CN219027532U - Manipulator for grabbing precise optical element - Google Patents

Abstract

The utility model provides a manipulator for snatching accurate optical element, its characterized in that, the manipulator mainly includes two kinds of structures of electronic clamp formula and pneumatic absorption formula, electronic clamp formula manipulator structure includes motor dish, driving disk, clamp and indicate the fixed disk and press from both sides and indicate the slip dish, pneumatic absorption formula manipulator structure is fixed two vacuum chuck poles on the manipulator claw connector through the draw-in groove, and two vacuum chuck poles are sharp distribution, electronic clamp formula manipulator structure with design has the connection converter between pneumatic absorption formula manipulator structure, only through the terminal joint of rotating the robot, the manipulator claw can realize seamless conversion between two manipulator structures. The utility model is suitable for popularization of machine vision technology in the production field, realizes accurate and efficient grabbing of the precise optical element by matching with a robot, reduces the damage rate in the actual production and processing process, and improves the automation and intelligent level of the product manufacturing and processing.

Description

Manipulator for grabbing precise optical element

Technical Field

The utility model relates to theory and application of mechanical structure design, machine vision technology and the like, and is matched with automatic production based on machine vision, in particular to a manipulator for grabbing a precise optical element.

Background

For clamping of precision components, the manipulator has an irreplaceable function. Because the precision requirement of the clamping surface of the precision element is high, the stress requirement is strict, the workpiece is easily scratched when the workpiece is manually detached, the working environment of the precision machining machine tool does not allow manual detachment, and under the condition, the working characteristics of automation, precision and the like of the manipulator grasp have very important pushing effect on the development of the precision element machining field. To this end, we propose a manipulator for gripping precision optical elements.

Disclosure of Invention

Aiming at the problems of scratch of the surface of a workpiece, falling of the workpiece in the middle of the process caused by improper grabbing of a precise optical element, and the like, the utility model designs the flexible manipulator for converting the electric clamp type and the pneumatic adsorption type, so as to adapt to popularization of a machine vision technology in the production field, realize accurate and efficient grabbing of the precise optical element by matching with a UR robot, reduce the damage rate in the actual production and processing process, and improve the automation and intelligent level of the product manufacturing and processing.

The utility model is realized by the following technical scheme: the manipulator for grabbing the precise optical element is characterized in that the manipulator is mainly combined with an electric clamp type structure and a pneumatic adsorption type structure to achieve the aim.

The manipulator for grabbing the precise optical element is characterized by comprising a motor disc, a driving disc, a clamping finger fixing disc and a clamping finger sliding disc. The motor disc is provided with a stepping motor fixed by a screw, the stepping motor is connected with a screw rod through a coupler, and the motor disc is fixedly connected with the clamping finger mounting disc through a supporting guide post; a lead screw nut is fixed on the driving disc, and the supporting guide posts respectively penetrate through linear bearings on the driving disc, and the driving disc and the lead screw are connected together by the lead screw nut; the clamping finger fixing disc is provided with a clamping finger module, and the clamping finger module consists of a sliding block, a sliding block guide rail, a concave pulley, a clamping finger, a steel wire rope and a tension spring; the clamp finger sliding disc is fixedly connected with the clamp finger fixing disc through a copper column.

The manipulator for grabbing the precise optical element is characterized in that the electric clamp type manipulator structure is characterized in that a stepping motor is connected to a motor disc through a screw, the stepping motor is connected with one end of a screw rod through a coupler, and the other end of the screw rod is arranged on a clamp finger fixing disc through a horizontal bearing. One end of the steel wire rope is connected with an adjusting nut arranged on the driving disc, and the other end of the steel wire rope is connected with a connecting buckle below the clamping finger. The clamp finger and the steel wire rope connecting buckle are connected to the sliding block through screws, the side face of the clamp finger is connected with the guide rail through the extension spring, and the guide rail of the sliding block is connected with the clamp finger fixing disc. The electric clamp type manipulator structure is driven by a stepping motor, an output shaft of the stepping motor is connected with a screw rod through a coupler to rotate, the screw rod rotates, and a nut moves, so that a driving disc on the screw rod nut is driven to move up and down. When the stepping motor rotates positively, the lead screw nut drives the driving disc to move upwards, so that the sliding block is pulled by the steel wire rope to slide outwards on the guide rail, the stepping motor drives the sliding block to overcome the tension force of the spring, the tension spring is pulled to open the clamping fingers, the stepping motor is powered off, and the internal trapezoidal lead screw nut structure enables the clamping fingers to keep an open posture stably through self locking, so as to make a clamping preparation action; when the stepping motor rotates reversely, the spring automatically retracts through the stretching force to drive the clamping fingers to clamp the blank.

