of adsorption holes which axially extend along the body and extend to the bottom surface of the body.

Preferably, in the material taking manipulator, the adsorption holes are distributed in a circular shape, and a circle formed by enclosing the adsorption holes is coaxial with the body.

Preferably, in the material taking manipulator, a circular groove located on the inner side of the adsorption hole is formed in the bottom surface of the body.

Preferably, in the material taking manipulator, a V-shaped positioning groove opposite to the vacuum suction head is formed at the clamping surface of the two positioning chucks.

Preferably, in the material taking manipulator, the mounting disc can be arranged on a mounting seat coaxial with the mounting disc along the axial sliding direction of the mounting disc, an elastic part is arranged between the mounting disc and the mounting seat, the mounting seat is provided with a connecting shaft connecting sleeve coaxially, a limiting plate is connected above the linear driving mechanism, and the limiting plate is abutted to the top of the shaft connecting sleeve.

Preferably, in the material taking manipulator, the auxiliary clamping jaw is further connected with a sliding part arranged outside the linear driving mechanism in a sliding manner.

A gasket set device comprising a material pick-up manipulator as described in any one of the above.

Preferably, in the gasket sleeving device, the material taking manipulator is arranged on a four-axis robot, the four-axis robot is further connected with a vision recognition mechanism, and the vision recognition mechanism moves synchronously with the material taking manipulator.

The utility model discloses technical scheme's advantage mainly embodies:

the utility model discloses a structure can be before vacuum suction head adsorbs, can pass through supplementary clamping jaw comes the drive to be absorbed the part adjust to with the coaxial state of vacuum suction head to make vacuum suction head can stably adsorb effectively, can guarantee simultaneously that the position relation of vacuum suction head and part is convenient for follow-up suit and removal operation of carrying on.

The utility model discloses a vacuum suction head is connected to the quick dish that trades of instrument, can change vacuum suction head as required fast to satisfy the absorption needs of not unidimensional part, use more in a flexible way, it is quick to change, is favorable to improving the operating efficiency.

The utility model discloses a be the floating structure between mounting disc and the axle connecting piece, can get the material and change vacuum suction head when, cushion effectively to improve the security.

Drawings

Fig. 1 is a first perspective view of the material taking manipulator of the present invention;

fig. 2 is a second perspective view of the material handling robot of the present invention;

FIG. 3 is a cross-sectional view of the vacuum cleaner head of the present invention;

FIG. 4 is a bottom view of the vacuum cleaner head of the present invention;

fig. 5 is a perspective view of the gasket covering device of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are merely exemplary embodiments for applying the technical solutions of the present invention, and all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the scope of the present invention.

In the description of the embodiments, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The following explains the material taking manipulator disclosed in the present invention with reference to the accompanying drawings, as shown in fig. 1 and fig. 2, it includes mounting disc 1, the bottom of mounting disc 1 is provided with vacuum suction head 2 coaxially, the lateral part of mounting disc 1 is provided with linear driving mechanism 3 that can produce linear movement, the linear movement that linear driving mechanism 3 produced is on a parallel with the axis of vacuum suction head 2, linear driving mechanism 3 connects auxiliary clamping jaw 4 and can drive auxiliary clamping jaw 4's location chuck 41 by vacuum suction head 2's below removes extremely vacuum suction head 2's top, two location chucks 41 symmetries of auxiliary clamping jaw 4 set up vacuum suction head 2's both sides.

As shown in fig. 1, the auxiliary jaw 4 is preferably a pneumatic jaw, and includes a jaw cylinder 42 and two jaw bodies 43 driven by the jaw cylinder to open and close, the shape of the jaw bodies 43 can be designed according to requirements, and they are connected to the jaw cylinder 42 through a transfer block 44, the jaw bodies 43 are approximately Z-shaped in this embodiment, opposite side surfaces of the positioning chucks 41 of the two jaw bodies 43 are formed with opposite V-shaped positioning grooves 45, the V-shaped positioning grooves 45 are opposite to the vacuum suction head 2, and when the pneumatic jaw is driven to descend by the linear driving mechanism 3, the positioning chucks 41 can move below the vacuum suction head 2 and are adjacent to the vacuum suction head 2. When the two claw bodies 43 are in an open state, they are symmetrically distributed on both sides of the vacuum suction head 2, and when the claw bodies 43 are closed, the two positioning chucks 41 can adjust the part to be sucked by the vacuum suction head 2 to a position coaxial with the vacuum suction head 2, so as to ensure that the vacuum suction head 2 can stably and effectively suck and ensure that the gasket sucked on the vacuum suction head 2 keeps position accuracy with the vacuum suction head 2, thereby facilitating subsequent accurate sleeving.

As shown in fig. 3 and 4, the vacuum suction head 2 includes a body 21, an inner cavity 22 is formed on the body 21, the inner cavity 22 is communicated with a suction nozzle mounting hole 23 and a group of suction holes 24 extending along the axial direction of the body 21 and extending to the bottom surface of the body 21, the suction holes 24 are distributed in a circular shape, and the circle enclosed by the suction holes 24 is coaxial with the body 21. The bottom surface of the body 21 is provided with a circular groove 25 positioned on the inner side of the adsorption hole 24, and the circular groove 25 can prevent the bottom of the body 21 from contacting with a bolt when the gasket is sleeved.