The manipulator for grabbing the precise optical element is characterized in that the adsorption manipulator structure fixes two vacuum chuck rods on the manipulator claw connector through the clamping groove, and the two vacuum chuck rods are distributed linearly.

The manipulator for grabbing the precise optical element is characterized in that a connecting converter for connecting an electric clamp type manipulator structure and a pneumatic adsorption type manipulator structure is designed, seamless conversion between the electric clamp type manipulator structure and the pneumatic adsorption type manipulator structure can be carried out by a manipulator claw only through rotating a tail end joint of a UR robot, manual disassembly and replacement of the two manipulator structures are avoided, conversion can be completed within a minimum range by ninety degrees, and working space of the UR robot can be saved.

The utility model has the advantages and positive effects that: the manipulator for grabbing the precise optical element deeply analyzes the surface clamping characteristics and requirements of a machined part, meets the production requirements of efficient and accurate grabbing, designs the flexible manipulator for converting the electric clamp type and the pneumatic adsorption type, firstly uses the electric clamp type flexible manipulator to place a machining position, and then uses the pneumatic sucker to take down a machined finished product. The electric clamp type flexible manipulator adopts the screw nut drive and the steel wire rope traction to drive the clamping fingers, when the electric clamp type flexible manipulator is driven by the spring, the elasticity of the spring can not cause abrupt change of force, the electric clamp type flexible manipulator can be well adapted to the condition of clamping workpieces with smaller surface strength such as precision optical elements, and the like, and the workpiece surface is effectively prevented from being seriously damaged in the process of machining and clamping. The finished product is removed by utilizing the pneumatic sucker, so that the damage and the damage to the working face and the non-working face of the optical element can be reduced to the greatest extent. Meanwhile, the two-part connection converter is designed, so that full-automatic conversion can be realized by matching with a UR robot, and intelligent and automatic production activities based on machine vision are realized.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic structural view of an electric clamp type manipulator according to the present utility model.

FIG. 3 is a schematic view of the structure of the finger.

Fig. 4 is a schematic structural diagram of a pneumatic adsorption manipulator according to the present utility model.

Reference numerals: the three-layer silica gel vacuum chuck comprises a 1-electric clamp type manipulator structure, a 1-1-clamp finger sliding disk, a 1-2-clamp finger fixing disk, a 1-2-1-clamp finger, a 1-2-2-wire rope connecting buckle, a 1-2-3-slider, a 1-2-4-concave pulley, a 1-2-5-slider guide rail, a 1-3-driving disk, a 1-3-1-adjusting nut, a 1-3-2-lead screw, a 1-3-3-linear bearing, a 1-4-motor disk, a 1-4-1-coupling, a 1-4-2-stepping motor, a 1-4-3-supporting guide pillar, a 2-converter, a 3-adsorption type manipulator structure, a 3-1-vacuum chuck rod and a 3-2-small head three-layer silica gel material vacuum chuck.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

The manipulator for grabbing the precise optical element is shown in fig. 1, 2, 3 and 4, wherein a clamp finger 1-2-1 and a steel wire rope connecting buckle 1-2-2 are connected to a sliding block 1-2-3 through screws, the side surfaces of the clamp finger are connected with a guide rail through tension springs, one end of the steel wire rope is fixed with the steel wire rope connecting buckle 1-2-2, the other end of the steel wire rope is connected with an adjusting nut 1-3-1 arranged on a driving disc 1-3, the steel wire rope passes through a concave pulley 1-2-4 fixed on the clamp finger fixing disc 1-2, the sliding block guide rail 1-2-5 is connected with the clamp finger fixing disc 1-2 through bolts, and the sliding block 1-2-3 is arranged on the sliding block guide rail 1-2-5. The clamp finger sliding disc 1-1 is fixedly connected with the clamp finger fixing disc 1-2 through three copper columns. The driving disc 1-3 is arranged on the screw rod 1-3-2 through a screw rod nut 1-3-1, one end of the screw rod 1-3-2 is connected with the stepping motor 1-4-2 through a coupler 1-4-1, and the other end of the screw rod 1-3-2 is arranged on the clamping finger fixing disc 1-2 through a horizontal bearing. The stepping motor 1-4-2 is fixed on the motor disc 1-4, the motor disc 1-4 is fixedly connected with the clamping finger fixing disc 1-2 through the supporting guide post 1-4-3, and the supporting guide post 1-4-3 is fixedly connected with the linear bearing 1-3-3 on the driving disc 1-3. The electric clamp type manipulator structure 1 and the adsorption type manipulator structure 3 are connected with each other through a converter 2.