The vacuum suction heads 2 can be various, and the diameter of a circle formed by a group of the adsorption holes 24 on each type of vacuum suction head 2 is different from that of a circle formed by a group of the adsorption holes 24 on another type of vacuum suction head 2, so that the adsorption requirements of parts with different sizes can be effectively met.

As shown in fig. 1 and fig. 2, it is desirable to perform a quick replacement of the vacuum suction head 2, and preferably, the mounting plate 1 is connected to the vacuum suction head 2 through a tool quick-change plate, that is, the upper end of each vacuum suction head 2 is coaxially connected to a tool side 5 of the tool quick-change plate, and the mounting plate 1 is coaxially provided with a robot side of the tool quick-change plate, so that the quick replacement of the vacuum suction head 2 can be quickly realized.

As shown in fig. 1 and fig. 2, the mounting disc 1 can be arranged on a mounting seat 6 coaxial therewith along the axial direction thereof in a sliding manner, an elastic member 7 is arranged between the mounting disc 1 and the mounting seat 6, the mounting seat 6 is connected with a shaft connecting sleeve 8 coaxially, a limiting plate 9 is connected above the linear driving mechanism 3, and the limiting plate 9 is abutted to the top of the shaft connecting sleeve 8.

As shown in fig. 1 and fig. 2, the both sides of 1 symmetry of mounting disc are provided with riser 10, riser 10 inboard is provided with guide rail 20, it is provided with slider 30 to slide on the guide rail 20, slider 30 sets up the both sides board 61 outside of mount pad 6, mount pad 6 is the U-shaped, the breach department of mount pad 6 sets up axle adapter sleeve 8, linear drive mechanism 3 can be a cylinder or pneumatic cylinder or sharp servo module, and it is connected through an adapter plate 40 the lateral part of mounting disc 1, set up on the adapter plate 40 limiting plate 9, limiting plate 9 with the top surface butt of the ring flange 81 of axle adapter sleeve 8. Such a structure enables the mounting plate 1 to reciprocate relative to the mounting seat 6, thereby effectively avoiding damage caused by hard collision when the vacuum suction head 2 and the suction pad are replaced.

As shown in fig. 2, the auxiliary jaw 4 is further connected to a sliding member 50 slidably disposed outside the linear driving mechanism 3.

Example 2

The present embodiment also discloses a gasket device, as shown in fig. 5, which includes the material-taking manipulator 100 of the above embodiment. The material taking manipulator 100 is arranged on a four-axis robot 200, the four-axis robot 200 is further connected with a visual identification mechanism 300, and the visual identification mechanism 300 and the material taking manipulator 100 move synchronously. Specifically, the material taking manipulator 100 is connected to the working shaft of the four-axis robot 200, which is capable of lifting and rotating, through the shaft connecting sleeve, and the visual recognition mechanism 300 is disposed at the bottom of the second swing arm 201 of the material taking manipulator 100.

The utility model has a plurality of implementation modes, and all technical schemes formed by adopting equivalent transformation or equivalent transformation all fall within the protection scope of the utility model.

Claims

1. Reclaimer manipulator, including the mounting disc, the coaxial vacuum suction head that is provided with in bottom of mounting disc, its characterized in that: the lateral part of mounting disc is provided with the sharp actuating mechanism that can produce rectilinear movement, the rectilinear movement that rectilinear actuating mechanism produced is on a parallel with vacuum suction head's axis, sharp actuating mechanism connects auxiliary clamping jaw and can drive auxiliary clamping jaw's location chuck by vacuum suction head's below removes extremely vacuum suction head's top, two location chuck symmetries of auxiliary clamping jaw set up vacuum suction head's both sides.

2. The reclaiming manipulator as claimed in claim 1, wherein: the mounting disc is connected with the vacuum suction head through a tool quick-change disc.

3. The reclaiming manipulator as claimed in claim 1, wherein: the vacuum suction head comprises a body, wherein an inner cavity is formed in the body, and the inner cavity is communicated with a suction nozzle mounting hole and a group of adsorption holes which axially extend along the body and extend to the bottom surface of the body.

4. The reclaiming robot of claim 3, wherein: the adsorption holes are distributed in a circular shape, and a circle formed by enclosing the adsorption holes is coaxial with the body.

5. The reclaiming robot of claim 4, wherein: the bottom surface of the body is provided with a circular groove positioned on the inner side of the adsorption hole.

6. The reclaiming manipulator as claimed in claim 1, wherein: and V-shaped positioning grooves which are opposite to the vacuum suction heads are formed on the clamping surfaces of the two positioning chucks.

7. The reclaiming manipulator as claimed in claim 1, wherein: the mounting disc can be set up rather than coaxial mount pad along its endwise slip ground just be provided with the elastic component between mounting disc and the mount pad, the coaxial connecting shaft adapter sleeve of mount pad, a limiting plate is connected to linear drive mechanism's top, the limiting plate with the top butt of shaft adapter sleeve.

8. The reclaiming manipulator as claimed in any one of claims 1 to 7, wherein: the auxiliary clamping jaw is further connected with a sliding piece arranged on the outer side of the linear driving mechanism in a sliding mode.

9. The gasket sleeving device is characterized in that: including a reclaiming robot as claimed in any one of claims 1 to 8.

10. A sleeve gasket device according to claim 9, wherein: get material manipulator and set up on four-axis robot, four-axis robot still connects visual identification mechanism, visual identification mechanism with get material manipulator synchronous motion.