When the robot grips the unprocessed element, the UR robot controls the converter 2 to start the operation of the electric gripper type robot structure 1. When the stepping motor 1-4-2 rotates positively, the screw nut 1-3-1 drives the driving disc 1-3 to move upwards, so that the sliding block 1-2-3 slides outwards on the sliding block guide rail 1-2-5 through the steel wire rope, the driving force sliding block overcomes the tension force of the spring, the tension spring is pulled to open the clamping finger 1-2-1, the stepping motor 1-4-2 is powered off, and the internal trapezoidal screw nut structure enables the clamping finger 1-2-1 to keep an open posture stably through self locking to make a clamping preparation action; when the stepping motor 1-4-2 is reversed, the spring automatically retracts through the tensile force to drive the clamping finger 1-2-1 to clamp the blank.

When the robot grips the finished component, the UR robot controls the converter 2 to start the suction robot structure 3. After the small-head three-layer silica gel vacuum chuck 3-2 on the vacuum chuck rod 3-1 is attached to a workpiece, the vacuum generator works to generate vacuum suction force, the workpiece is sucked and stably moves, and after the workpiece reaches a designated position, the vacuum generator stops working, the suction force disappears, and the manipulator repeatedly works.

The foregoing describes one embodiment of the present utility model in detail, but the description is only a preferred embodiment of the present utility model and should not be construed as limiting the scope of the utility model. All equivalent changes and modifications within the scope of the present utility model are intended to be covered by the present utility model.

Claims (4)

1. The manipulator for grabbing the precise optical element is characterized by mainly comprising an electric clamp type manipulator structure and a pneumatic adsorption type manipulator structure, wherein the electric clamp type manipulator structure comprises a motor disc, a driving disc, a finger clamping fixed disc and a finger clamping sliding disc, the pneumatic adsorption type manipulator structure comprises a vacuum chuck rod and a manipulator claw connector, and a connection converter is designed between the electric clamp type manipulator structure and the pneumatic adsorption type manipulator structure.

2. The manipulator for grabbing a precise optical element according to claim 1, wherein the electric clamp type manipulator structure is characterized in that a stepping motor is fixed on a motor disc through a screw, the stepping motor is connected with one end of a screw rod through a coupling, the other end of the screw rod is installed on a clamp finger fixing disc through a horizontal bearing, one end of a steel wire rope is connected with an adjusting nut installed on the driving disc, the other end of the steel wire rope is connected with a connecting buckle below a clamp finger, the clamp finger is connected with the steel wire rope connecting buckle on a sliding block through a screw, the side surface of the clamp finger is connected with a guide rail through an extension spring, and the guide rail of the sliding block is connected with the clamp finger fixing disc.

3. The manipulator for grabbing a precise optical element according to claim 2, wherein the stepping motor fixed on the motor disc is connected with the screw rod through a coupling, the motor disc is fixedly connected with the clamping finger mounting disc through the supporting guide posts, the screw rod nut is fixed on the driving disc, the supporting guide posts respectively penetrate through the linear bearings on the driving disc, the screw rod nut connects the driving disc with the screw rod, the clamping finger fixing disc is provided with the clamping finger module, and the clamping finger sliding disc is fixedly connected with the clamping finger fixing disc through the copper column.

4. The manipulator for gripping precision optical elements according to claim 1, wherein the pneumatic suction manipulator structure fixes two vacuum chuck rods on the manipulator jaw connector through clamping grooves, and the two vacuum chuck rods are distributed in a straight line.

Images